Programmable differential brake for passive haptics

This paper outlines work on a novel programmable braking system, which is widely applicable to most passive haptic applications and benefits from a simple design, theoretically infinite positional resolution and the ability to generate stiff collision forces, without the need for any explicit force measurements. Results are also given of a preliminary concept demonstrator which is based on a simple 2-Degrees-Of-Freedom (DOF) Revolute–Revolute (RR) manipulator incorporating the programmable brakes. Performance measures for the joint, as well as figures describing the ability of the 2-DOF prototype to constrain the end effector motion to a plane and a circle, are also provided.