Modeling and Design of an Electro-Rheological Fluid Based Haptic System for Tele-Operation of Space Robots

Abstract

In this paper a novel haptic interface is presented to enable human-operators to "feel" and intuitively mirror the stiffness/forces at remote/virtual sites enabling control of robots as human-surrogates. The proposed haptic interface is intended to provide human operators intuitive feeling of the stiffness and forces at remote or virtual sites in support of space robots performing dexterous manipulation tasks (such as operating a wrench or a drill). Remote applications are referred to the control of actual robots whereas virtual applications are referred to simulated operations. The developed haptic interface will be applicable to IVA operated robotic EVA tasks to enhance human performance, extend crew capability and assure crew safety. The novel device that is presented here employs Electro-rheological Fluids (ERF), which are electroactive polymers that change their viscosity when electrically stimulated.

Core−Shell Structured Semiconducting PMMA/Polyaniline Snowman-like Anisotropic Microparticles and Their Electrorheology

“…These structural changes in an ER fluid increase the shear viscosity, which is rapid, reversible, and controllable. This property gives ER fluids many potential application in mechanical and intelligent devices, involving automotive dampers and clutches, break and actuator devices in orthotic devices, haptic devices for telesurgery, and recent uses in microfluidics …”

Photo‐Switchable Surface Topologies in Chiral Nematic Coatings

“…For instance, a topology-modulated change in the friction coefficients finds its application in the field of haptics where robotic manipulation and touch-input devices are of importance. [1] Also the optical properties are strongly affected by changes of the surface topology, for example, the directionality of diffusive reflection [2] or the modulation of diffractive properties. We can also think of even more advanced applications such as switchable wettability or adhesion control as, for example, the adhesion induced by geckos climbing surfaces.…”

Tutorial Review on Space Manipulators for Space Debris Mitigation

“…A 6 DOF force reflecting hand controller within a joystick provides force feedback to the operator. The Robonaut haptic sensor is mounted at several positions in the cyberglove that mirrors the remote tool stiffness/forces-it is based on an electrorheological fluid actuator which alters its viscosity under an electric field [8].…”