01459nas a2200157 4500008004100000022001400041245008500055210006900140300001600209490000700225520091000232653001201142653001301154100001301167856012101180 2013 eng d a0018-946400aA Permanent-Magnet Exciter for Magneto-Rheological Fluid-Based Haptic Interfaces0 aPermanentMagnet Exciter for MagnetoRheological FluidBased Haptic a1390–14010 v493 a

This paper describes an innovative haptic interface device based on magneto-rheological fluid (MRF). A system of permanent magnets and coils is designed in order to produce a proper distribution of a magnetic field inside the fluid. This distribution, with its spatial resolution, causes the MRF to assume prescribed shapes and softness profiles that can be directly felt and explored by hand. The device is designed using a 3-D finite-elements code taking into account the B-H functions of the nonlinear materials (MRF, permanent magnets, ferromagnetic materials). In order to validate the finite-element model, some experimental magnetic measurements are taken on a simplified prototype. Furthermore, the maps of the flux density and those of the shear stress inside the fluid are carefully analyzed. Finally, the interaction between the operator's hand and the MRF is numerically investigated.

10aHaptics10aRobotics1 aRizzo, R uhttp://118699.obes.asia/publications/permanent-magnet-exciter-magneto-rheological-fluid-based-haptic-interfaces.html00526nas a2200157 4500008004100000245006500041210006200106260001000168653001200178100001300190700001600203700002000219700001500239700001300254856010100267 2008 eng d00aA Permanent Magnets Exciter for MRFs-based Haptic Interfaces0 aPermanent Magnets Exciter for MRFsbased Haptic Interfaces aAtene10aHaptics1 aRizzo, R1 aMusolino, A1 aScilingo, E. P.1 aBicchi, A.1 aRaugi, M uhttp://118699.obes.asia/publications/permanent-magnets-exciter-mrfs-based-haptic-interfaces.html01537nas a2200241 4500008004100000245007300041210006800114260003300182300001200215490001200227520080500239653001201044653001301056100001901069700002001088700001301108700001501121700001501136700001201151700001401163700001201177856010601189 2008 eng d00aThe Sense of Touch and its Rendering: Progresses in Haptics Research0 aSense of Touch and its Rendering Progresses in Haptics Research aBerlin, HeidelbergbSpringer a155-1780 v45/20083 a

In this work we investigate the possibility of mimicking haptic perception by using rheological materials. An analysis of the rheological behaviour of some "smart fluids", such as Electro-rheological Fluids (ERFs) and Magneto-rheological Fluids (MRFs), is provided to design new haptic interfaces capable of reproducing shape and compliance of some virtual objects. Some theoretical design considerations are discussed and supported by magnetic simulations implemented by means of a numerical code. Several prototypes were designed and realized through a progressive enhancement of performance up to a final 3D immersive device. Furthermore, to assess performance a set of psychophysical tests was carried out and experimental results in terms of softness and shape recognition are reported.

10aHaptics10aRobotics1 aSgambelluri, N1 aScilingo, E. P.1 aRizzo, R1 aBicchi, A.1 aBicchi, A.1 aBuss, M1 aErnst, M.1 aPeer, A uhttp://118699.obes.asia/publications/sense-touch-and-its-rendering-progresses-haptics-research.html-101502nas a2200181 4500008004100000245010700041210006900148300001400217490000700231520087800238653001201116100001301128700001901141700002001160700001301180700001501193856011201208 2007 eng d00aElectromagnetic Modeling and Design of Haptic Interfaces Prototypes Based on MagnetoRheological Fluids0 aElectromagnetic Modeling and Design of Haptic Interfaces Prototy a3586-36000 v433 a

This paper deals with design and implementation of innovative haptic interfaces based on Magnetorheological fluids (MRFs). This pioneering research work consists in developing 2D and quasi-3D MRF-based devices capable of suitably energizing the fluid with a magnetic field in order to build figures which can be directly squeezed by hands. These devices are able to properly create a distribution of magnetic field over time and space inducing the fluid to assume desired shape and compliance. We implemented different prototypes whose synthesis and design phase, here described in detail, was prepared by preliminary simulations obtained by means of software based on a 3D Finite Element code. In this way, both magnetic field and shear stress profiles inside the fluid can be carefully predicted. Finally, performance of these devices was evaluated and assessed.

