Effects of thermal protection methods on haptic perception

Electric DC motors that convert electric current to torque are the most common type of actuators used in haptic interfaces. However, high currents necessary to deliver large haptic forces can generate heat in the electromagnetic coils, and in the extreme can cause malfunctions due to overheating. It is therefore necessary to add thermal protection mechanisms to limit the output current. While this is a common feature of haptic devices, it is not clear what makes a superior current limiting method or what effect such limits have on haptic perception.