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Haptic devices using asymmetric drive have been attracting attention. We have been studying 2-DOF haptic devices using a 2-DOF oscillatory actuator that can independently output asymmetric acceleration waveforms in 2 axes. This paper presents a new 2-Degree-of-freedom (DOF) linear oscillatory actuator. First, its static characteristics are computed by 3-D finite element method (FEM). Then, the dynamic characteristics of the actuator under asymmetric acceleration drive are clarified through FEM analysis and finally compared with measurements on a prototype.

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Nowadays, Linear Oscillatory Actuators (LOAs) are being used as vibration control devices. Electromagnetic LOAs are more effective as vibration control devices because of its high controllability. However, the thrust constant of the electromagnetic LOA is comparatively low and thus the electric power necessary to control the vibration is high. In this paper, we propose an LOA that uses regenerative energy and has a high thrust constant at certain frequencies.

The dynamic characteristics of a proposed two degree-of-freedom (DoF) actuator under amplitude feedback control are investigated in this paper. The feature of our proposed two DoF resonant actuator is that movement in the xand z-axes can be independently controlled by vector control. Two controllers: a PID controller and a proxy-based sliding mode (PSM) controller were compared for amplitude feedback control. A simulation model using finite element method (FEM) and MATLAB/Simlink is made, and the dynamic characteristics of the actuator under feedback control are calculated. Moreover, measurements on a prototype are conducted to show the validity of the simulation results.