MOOG FCS HapticMaster
The HapticMaster is a 3 degrees of freedom, force-controlled haptic interface. It provides the user with a crisp haptic sensation and the power to closely simulate the weight and force found in a wide variety of human tasks. The programmable robot arm utilizes the admittance control (force control) paradigm, giving the device unique haptic specifications.
The HapticMaster can be equipped with different end effectors, facilitating different applications.
- Standard end effector
The passive end effector comprises a simple ball grip. At the base of the grip a push button is placed which can be connected to software applications. The standard end effector comes with the HapticMaster.
- Passive end effector with 3DOF orientation measurement
Equipped with a universal clamp, this end effector can be used for applications requiring the measurement of 3 additional degrees of freedom. All 3 rotational axes intersect in one point, also the location of the instrument tip. This provides the user with a natural and realistic simulation of the real-world usage of the instrument.
- Custom-made end effector
The HapticMaster can be fitted with any customized end effector. Any self-made end effector below 3 kg can be mounted at the end of the HapticMASTER robot arm.
|Control type||Admittance (force control)|
|Active degrees of freedom||3 (x,y,z)|
|Power requirement||500 W|
|Voltage requirement||90 - 264 VAC|
|Console height||0.8 [m]||31.5 [in]|
|Position resolution||4x10-6 - 12x10-6 [m]||1.6 X 10-4 [in]|
|Stiffness||10x103 - 50x103 [N/m]||285.5 [lbf/in]|
|Nominal/max force||100/250 [N]||22.5/56.2 [lbf]|
|Minimal tip inertia||2 [kg]||4.4 [lb]|
|Maximum velocity||1.0 [m/s]||39.4 [in/s]|
|Maximum deceleration||50 [m/s2]||39.4 [in/s2]|
|Force sensitivity||0.01 [N]||2.25x10-3 [lbf]|