LIBRARIES A Multi Finger Electromagnetic Actuator

The focus of this thesis was on the design and construction of a multi-finger haptic device powered by electromechanical voice-coil actuators. Five actuators were designed and constructed and a position and force feedback control system was implemented for each. The maximum continuous force output for each actuator ranged from 12-16 N, which is about 15%-30 % of the maximum force that can be exerted by an individual finger. The bandwidth of the controlled actuators ranged from 0.7 Hz to 1.7 Hz, the steady-state error was zero, and the overshoot ranged from 3.5 % to 7.7%. Four actuators were constructed into an array, with finger contact points 23 mm apart. Additional structures, such as finger holders and a wrist rest, were developed to complete the human interface. With further modifications, the multi-finger apparatus can be used to conduct biomechanical and perceptual studies of the human hand