Haptic Devices

High-end Haptic Devices (Force Feedback devices) require high update rates to reduce latency and increase responsiveness. Because of its efficiency, Motorcortex applications can run at very high speeds. For high end robotics, typically an update rate of 1 kHz is more than sufficient, for Haptic Devices update rates of 4 kHz (or more) are used.

Motorcortex has support for Admittance and Impedance Control. In Admittance control, the force is measured via a force or torque sensor and the control system calculates the displacement commands. In Impedance Control the displacement is measured and the control system calculates the target force or torque. Usually for haptic devices that are used for tele-operation, like in a surgical robot, use Impedance Control. In Control Loading systems for Aircraft or Vehicle simulation usually Admittance control is used.

Motorcortex also has modules for Flight Control simulation, that simulates the behavior of the aircraft flight control system, so the pilot can virtually feel the mechanics. The aerodynamic forces are usually provided by another computer that streams its data to the control loading system. Below is a picture of a visualization in Motorcortex of the flight control system of a C130 aircraft.

Motorcortex also supports commercially available Haptic Devices like the ones from Force Dimension (see below).