Design and Development of Passive and Active Force Feedback Systems Using Magnetorheological Fluids

Recently, haptic devices have been in use to increase the effectiveness of human-machine interfaces. On the forefront of this technology are passive, force-feedback controllers that resist or even limit motion. This motion control can be the result of a manipulator coming into contact with an object in either the virtual or physical world. Thus, an end-user can get both visual and tactile feedback on system operations. Furthermore, an active force-feedback controller can not only resist motion, but also create a reactive force that the user can sense. This active force-feedback is essential for delicate operations, such as telerobotic surgery, where a doctor needs to feel the difference between a spongy muscle and a hard bone. However, such haptic devices need to be simple and fast, so that they will not interfere with the existing system dynamics. A promising solution employs magnetorheological (MR) fluids in an active force-feedback controller. MR fluids feature a rheological change that is brought about when micron-sized particles within the fluid are exposed to a magnetic field. This change happens within milliseconds and can be used to create resistance quickly and easily. MR fluids can also be combined in a motor driven clutch mechanism to provide active resistance to the user with a force proportional to what the manipulator is experiencing. This paper will show the model development, design, construction, and control implementation of passive and active force-feedback devices.

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Design of a Novel Parallel Mechanism for Haptic Device

Journal of Mechanisms and Robotics ◽

10.1115/1.4050562 ◽

2021 ◽

pp. 1-63

Author(s):

Jin Lixing ◽

Duan Xingguang ◽

Li Changsheng ◽

Shi Qingxin ◽

Wen Hao ◽

...

Keyword(s):

Parallel Mechanism ◽

Degrees Of Freedom ◽

Force Feedback ◽

Parallel Architecture ◽

General Purpose ◽

Haptic Device ◽

Haptic Devices ◽

Modeling And Optimization ◽

Teleoperation Systems

Abstract This paper presents a novel parallel architecture with seven active degrees of freedom (DOFs) for general-purpose haptic devices. The prime features of the proposed mechanism are partial decoupling, large dexterous working area, and fixed actuators. The detailed processes of design, modeling, and optimization are introduced and the performance is simulated. After that, a mechanical prototype is fabricated and tested. Results of the simulations and experiments reveal that the proposed mechanism possesses excellent performances on motion flexibility and force feedback. This paper aims to provide a remarkable solution of the general-purpose haptic device for teleoperation systems with uncertain mission in complex applications.

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Active Force Feedback Control for Assembly Processes Using a Flexible and Sensible Robot Wrist

Toward the Factory of the Future ◽

10.1007/978-3-642-82580-4_96 ◽

1985 ◽

pp. 571-577 ◽

Cited By ~ 2

Author(s):

B. K. Ko ◽

H. S. Cho

Keyword(s):

Feedback Control ◽

Force Feedback ◽

Active Force ◽

Robot Wrist

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Development of an Electro-Rheological Fluidic Actuator and Haptic Systems for Vehicular Instrument Control

Dynamic Systems and Control, Volumes 1 and 2 ◽

10.1115/imece2003-43514 ◽

2003 ◽

Cited By ~ 1

Author(s):

Avi Fisch ◽

Jason Nikitczuk ◽

Brian Weinberg ◽

Juan Melli-Huber ◽

Constantinos Mavroidis ◽

...

Keyword(s):

Feedback Control ◽

Visual Attention ◽

Electric Field ◽

Force Feedback ◽

Haptic Feedback ◽

Haptic Devices ◽

Experimental Systems ◽

Instrument Control ◽

Control Devices ◽

Sense Of Touch

Force-feedback methanisms have been designed to simplify and enahance the human-vehicle interface. The increase in secondary controls within vehicle cockpits has created a desire for a simpler, more efficient human-vehicle interface. Haptic system, or systems that interact with the operator’s sense of touch, can be used to consolidate various controls into fever, haptic feedback control devices, so that information can be transmitted to the operator and the operator can change control settings without requiring the driver’s visual attention. In this paper an Electro-Rheological Fluid (ERF) based actuator and mechanisms are presented that provide haptic feedback. ERSs are fluids that change their viscosity in response to an electric field. Using the electrically controlled rheological properties of ERFs, haptic devices have been developed that can resist human operator forces in a controlled and tunable fashion. The design of an ERF-based actuator and its application to a haptic knob and haptic joystick is presented. The analytical model is given, analyses are performed, and experimental systems and data are presented for the actuator. Conceptual methods for the application to the haptic devices are presented.

