A Balanced Hybrid Active-Passive Actuation Approach for HighPerformance Haptics

IEEE World Haptics Conference


Hybrid actuation approaches for haptic interfaces generally suffer from asymmetry in active and passive torque capabilities. This paper describes the design of a high-performance balanced hybrid haptic device, which addresses the asymmetry by combining a high-power, low-impedance active compliant actuation (series-elastic actuator) with energy absorbing high-force passive actuation in parallel with a fast, low-power secondary active actuation. We describe the actuation, design and control approaches and experimentally validate the approach with a one degree-of-freedom testbed. The performance is compared with active only approach and results show significant improvements in stability and rendering range of the device.

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