Spherical MR-Brake with Nintendo Wii Sensors for Haptics

  • Doruk Senkal
  • Hakan Gurocak
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6192)


This research improves the position measurement system of a magnetorheological (MR) spherical brake we recently designed. The brake is a multi-DOF actuator. The initial design had a position measurement system with infrared (IR) sensors. Although the IR sensors gave good results, there were some performance degradations in the brake due to the noise in the sensors. In this research we implemented a new position measurement system using accelerometers and gyroscopes from a Nintendo Wii. Much better haptic feedback could be obtained in virtual wall collisions and in a virtual gear shifter simulation that used the brake as a joystick.


Haptics inertial sensor magnetorheological brake multi-DOF actuator force feedback 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Doruk Senkal
    • 1
  • Hakan Gurocak
    • 1
  1. 1.School of Engineering and Computer ScienceWashington State UniversityVancouverUSA

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