A Haptic interface with adjustable stiffness using MR fluid sophon somlor

Gonzalo Aguirre Dominguez; Alexander Schmitz; Mitsuhiro Kamezaki; Shigeki Sugano

doi:10.1109/AIM.2015.7222692

A Haptic interface with adjustable stiffness using MR fluid sophon somlor

Gonzalo Aguirre Dominguez, Alexander Schmitz, Mitsuhiro Kamezaki, Shigeki Sugano

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Citations (Scopus)

Abstract

This paper describes a combined tactile sensor and haptic interface that can change its stiffness using magnetorheological fluids (MR fluid). The tactile sensor consists of 6 distributed capacitive sensors that can sense the location and the amount of applied force. Above the sensors is a chamber filled with MR fluid. By changing the magnetic field, the hardness of the MR fluid, and thereby of the haptic interface, can be changed. Fast changes of the magnetization direction lead to a sensation of vibration. The resulting device can be used for novel haptic input devices or for robotic grippers. A prototype device has been constructed, and the effects of the varying magnetic field and the resulting varying stiffness of the MR fluid on the distributed force sensing with the capacitive sensors has been evaluated. We discovered that the measured forces vary very little with changes in the strength of the magnetic field.

Original language	English
Title of host publication	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1132-1137
Number of pages	6
Volume	2015-August
ISBN (Print)	9781467391078
DOIs	https://doi.org/10.1109/AIM.2015.7222692
Publication status	Published - 2015 Aug 25
Event	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015 - Busan, Korea, Republic of Duration: 2015 Jul 7 → 2015 Jul 11

Other

Other	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
Country/Territory	Korea, Republic of
City	Busan
Period	15/7/7 → 15/7/11

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering
Computer Science Applications
Software

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10.1109/AIM.2015.7222692

Cite this

A Haptic interface with adjustable stiffness using MR fluid sophon somlor. / Dominguez, Gonzalo Aguirre; Schmitz, Alexander; Kamezaki, Mitsuhiro et al.
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2015-August Institute of Electrical and Electronics Engineers Inc., 2015. p. 1132-1137 7222692.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Dominguez, GA, Schmitz, A, Kamezaki, M & Sugano, S 2015, A Haptic interface with adjustable stiffness using MR fluid sophon somlor. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. vol. 2015-August, 7222692, Institute of Electrical and Electronics Engineers Inc., pp. 1132-1137, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015, Busan, Korea, Republic of, 15/7/7. https://doi.org/10.1109/AIM.2015.7222692

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abstract = "This paper describes a combined tactile sensor and haptic interface that can change its stiffness using magnetorheological fluids (MR fluid). The tactile sensor consists of 6 distributed capacitive sensors that can sense the location and the amount of applied force. Above the sensors is a chamber filled with MR fluid. By changing the magnetic field, the hardness of the MR fluid, and thereby of the haptic interface, can be changed. Fast changes of the magnetization direction lead to a sensation of vibration. The resulting device can be used for novel haptic input devices or for robotic grippers. A prototype device has been constructed, and the effects of the varying magnetic field and the resulting varying stiffness of the MR fluid on the distributed force sensing with the capacitive sensors has been evaluated. We discovered that the measured forces vary very little with changes in the strength of the magnetic field.",

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A Haptic interface with adjustable stiffness using MR fluid sophon somlor

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