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Kraftreflektierender Joystick
LBR II (1998–2002)
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Miniatur Kraft - Drehmomenten Sensoren
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Force-Feedback Joystick (historical system)

Numerous simple command tasks in telerobotics and telepresence can be accomplished with human machine interfaces with a maximum of two or three degrees of freedom (DoF). For this kind of applications the joystick represents a very intuitive way to command a teleoperator or an object within a virtual environment in two DoF. This type of human machine interface became more popular after being used as a command input in PC games. In the last years the functionality of joystick systems has been expanded by adding electric actuators to the joystick axes, enabling in this way force feedback commands to the operators hand and thus a more precise and intuitive command issue.

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.

dSpace Force-Feedback Joystick


The first version of the DLR Force-Feedback Joystick was controlled by a dSpace PC control interface. The flexibility of this system allowed to setup some benchmarks for the quality of the exerted forces and to develop easily a series of control algorithms and applications.
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Steer-by-wire Joystick


In collaboration with BMW AG a DLR force reflecting joystick was adapted as steer-by-wire input device. For this purpose several additional functions had to be implemented such as: • redundancy in position measurement and sensor data transmission; • CAN and TTP Protocol communication interface; • higher mechanical stress resistance; • EMC compatible electronic design; • handle design with car driving specific control knobs.
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USB Force-Feedback Joystick


In the current telerobotic space application project ROKVISS a very fast direct radio link will enable the control of a two axes robot via a 2-DoF force feedback joystick. For this purpose the DLR force-feedback joystick had to be adapted to the ground computer environment of the telerobotic station.
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