Design and Modeling of an Electro-Rheological Fluid Based Haptic Interface

Abstract

In this project, Rutgers University has teamed with the Jet Propulsion Laboratory (JPL) to pursue the development and demonstration of a novel haptic interfacing capability called MEMICA (remote MEchanical MIrroring using Controlled stiffness and Actuators). MEMICA is intended to provide human operators intuitive and interactive feeling of the stiffness and forces at remote or virtual sites in support of space, medical, underwater, virtual reality, military and field robots performing dexterous manipulation operations. The key aspect of the MEMICA system is a miniature Electrically Controlled Stiffness (ECS) element that mirrors the stiffness at remote/virtual sites. The ECS elements make use of Electro-Rheological Fluid (ERF), which is an Electro-Active Polymer (EAP), to achieve this feeling of stiffness. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user by this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. This paper describes the analytical modeling and experiments that are currently underway to develop an ERF based force feedback element.

Full-hand electrotactile feedback using electronic skin and matrix electrodes for high-bandwidth human–machine interfacing

“…In teleoperation, haptic interfaces in the form of desktop devices, hand exoskeletons, data gloves and tactile displays have been proposed [3]. Interaction forces detected by the robot can be transmitted to the operator (kinaesthetic feedback) using exoskeletons that can be mounted on the hand [4][5][6][7][8][9], or over the full arm [10], and some solutions are already commercially available (e.g. CyberGrasp from CyberGlove Systems, CA).…”

Tracking controls of torque and force of 4-degree-of-freedom haptic master featuring smart electrorheological fluid

“…Kikuchi et al (2009) proposed a novel limb rehabilitation system (PLEMO-P1) using ER brake. Mavroidis et al (2000) proposed an ER haptic device called MEMICA. These studies revealed some difficult problems that need to be overcome.…”

Control of an ER haptic master in a virtual slave environment for minimally invasive surgery applications

“…This system is actuated by low-inertia motors equipped with an ER clutch. Mavroidis et al [16] developed a force-feedback device called MEMICA (MEchanical MIrroring using Controlled stiffness and Actuators). Böse et al [17] developed an ER fluid-based force-feedback joystick which consists of a ball and socket joint.…”