Objectives: The goal of our development works concerning force feedback joysticks was to obtain a high fidelity haptic display with two DoF which allows a very realistic force display.
The mechatronic solution adopted for the force exertion was to add a drive combination of ironless DC brushed motors and cable gears to the cardanic joint of the joystick axes. This approach allows changeability of different force levels by adapting the motor-gear combination.
To obtain high accuracy the position in both joystick axes is measured by high resolution encoders and the motors have ironless and sloped windings. The power electronics assure a very precise current control in both axes with very high chopping rates.