High Force Haptic Device

My initial project upon starting at UW-Madison was to design and build the power electronics and software drivers for a haptic device.  Although there are haptic devices commercially available, we desired a device that would enable us to display higher forces to the user and provide a relatively large workspace.  Haptic computation are handled using CHAI3D, an open-source haptics library.  Communication between PC and haptic device is handled via a Sensory626 I/O card.  The three motors on the device are controlled via Copley controls Junus JSP-090-10 amplifiers.