Application and Validation of a Linear Electromagnetic Actuator within a Haptic Piano Key

Timmermans, Sébastien; Desclee, Quentin; Paillot, Guillaume; Paul, Friedemann; Dehez, Bruno

doi:10.1109/ldia.2019.8770969

Cited by 2 publications

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“…This paper is based on a previous work [1]. Compared to [1], the multibody approach is described and the piano action model is presented. Interesting results are achieved with both this model and a simpler one, showing the easiness to switch from one model to another.…”

Section: Introductionmentioning

confidence: 99%

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Multibody-Based Piano Action: Validation of a Haptic Key

2020

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A piano key prototype actuated by a custom-made linear actuator is proposed to enhance the touch of digital pianos by reproducing the force feedback of an acoustic piano action. This paper presents the design and the validation of the haptic device. The approach exploits a multibody model to compute the action dynamics and the corresponding force on the key in real time. More specifically, a grand piano model that includes the five action bodies, its geometry and the specific force laws, is computed in the haptic device. A presizing step along with Finite Element Method (FEM) analysis produced an especially made actuator satisfying the design requirements, in particular the highly dynamic nature of the force to be transmitted. Force peaks, up to 50 (N) in less than 20 (ms), are reachable with low power consumption. Compared to previous solutions: (i) the key physical characteristics are preserved; (ii) the feedback is based on a real-time multibody model that is easily configurable and interchangeable; (iii) an experimental validation of the actuator within the prototype is developed and demonstrates its feasibility. The results confirm that the voice coil can produce suitable haptic feedback. In particular, rendering a grand piano action within the device shows promising haptic force profiles.

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Section: Introductionmentioning

confidence: 99%

“…This paper is based on a previous work [1]. Compared to [1], the multibody approach is described and the piano action model is presented.…”

Section: Introductionmentioning

confidence: 99%

Multibody-Based Piano Action: Validation of a Haptic Key

2020

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Haptic Devices Based on Real-Time Dynamic Models of Multibody Systems

Docquier

Timmermans

Paul

2021

Sensors

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Multibody modeling of mechanical systems can be applied to various applications. Human-in-the-loop interfaces represent a growing research field, for which increasingly more devices include a dynamic multibody model to emulate the system physics in real-time. In this scope, reliable and highly dynamic sensors, to both validate those models and to measure in real-time the physical system behavior, have become crucial. In this paper, a multibody modeling approach in relative coordinates is proposed, based on symbolic equations of the physical system. The model is running in a ROS environment, which interacts with sensors and actuators. Two real-time applications with haptic feedback are presented: a piano key and a car simulator. In the present work, several sensors are used to characterize and validate the multibody model, but also to measure the system kinematics and dynamics within the human-in-the-loop process, and to ultimately validate the haptic device behavior. Experimental results for both developed devices confirm the interest of an embedded multibody model to enhance the haptic feedback performances. Besides, model parameters variations during the experiments illustrate the infinite possibilities that such model-based configurable haptic devices can offer.

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Application and Validation of a Linear Electromagnetic Actuator within a Haptic Piano Key

Cited by 2 publications

References 10 publications

Multibody-Based Piano Action: Validation of a Haptic Key

Multibody-Based Piano Action: Validation of a Haptic Key

Haptic Devices Based on Real-Time Dynamic Models of Multibody Systems

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