A SEMI-ACTIVE LINEAR HAPTIC DEVICE USING ELECTRO-RHEOLOGICAL FLUID OR MAGNETO-RHEOLOGICAL FLUID

摘要

PURPOSE: A semi-active linear haptic device using ER(Electro-Rheological) fluid or MR(Magneto-Rheological) fluid is provided to generate reaction force by forming a particle structure between a cylinder wall and a porous resin. CONSTITUTION: A load(13) connected to a gripper is fixed to a piston(21). A groove is formed in the center of a piston. A porous resin(22) absorbing ER(Electro-Rheological) fluid is fixed to the groove. The piston is made of a conductive material to serve as an electrode(25) applying an electric field in the ER fluid. The electrode is inserted into an inner wall of a cylinder(24). The electrode inside the cylinder touches with the porous resin covering the piston. A key groove(23) formed in the piston prevents the rotation of the piston translating inside the cylinder. Sealing(26) is inserted into both end portions of the piston.