A Comparative Study of DC and BLDC Actuation for Kinesthetic Haptics
Haptic simulation systems enable users to manipulate virtual environments through their interaction with haptic devices. Stable high fidelity interaction with virtual environments for many applications requires actuators with both high torque density and low parasitic forces. Brushless direct-curren...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10824780/ |
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| author | Arjun Ivimey Majid Pahlevani Keyvan Hashtrudi-Zaad |
| author_facet | Arjun Ivimey Majid Pahlevani Keyvan Hashtrudi-Zaad |
| author_sort | Arjun Ivimey |
| collection | DOAJ |
| description | Haptic simulation systems enable users to manipulate virtual environments through their interaction with haptic devices. Stable high fidelity interaction with virtual environments for many applications requires actuators with both high torque density and low parasitic forces. Brushless direct-current (BLDC) motors offer both high torque density and low friction, making them a prime candidate for this application. This paper evaluates the use of a BLDC motor for use as a direct drive haptic actuator, in comparison with the brushed direct-current (DC) motor and capstan mechanism commonly used in indirect drive actuation of haptic devices. The comparison metrics include data sheet parameters, peak torque determined using a thermal simulation, current and position step responses, uncoupled stability regions, and dynamic rendering areas. It is concluded that a direct drive BLDC motor can supply higher peak torque, while projecting lower inertia and friction and thus offering higher acceleration. These results indicate that BLDC motors are a promising technology for effective direct drive haptic actuation. |
| format | Article |
| id | doaj-art-f66b5749c3af41d2880caa5cc04223ef |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-f66b5749c3af41d2880caa5cc04223ef2025-01-21T00:02:03ZengIEEEIEEE Access2169-35362025-01-01138753876010.1109/ACCESS.2025.352605210824780A Comparative Study of DC and BLDC Actuation for Kinesthetic HapticsArjun Ivimey0https://orcid.org/0009-0002-0524-041XMajid Pahlevani1https://orcid.org/0000-0003-0505-2857Keyvan Hashtrudi-Zaad2https://orcid.org/0000-0003-3567-5430Department of Electrical and Computer Engineering, Queen’s University, Kingston, ON, CanadaDepartment of Electrical and Computer Engineering, Queen’s University, Kingston, ON, CanadaDepartment of Electrical and Computer Engineering, Queen’s University, Kingston, ON, CanadaHaptic simulation systems enable users to manipulate virtual environments through their interaction with haptic devices. Stable high fidelity interaction with virtual environments for many applications requires actuators with both high torque density and low parasitic forces. Brushless direct-current (BLDC) motors offer both high torque density and low friction, making them a prime candidate for this application. This paper evaluates the use of a BLDC motor for use as a direct drive haptic actuator, in comparison with the brushed direct-current (DC) motor and capstan mechanism commonly used in indirect drive actuation of haptic devices. The comparison metrics include data sheet parameters, peak torque determined using a thermal simulation, current and position step responses, uncoupled stability regions, and dynamic rendering areas. It is concluded that a direct drive BLDC motor can supply higher peak torque, while projecting lower inertia and friction and thus offering higher acceleration. These results indicate that BLDC motors are a promising technology for effective direct drive haptic actuation.https://ieeexplore.ieee.org/document/10824780/Hapticsactuatorsmotor control |
| spellingShingle | Arjun Ivimey Majid Pahlevani Keyvan Hashtrudi-Zaad A Comparative Study of DC and BLDC Actuation for Kinesthetic Haptics IEEE Access Haptics actuators motor control |
| title | A Comparative Study of DC and BLDC Actuation for Kinesthetic Haptics |
| title_full | A Comparative Study of DC and BLDC Actuation for Kinesthetic Haptics |
| title_fullStr | A Comparative Study of DC and BLDC Actuation for Kinesthetic Haptics |
| title_full_unstemmed | A Comparative Study of DC and BLDC Actuation for Kinesthetic Haptics |
| title_short | A Comparative Study of DC and BLDC Actuation for Kinesthetic Haptics |
| title_sort | comparative study of dc and bldc actuation for kinesthetic haptics |
| topic | Haptics actuators motor control |
| url | https://ieeexplore.ieee.org/document/10824780/ |
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