Mathematical model

Active force sensors are based on the principle of force balancing using a feedback control. They allow, unlike passive sensors, the measurement of forces in a wide range with nanoNewton resolutions. This capability is fundamental when dealing with …

In this paper, the conception and optimization of a new dual-stage haptic device is described. A particular attention is given to the choice of encoder. Compact, consumer grade, but low resolution encoders are particularly used. An issue arising from …