Abstract
In this work we investigate the possibility of mimicking haptic perception by using rheological materials. An analysis of the rheological behaviour of some ”smart fluids”, such as Electro-rheological Fluids (ERFs) and Magneto-rheological Fluids (MRFs), is provided to design new haptic interfaces capable of reproducing shape and compliance of some virtual objects. Some theoretical design considerations are discussed and supported by magnetic simulations implemented by means of a numerical code. Several prototypes were designed and realized through a progressive enhancement of performance up to a final 3D immersive device. Furthermore, to assess performance a set of psychophysical tests was carried out and experimental results in terms of softness and shape recognition are reported.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Bicchi, A., Raugi, M., Rizzo, R., Sgambelluri, N.: IEEE T Magn. 41(5), 1876–1879 (2005)
Bicchi, A., Scilingo, E.P., Sgambelluri, N., De Rossi, D.: Haptic Interfaces based on magnetorheological fluid. In: Proceedings 2th International Conference Eurohaptics, pp. 6–11 (2002)
Bossis, G., Lemaire, E.: J. RHEOL. 35(7), pp. 1345–1354 (1991)
Brooks, N., Baldwin, T.: Methodology for universal synthesis of magnetic designs based on field specifications. In: Proc. of the Thirty-Fourth Southeastern Symposium on System Theory, pp. 113–117 (2002)
Carlson, J.D., Catanzarite, D.N., St Clair, K.A.: Commercial Magneto-Rheological Fluid Device. In: Proceedings 5th Int. Conf. on ER Fluids, MR Suspensions and Associated Technology, pp. 20–28 (1996)
Choi, S.B., Choi, Y.T., Park, D.W., Lee, H.G.: Smart Structures and Integrated Systems. In: Proc. of SPIE - The International Society for Optical Engineering, Smart Structures and Materials, vol. 3329, pp. 439–450 (1998)
Fedorov, V.A.: Magnetohydrodynamics 28(1), 96 (1992)
Kabakov, A.M., Pabat, A.I.: Sov. Electr. Eng. 26(2), 99–104 (1990)
Klatzky, R.A., Lederman, S., Reed, C.: J. Exp. Psychol. Gen. 116(4), 356–369 (1987)
Lederman, S.J., Klatzky, R.L.: Cognitive Psychol. 19, 342–368 (1987)
MEGA, User Manual, Bath University, UK (November 2000)
Scilingo, E.P., Bicchi, A., De Rossi, D., Scotto, A.: A magnetorheological fluid as a haptic display to replicate perceived compliance of biological tissues. In: 1st Annual Int. IEEE-EMBS Special Topic Conference on Microtechnologies in Medicine & Biology, pp. 12–14 (2000)
Scilingo, E.P., Sgambelluri, N., De Rossi, D., Bicchi, A.: Haptic Displays Based on Magnetorheological Fluids: Design, Realization and Psychophysical Validation. In: 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 10–15 (2003)
Scilingo, E.P., Sgambelluri, N., De Rossi, D., Bicchi, A.: Towards a Haptic Black Box: Magnetorheological fluid based display for softness and shape discrimination. In: IEEE Int. Conf. on Robotics and Automation, pp. 2412–2417 (2003)
Sgambelluri, N., Rizzo, R., Scilingo, E.P., Raugi, M., Bicchi, A.: Free Hand Haptic Interfaces Based on Magnetorheological Fluids. In: Proc. 14th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp. 367–371 (2006)
Sgambelluri, N., Scilingo, E.P., Bicchi, A., Rizzo, R., Raugi, M.: Advanced Modeling and preliminary psychophysical experiments for a free-hand haptic device. In: IEEE/RSJ Int. Conf. on Robots and Intelligent Systems, pp. 1558–1563 (2006)
Spencer, B.F., Dyke, S.J., Sain, M.K., Carlson, J.D.: J. Eng. Mech. Div-ASCE 123, 230–238 (1997)
Spronston, J.L., Yanyo, L.C., Carlson, J.D., El Wahed, A.K.: Controllable Fluids in 2002 - Status of ER and MR technology. In: 8th International Conference on New Actuators & 2nd International Exhibition on Smart Actuators and Drive Systems, pp. 333–338 (2002)
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Sgambelluri, N., Scilingo, E.P., Rizzo, R., Bicchi, A. (2008). A Free-Hand Haptic Interface Based on Magnetorheological Fluids. In: Bicchi, A., Buss, M., Ernst, M.O., Peer, A. (eds) The Sense of Touch and its Rendering. Springer Tracts in Advanced Robotics, vol 45. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-79035-8_8
Download citation
DOI: https://doi.org/10.1007/978-3-540-79035-8_8
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-79034-1
Online ISBN: 978-3-540-79035-8
eBook Packages: EngineeringEngineering (R0)