There is a cube inside a transparent cubical box. The user can translate and rotate the inner box while feeling corner, edge, and face contact with the outer box. In this demo, rotation is limited to roughly plus or minus 10 degrees.
Tests the response time of the Maglev control box via Ethernet. There is a version for Linux (gcc) and Windows (Visual Studio). Usage (Linux): ./delay_linux 192.168.0.2. Avg response time should be smaller than 400 us, a good value is for example 250 us.
Matlab Toolbox v0.4 allows Matlab to access functions from the Maglev API. Useful for real time plotting, testing, etc. For installation instructions and usage see the readme file and/or the corresponding article on this website.
In this demo we implemented a model of friction described by Hayward & Armstrong (2000). Three types of frictional behaviors were simulated: Stick-Slide, Stick-Slip-Slide, and Stick-Creep-Slip-Slide. For simplicity, the implementation has only single DOF (translation along Z-axis).
This demo presents a simulation of virtual needle insertion in viscoelastic materials (material#1: 100N/m, 50N*sec/m; material#2: 1000N/m, 5N*sec/m). Friction during insertion is implemented using Hayward's stick-slide model. For simplicity, the implementation has only single DOF.