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a Measured friction in several haptic voltage conditions.
As Eq. (8) indicates, the haptic voltage should be estimated from the product of the sensor output and the haptic voltage.
When the haptic voltage was raised, the friction force gradually increased.
The color of the plots represents the haptic voltage as the legend shows.
It should be noted that the commanded haptic voltage is different from the actual haptic voltage measured at the pad, due to the voltage drop at the transformer and the current-limiting resistor.
The sensing system superposes high-frequency (much higher than that of the haptic voltage) signal to the haptic voltage using transformers, which results in corresponding high-frequency signals flowing through the current sensors.
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In particular, many customers' applications such as automotive, Smartphone, tablet PC or touch pad can be concerned by high performances, low voltage haptic interfaces which allow the user to interact with its environment by the sense of touch.
Comparison of the two controllers in the square-wave case shows that the closed-loop controller improves the rising of the haptic force by increasing the applied voltage.
The model is necessitated by the driver of our constant voltage driver (CVD -based eleCVD -basedelectrotactilering system, whapticeaturenderingd-loop, load-aware (i.e. fingertip systemioimpedance-awhich capability in contrast to constant-current-driver (CCD) systems.
Haptic rendering is realized by applying high voltages to the contact pads.
This voltage range is typical (or slightly higher) for haptic applications.
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