01649nas a2200169   4500008004100000245005700041210005700098260000900155300000900164520111700173653001201290100001501302700002001317700001901337700001701356856010601373       2002                        eng d00aHaptic Interfaces Based on Magnetorheological Fluids0 aHaptic Interfaces Based on Magnetorheological Fluids  cJuly  a6-113 a<p>In this paper we present an innovative application of magnetorheological (MR) fluids to haptic interfaces. These materials consist of a suspension of a micron-sized, magnetizable particles in a synthetic oil. Exposure to an external magnetic field induces in the fluid a change in rheological behaviour turning it into a near-solid in few milliseconds. Just as quickly, the fluid can be returned to its liquid state by the removal of the field. MR fluids are already present on the market, used in devices such as valves, brakes, clutches, and dampers. In this paper we investigate the possibility of using MR fluids to mimic the compliance, damping, creep (in other terms, the rheology) of materials in order to realize a haptic display and we propose two different implementations. Here we only outline the first scheme, whose experimental results have been reported in our previous work, and will describe the second one. In this latter scheme we set up a psychophysical protocol where a group of volunteers were asked to interact with the MR fluid duly excited and qualitative results are discussed.</p>
10aHaptics1 aBicchi, A.1 aScilingo, E. P.1 aSgambelluri, N1 aDe Rossi, D.  uhttp://www.centropiaggio.unipi.it/publications/haptic-interfaces-based-magnetorheological-fluids.html