10aHaptics1 aRizzo, R1 aSgambelluri, N1 aScilingo, E. P.1 aRaugi, M1 aBicchi, A. uhttp://118699.obes.asia/publications/electromagnetic-modeling-and-design-haptic-interfaces-prototypes-based01655nas a2200181 4500008004100000245009500041210006900136260001200205300001400217520102400231653001201255100001901267700002001286700001501306700001301321700001301334856012601347 2006 eng d00aAdvanced Modeling and preliminary psychophysical experiments for a free-hand haptic device0 aAdvanced Modeling and preliminary psychophysical experiments for cOctober a1558-15633 a

In this paper we report on a new improved free-hand haptic interface based on magnetorheological fluids (MRFs). MRFs are smart materials which change their rheology according to an external magnetic field. The new architecture here proposed results from the development and improvement of earlier prototypes. The innovative idea behind this device is to allow subjects interacting directly with an object, whose rheology is rapidly and easily changeable, freely moving their hands without rigid mechanical linkages. Numerical advanced simulation tests using algorithms based on finite element methods have been implemented, in order to analyze and predict the spatial distribution of the magnetic field. A special focus was laid on investigating on how the magnetic filed profile is altered by the introduction of the hand. Possible solutions were proposed to overcome this perturbation. Finally some preliminary psychophysical tests in order to assess the performance of the device are reported and discussed.

10aHaptics1 aSgambelluri, N1 aScilingo, E. P.1 aBicchi, A.1 aRizzo, R1 aRaugi, M uhttp://118699.obes.asia/publications/advanced-modeling-and-preliminary-psychophysical-experiments-free-hand-haptic-device01274nas a2200181 4500008004100000245006700041210006700108260001000175300001200185520069700197653001200894100001900906700001300925700002000938700001300958700001500971856010600986 2006 eng d00aFree Hand Haptic Interfaces Based on Magnetorheological Fluids0 aFree Hand Haptic Interfaces Based on Magnetorheological Fluids cMarch a367-3713 a

This paper is concerned with exploring the possibility of using Magneto-Rheological Fluids (MRF) as haptic interface. MRF are special materials capable of changing their rheological behaviour with an external magnetic field. This property suggested us to use MRF to mimic virtual objects whose compliance can be gradually modulated. Several architectures of prototypes have been envisaged. The general scheme of both prototypes refers to a Haptic Black Box (HBB) concept, intended as a box where the operator can poke his/her bare hand, and interact with the virtual object by freely moving the hand without mechanical constraints. In this way sensory receptors on the whole operator

10aHaptics1 aSgambelluri, N1 aRizzo, R1 aScilingo, E. P.1 aRaugi, M1 aBicchi, A. uhttp://118699.obes.asia/publications/free-hand-haptic-interfaces-based-magnetorheological-fluids.html01160nas a2200169 4500008004100000245013000041210006900171300001600240490000700256520052700263653001200790100001500802700001300817700001300830700001900843856012800862 2005 eng d00aAnalysis and Design of an Electromagnetic System for the Characterization of Magneto-Rheological Fluids for Haptic Interfaces0 aAnalysis and Design of an Electromagnetic System for the Charact a1876 - 18790 v413 a

In this paper the synthesis and design of a new device for the energization and characterization of Magneto-Rheological Fluids (MRF) for haptic interfaces are presented. Due to the core structure and feeding conditions, only a 3D numerical analysis provides an accurate prediction of the electromagnetic quantities and the rheological behavior of an excited specimen. The design constraints are shown in details and the results in terms of magnetic field inside the fluid and its spatial resolution are discussed.

