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Most haptic devices are intended primarily, if not exclusively, to exchange information with a human operator, and often replace or augment traditional computer displays with backdrivable, force-producing tactile interfaces. This includes popular commercial devices such as the PHANTOM (Massie & Salisbury, 1994) that are typically limited to at most several Newtons of endpoint force capacity, just enough to display simple virtual environments to the operator. | 1 Novel Actuation Methods for High Force Haptics Stephen P. Buerger and Neville Hogan Massachusetts Institute of Technology United States of America 1. Introduction Most haptic devices are intended primarily if not exclusively to exchange information with a human operator and often replace or augment traditional computer displays with backdrivable force-producing tactile interfaces. This includes popular commercial devices such as the PHANTOM Massie Salisbury 1994 that are typically limited to at most several Newtons of endpoint force capacity just enough to display simple virtual environments to the operator. Less conventional wearable haptic devices operate differently but similarly have a low force capacity sufficient only to convey information e.g. see devices described in Biggs Srinivasan 2002 . By contrast a class of applications that we refer to as high force haptics requires devices that exchange significant forces and sometimes power with an operator often up to and exceeding the force to move limbs or even large fractions of body weight. While achieving high forces these devices must also present low mechanical endpoint impedance to the operator i.e. be backdrivable or feel gentle in order to avoid injury and frequently to exchange information with the operator by representing virtual environments. We propose the following working definition High force haptic device A mechanical device for physical interaction with humans in one or more degrees of freedom that can actively produce controlled force and motion comparable to the capability of the limbs it interacts with and can be back-driven over the same motion range by forces much less than the capacity of the same limbs. This definition is not intended to be rigid or comprehensive but to provide a framework to elucidate the challenges of developing devices with high force capacity and low mechanical endpoint impedance capable of rendering virtual environments. Force and motion are considered here to be .
