초음파 모터 구동 6자유도 역감 장치를 이용한 가상 자석의 구현

This paper proposes virtual-magnetic system by a force-reflecting interface to drive a ultrasonic motors(USMs) To approach virtual magnet in graphic, the 6 DOF force-reflecting interfaces provides force feedback to users as if i is magnetic-force. So, users can feel real magnet Effectively to display the magnetic-force, we need the interfaces with specific characteristics such as low inertia, almost zero friction and very high stiffness. As an actuator for the interface, the USMs have many good advantages satisfied these conditions over conventional servo motors. To estimate capability of this virtual-magnetic system, we did an experiment of magnetism based on coulomb's law. when Coulmb's low apply this experiment, it is very conformable to real magnet