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    This study introduces a novel control moment gyroscope (CMG) system for ungrounded kinesthetic haptic feedback. The system effectively provides directional torque cues, showing potential for guiding users in various applications.

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    Area of Science:

    • Robotics
    • Human-Computer Interaction
    • Haptics

    Background:

    • Ungrounded kinesthetic haptic feedback is crucial for immersive virtual reality and teleoperation.
    • Existing systems often face limitations in providing precise, directional cues without physical grounding.

    Purpose of the Study:

    • To develop and validate a novel system using double-gimbal control moment gyroscopes (CMGs) for ungrounded kinesthetic haptic feedback.
    • To investigate the efficacy of asymmetric torque pulses generated by CMGs for directional cueing and user guidance.

    Main Methods:

    • A system of two double-gimbal CMGs was designed to isolate a single torque axis by counter-rotating flywheels.
    • A mathematical model was developed to predict the system's torque output, which was experimentally verified.
    • Two user studies were conducted to assess performance in identifying torque directions and navigating to target orientations.

    Main Results:

    • The CMG system successfully generated moment pulses proportional to flywheel spin and rotation speeds.
    • Experimental performance closely matched the mathematical model predictions.
    • Participants demonstrated the ability to identify torque cue directions and were guided by haptic pulses in orientation tasks.

    Conclusions:

    • The developed CMG system effectively provides directional kinesthetic haptic feedback without physical grounding.
    • The system's ability to generate distinct torque pulses shows significant potential for applications requiring precise user guidance.
    • This technology offers a promising solution for enhancing user experience in virtual environments and remote manipulation tasks.