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Active Synthesis of Discrete Systems as a Tool for Reduction Vibration

Solid State Phenomena ◽

10.4028/www.scientific.net/ssp.198.427 ◽

2013 ◽

Vol 198 ◽

pp. 427-432 ◽

Cited By ~ 12

Author(s):

Andrzej Dymarek ◽

Tomasz Dzitkowski

Keyword(s):

Force Feedback ◽

Dynamic Properties ◽

Vibration Reduction ◽

Mechanical Systems ◽

Discrete Systems ◽

Mechanical Effect ◽

Active Force ◽

Active Synthesis ◽

Proper Selection ◽

Selection Of

The paper presents the problem of vibration reduction in designed discrete mechanical systems. The method of reduction has been based on active synthesis, which makes it possible to obtain the desired mechanical effect through the proper selection of dynamic properties of the system, including the calculation of the active force as a function of the system force feedback.

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Bilateral teleoperation of mobile robots

Robotica ◽

10.1017/s0263574701003769 ◽

2002 ◽

Vol 20 (2) ◽

pp. 213-221 ◽

Cited By ~ 10

Author(s):

Vicente Mut ◽

José Postigo ◽

Emanuel Slawiñski ◽

Benjamin Kuchen

Keyword(s):

Mobile Robot ◽

Mobile Robots ◽

Visual Information ◽

Force Feedback ◽

Control Structure ◽

Interaction Force ◽

Tactile Feedback ◽

Linear Velocity ◽

Bilateral Teleoperation

A control structure for the bilateral teleoperation of mobile robots, with tactile feedback and visual information of the interaction force is proposed in this paper. Also an impedance controller is implemented in the mobile robot structure that guarantees the linear velocity be within a desired fixed range without saturation in the actuators. To illustrate the performance of the proposed control structure, experiments on a Pioneer 2 mobile robot teleoperated with a commercial joystick with force feedback are shown.

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Integrating PhysX and OpenHaptics: Efficient force feedback generation using physics engine and haptic devices

2009 Joint Conferences on Pervasive Computing (JCPC) ◽

10.1109/jcpc.2009.5420068 ◽

2009 ◽

Cited By ~ 7

Author(s):

Leon Sze-Ho Chan ◽

Kup-Sze Choi

Keyword(s):

Force Feedback ◽

Haptic Devices ◽

Physics Engine

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Multimodal Mouse: A Mouse-Type Device with Tactile and Force Display

Presence Teleoperators & Virtual Environments ◽

10.1162/pres.1994.3.1.73 ◽

1994 ◽

Vol 3 (1) ◽

pp. 73-80 ◽

Cited By ~ 25

Author(s):

Motoyuki Akamatsu ◽

Sigeru Sato ◽

I. Scott MacKenzie

Keyword(s):

Force Feedback ◽

Target Selection ◽

Feedback Condition ◽

Tactile Feedback ◽

Information Feedback ◽

Mouse Button ◽

Tactile Information ◽

Type Device ◽

Speed Up ◽

Additional Feedback

A mouse was modified to add tactile and force display. Tactile feedback, or display, was added via a solenoid driving a small pin protruding through a hole in the mouse button. Force feedback was added via an electromagnet and an iron mouse pad. Both enhancements were embedded in the mouse casing, increasing its weight from 103 to 148 g. In a target selection task experiment, the addition of tactile information feedback reduced target selection times slightly, compared to the no additional feedback condition. A more pronounced effect was observed on the clicking time—the time to selection once the cursor entered the target. In this case, we observed a statistically significant speed-up of about 12% in the presence of tactile feedback. The modified mouse was also used in a test of virtual texture. The amplitude and frequency of solenoid pulses were varied according to the movement of the mouse and the underlying virtual texture. Subjects could reliably discriminate between different textures.

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