10aHaptics1 aBicchi, A.1 aRaugi, M1 aRizzo, R1 aSgambelluri, N uhttp://118699.obes.asia/publications/analysis-and-design-electromagnetic-system-characterization-magneto-rheological-fluids01497nas a2200181 4500008004100000245008800041210006900129260002600198300001200224520086500236653001201101100001901113700001301132700002001145700001301165700001501178856012201193 2004 eng d00aAnalysis and Design of a New Haptic Box Display Based on Magneto-Rheological Fluids0 aAnalysis and Design of a New Haptic Box Display Based on Magneto aMunich, GermanycJune a442-4453 a

In this paper we describe a design of an innovative immersive Haptic Black Box (HBB) based on Magneto Rheological Fluids (MRF). By exploiting results from an accurate analysis performed on a previously operating haptic display a new device capable of exciting the MRF with improved performance in terms of magnetic field intensity and spatial resolution has been developed. Due to the core structure and feeding conditions, only a 3D numerical analysis, taking into account the material non-linearity, provides an accurate prediction of the excitation field and, consequently, of the rheological behavior of the uid. The results of the present paper will be used in subsequent work where the realization of the prototype and the results of several psychophysical tests on excited MRF in terms of softness and/or shape reconstruction will be described.

10aHaptics1 aSgambelluri, N1 aRizzo, R1 aScilingo, E. P.1 aRaugi, M1 aBicchi, A. uhttp://118699.obes.asia/publications/analysis-and-design-new-haptic-box-display-based-magneto-rheological-fluids.html01149nas a2200157 4500008004100000245013000041210006900171260002300240520052700263653001200790100001500802700001300817700001300830700001900843856012900862 2004 eng d00aAnalysis and Design of an Electromagnetic System for the Characterization of Magneto-Rheological Fluids for Haptic Interfaces0 aAnalysis and Design of an Electromagnetic System for the Charact aSeoul, KoreacJune3 a

In this paper the synthesis and design of a new device for the energization and characterization of Magneto-Rheological Fluids (MRF) for haptic interfaces are presented. Due to the core structure and feeding conditions, only a 3D numerical analysis provides an accurate prediction of the electromagnetic quantities and the rheological behavior of an excited specimen. The design constraints are shown in details and the results in terms of magnetic field inside the fluid and its spatial resolution are discussed.

10aHaptics1 aBicchi, A.1 aRaugi, M1 aRizzo, R1 aSgambelluri, N uhttp://118699.obes.asia/publications/analysis-and-design-electromagnetic-system-characterization-magneto-rheological-fluid-001596nas a2200145 4500008004100000245007300041210006900114260002300183300001200206520108900218653001201307100001301319700001901332856009901351 2004 eng d00aDesign of a System for the Energization of MagnetoRheological Fluids0 aDesign of a System for the Energization of MagnetoRheological Fl aPisa, ItalycMarch a921-9243 a

In a previous paper, a device for the characterization of MagnetoRheological Fluids (MRF) has been described. The MRF consist of micro-sized, magnetically active particles dispersed in a carrier medium. When exposed to a magnetic field, MRF change their own consistency turning from fluid to near-solid state responding to the applied field within milliseconds. This interesting property, suggests the possibility to use magnetorheological fluids to mimic the compliance of biological tissues in order to realize a haptic display, such as in surgical training for minimally invasive surgery and/or open surgery simulations [2]. In this scenario the operator could interact with a virtual object which simulate several biological tissues by magnetically tuning the rheological properties of the fluid. In this paper an accurate analysis of an immersive device for the magnetic excitation of the fluid is presented. In particular such analysis is focused on a system of ferromagnetic "pistons", that, properly positioned in the device, can address the magnetic flux in the MRF.

10aHaptics1 aRizzo, R1 aSgambelluri, N uhttp://118699.obes.asia/publications/design-system-energization-magnetorheological-fluids.html