Haptic Glove With MR Brakes for Virtual Reality
Haptic Glove With MR Brakes for Virtual Reality
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DOI：
10.1109/tmech.2008.2010934
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发表时间：
2009-10-01
影响因子：
6.4
通讯作者：
Gurocak, Hakan B.
中科院分区：
文献类型：
--
作者：
Blake, Jonathan;Gurocak, Hakan B.
触觉手套允许用户以自然的方式拾取和感受虚拟物体，从而打开了力反馈的世界。在大多数现有手套中，远程盒中装有大量执行器和传感器。手套的电力通过电缆传输。如果触觉手套更小、更轻、更易于使用和控制，它们可能会成为更常见的人机界面。最近的发展表明，基于活性流体（例如磁流变（MR）流体）的执行器可以成为触觉方面的可行替代品。但这些设备安装在桌面或地板上，并使用相对较大的 MR 制动器。在这项研究中，我们开发了一种紧凑型 MR 制动器，直径约为 25 毫米，重 84 克，可施加高达 899 N.mm 的扭矩。通过堆叠钢环和铝环以在流体中形成蛇形通量路径来实现紧凑的尺寸。六个制动器被用来制造一种名为 MR 手套的力反馈手套。该手套重 640 克，不需要任何远程执行器。可用性实验结果表明，MR 手套提高了抓取虚拟物体的任务完成时间，并且可以向用户传达刚度信息。
Haptic gloves open up the world of force feedback by allowing the user to pick up and feel virtual objects in a natural way. In most of the existing gloves, a remote box houses a large number of actuators and sensors. Power to the glove is transmitted via cables. If the haptic gloves were smaller, lighter, and easier to use and control, they could become more common as human-machine interfaces. Recent developments show that actuators based on active fluids, such as the magnetorheological (MR) fluids, can be viable alternatives in haptics. But these devices are desk- or floor-mounted and use relatively largeMR brakes. In this research, we developed a compact MR brake that is about 25 mm in diameter, weighs 84 g, and can apply up to 899 N.mm torque. The compact size was achieved by stacking steel and aluminum rings to create a serpentine flux path through the fluid. Six brakes were used to build a force feedback glove called MR glove. The glove weighs 640 g and does not require any remote actuators. Results of usability experiments showed that the MR glove improved task completion times in grasping virtual objects and could convey stiffness information to the user.