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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Haptic Glove With MR Brakes for Virtual Reality
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Haptic Glove With MR Brakes for Virtual Reality

机译：带有MR制动器的虚拟现实触觉手套

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摘要

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 large MR 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.
机译：触觉手套允许用户以自然方式拾起并感觉到虚拟物体，从而打开了力反馈的世界。在大多数现有的手套中，一个远程盒子中装有大量的执行器和传感器。手套的电源通过电缆传输。如果触觉手套更小，更轻，更易于使用和控制，它们将在人机界面中变得更加普遍。最近的发展表明，基于活性流体（例如磁流变（MR）流体）的致动器可能是触觉中的可行替代方案。但是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，我们开发了紧凑的MR制动器，其直径约为25毫米，重84克，可施加高达899 N·mm的扭矩。紧凑的尺寸是通过堆叠钢环和铝环以形成通过流体的蛇形通量路径来实现的。六个制动器用于制造称为MR手套的力反馈手套。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手套可以缩短抓握虚拟物体的任务完成时间，并且可以将刚度信息传达给用户。

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