Specifications and Prototype of Rheological Device

In the task 4.3 we investigated on the possibility of realizing haptic display to mimic haptic sensations by using ‘new’ technologies such as smart materials. In the previous D4.6 we preliminarily investigated on rheological properties of some controllable fluids and we explored the possibility of implementing haptic interfaces by using Magneto-Rheological Fluids (MRFs). Unlike kinaesthetic displays present in literature this type of haptic interface would allow a direct contact with a virtual compliant object. In particular the design of some haptic interfaces capable to reproduce shape and compliance of virtual objects has been presented. In this case both kinaesthetic and cutaneous channels of the fingerpads are stimulated during the manipulation and tactile perception is augmented. The initial Haptic Black Box-I prototype (HBB-I), already described in D4.6 consisted of a volume of MR fluid placed within a plexiglas box where a hand, wearing a latex glove, can be introduced through a sealed opening to interact with the fluid. Here, starting from the analysis on the previous prototypes, some detailed magnetic simulations by means of 3D numerical code are provided in order to identify a new device with improved performance. These improvements led to a new haptic black box scheme, which we called Haptic Black Box-II (HBB-II). The new design enhanced performance in terms of higher and more accurate magnetic field and increased spatial resolution. A 3D numerical analysis, taking into account the material non-linearity, was done to predict the distribution of the magnetic field and consequently the rheological behaviour of the fluid. HBB-II is described in terms of technical design and mechanical arrangement. TOUCH-HapSys D4.7 Specifications and Prototype of Rheological Device 2 This page is left blank intentionally. TOUCH-HapSys D4.7 Specifications and Prototype of Rheological Device 3 Table of