ActivePaD surface haptic device

Joe Mullenbach*, Dan Johnson, J. Edward Colgate, Michael A. Peshkin

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

34 Scopus citations


We present a new surface haptic interface that combines a variable friction device (the Large Area TPaD) with an impedance controlled planar mechanism. This device configuration is novel because it allows control of the frictional force in the static friction regime, control of the direction of force in the kinetic friction regime, as well as a degree of control over the transition between the two regimes. The range of operating modes combined with a large force capability make the device an appropriate platform for exploring surface haptic control algorithms. The design of the system is explained, two major categories of control algorithm are introduced, and the implementation of a virtual dimple is discussed. Experimental data are used to compare a virtual dimple to its physical analog, and to reveal areas for improvement.

Original languageEnglish (US)
Title of host publicationHaptics Symposium 2012, HAPTICS 2012 - Proceedings
Number of pages8
StatePublished - 2012
Event2012 IEEE Haptics Symposium, HAPTICS 2012 - Vancouver, BC, Canada
Duration: Mar 4 2012Mar 7 2012

Publication series

NameHaptics Symposium 2012, HAPTICS 2012 - Proceedings


Other2012 IEEE Haptics Symposium, HAPTICS 2012
CityVancouver, BC

ASJC Scopus subject areas

  • Human-Computer Interaction


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