Omni: Volumetric Sensing and Actuation of Passive Magnetic Tools for Dynamic Haptic Feedback
summary
A self-contained bench-sized device tracks and pushes a passive handheld tool that contains only a small permanent magnet, using an iron-core 3 DoF spherical electromagnet with three intertwined coils and a PCB with eight 3D Hall sensors to reconstruct position via a dipole model plus quasi-Newton gradient descent. Tracking error is ~5 mm without actuation and <7 mm under actuation; the actuator produces up to 2 N sustained for 30 seconds. All hardware, code, and blueprints are released.
AI-written summary · about
chapters (6)
related talks
18mFinexus: Tracking Precise Motions of Multiple Fingertips Using Magnetic Sensing
21mMagTics: Flexible and Thin Form Factor Magnetic Actuators for Dynamic and Wearable Haptic Feedback
19mTRing: Instant and Customizable Interactions with Objects Using an Embedded Magnet and a ...
09mGaussMarbles: Spherical Magnetic Tangibles for Interacting with Portable Physical Constraints
12mMod2Hap: Two Level Modular Haptic System for Body- and Hand- Interactions using Magnetorheologica...
07mAuraRing: Precise Electromagnetic Finger Tracking
17mVR Grabbers: Ungrounded Haptic Retargeting for Precision Grabbing Tools
12mHydroHaptics: High-Fidelity Force-Feedback on Soft Deformable Interfaces using Hydrostatic Transm...