Design and Experimental Evaluation of an Electrorheological Haptic Module with Embedded Sensing

Abstract

We present a miniature haptic module based on electrorheological fluid, designed for conveying combined stiffness and vibrotactile sensations at a small scale. Haptic feedback is produced through electrorheological fluid’s controllable resistive force and varies with the actuator’s deformation. To demonstrate the proposed actuator’s feedback in realistic applications, a method for measuring the actuator’s deformation must be implemented for active control. To this end, in this study, we incorporate a sensor design based on a bend-sensitive resistive film to the ER haptic actuator. The combined actuator and sensor module was tested for its ability to simultaneously actuate and sense the actuator’s state under indentation. The results show that the bend sensor can accurately track the actuator’s displacement over its stroke. Thus, the proposed sensor may enable control of the output resistive force according to displacement, which may lead to more informed and engaging combined kinesthetic and tactile feedback.

Sensors and Sensing Devices Utilizing Electrorheological Fluids and Magnetorheological Materials – a Review

“…Then, the transmittances of ED loading SMs@FNs can be identified as a function of the frequency at a certain voltage-on and hence the transmission of the plague may be protected. Mazursky et al [51] embedded a sensing mechanism using ERF in which tactile sensations at small scale are conveyed from the field-dependent resistive force of the haptic feedback system. They made a deflection sensor and verified its effectiveness where the sensor design was done on the basis of the stress-sensitive resistive film in bending to the ERF haptic actuator.…”

“…It is noted that the colorful ERF is not a sensor but plays a role of the visual selection to achieve desired field-dependent characteristics. Mazursky et al [53] proposed a miniature haptic module based on ERF to convey both combined stiffness and vibrotactile sensations at a small scale. Figure 3 shows the schematic and working principle of a cylindrical ER device in which a user presses upon the membrane surface, the grounded spring electrode is displaced vertically by squeezing the ERF between the grounded spring and high voltage electrodes.…”

Advanced User Interfaces for Teleoperated Surgical Robotic Systems

“…[134] For example, Mazursky et al presented the design and experimental evaluation of an ER haptic actuator in realistic applications (Figure 6f). [126] Heo et al, on the other hand, proposed the use of an MR haptic actuator for a shoe (Figure 6d). [124] However, both MR and ER brakes have a higher torque-to-mass ratio compared to conventional DC motors, resulting in excellent haptic transparency.…”

“…Reproduced with permission. [ 126 ] Copyright 2021, MDPI; g) Main components and working principle of a hybrid (electro‐hydraulic) actuator for the soft wearable device. Reproduced with permission.…”

“…Copyright 2021, MDPI; f) Structure and working principle of electrorheological (ER) haptic actuator. Reproduced with permission [126]. Copyright 2021, MDPI; g) Main components and working principle of a hybrid (electro-hydraulic) actuator for the soft wearable device.…”