We developed ER actuators with low inertia. ER actuator is a torque-controllable clutch which uses an electrorheological fluid. It is shown that this actuator has good properties for force display device, physical therapy treatment, etc. We developed new force display devices for virtual reality which use ER actuators.

Force display systems are important in virtual reality and other applications. While conventional force displays are active systems with actuators and as such may become inherently dangerous, passive force displays are effective methods for assuring safety. In this paper, we developed a brake using electrorheological (ER) fluid, and showed a passive force display system using ER brakes with two degrees of freedom. We also discuss basic control experiments of the system.

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