Dual-CMG Ungrounded Torque Feedback 

Using two double-gimbal control moment gyroscopes (CMGs), we can provide ungrounded kinesthetic haptic feedback. By spinning a second flywheel opposite the first, and rotating them through opposite trajectories, undesired gyroscopic effects can be eliminated, isolating a single torque axis. This produces a moment pulse proportional to the flywheel spin speed and rotation speed. Rotating the CMG gimbals quickly in one direction, then resetting them more slowly generates repeated torque pulses indicating a clear direction cue. This system has the potential to provide useful guidance for applications where ungrounded haptic feedback is desired.