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Rendering viscosity using a four degrees of freedom wearable force feedback device with pneumatic artificial muscles and magnetorheological fluid clutches
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- Onozuka Yuki
- Chuo University
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- Oba Minoru
- Chuo University
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- Okui Manabu
- Chuo University
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- Nakamura Taro
- Chuo University
Bibliographic Information
- Other Title
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- 空気圧ゴム人工筋肉と磁気粘性流体クラッチを用いた装着型4自由度力覚提示装置による粘性提示
Description
<p>A four degrees of freedom wearable force feedback device with pneumatic artificial muscles and magnetorheological fluid clutches have been developed. The device has four degrees of freedom at shoulder and elbow. By arranging artificial muscles and magnetorheological fluid clutches at each joint, the device can render elasticity using characteristic of artificial muscle, friction, and viscosity by controlling torque of magnetorheological fluid clutch. We have already confirmed that the device render elasticity and friction. However, we have not confirmed whether the device can render viscosity yet. In this paper, we derived an equation for rendering viscosity, and conducted an experiment based on the equation.</p>
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 (0), 2A1-S07-, 2019
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390002184856459776
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- NII Article ID
- 130007774751
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
- OpenAIRE
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- Abstract License Flag
- Disallowed