TY - JOUR T1 - A Permanent-Magnet Exciter for Magneto-Rheological Fluid-Based Haptic Interfaces JF - IEEE Transactions on Magnetics Y1 - 2013 A1 - R. Rizzo KW - Haptics KW - Robotics AB -

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.

VL - 49 ER - TY - CONF T1 - A Permanent Magnets Exciter for MRFs-based Haptic Interfaces T2 - IEEE Conference on Electromagnetic Field Computation Y1 - 2008 A1 - R. Rizzo A1 - A. Musolino A1 - E. P. Scilingo A1 - A. Bicchi A1 - M. Raugi KW - Haptics JF - IEEE Conference on Electromagnetic Field Computation CY - Atene ER - TY - CHAP T1 - The Sense of Touch and its Rendering: Progresses in Haptics Research Y1 - 2008 A1 - N. Sgambelluri A1 - E. P. Scilingo A1 - R. Rizzo A1 - A. Bicchi ED - A. Bicchi ED - M. Buss ED - M. Ernst ED - A. Peer KW - Haptics KW - Robotics AB -

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.

T3 - Springer Tracts in Advanced Robotics (STAR) PB - Springer CY - Berlin, Heidelberg VL - 45/2008 ER - TY - JOUR T1 - Electromagnetic Modeling and Design of Haptic Interfaces Prototypes Based on MagnetoRheological Fluids JF - IEEE Transactions on Magnetics Y1 - 2007 A1 - R. Rizzo A1 - N. Sgambelluri A1 - E. P. Scilingo A1 - M. Raugi A1 - A. Bicchi KW - Haptics AB -

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.

VL - 43 ER - TY - CONF T1 - Advanced Modeling and preliminary psychophysical experiments for a free-hand haptic device T2 - Proc. IEEE/RSJ Int. Conf. on Robots and Intelligent Systems - IROS06 Y1 - 2006 A1 - N. Sgambelluri A1 - E. P. Scilingo A1 - A. Bicchi A1 - R. Rizzo A1 - M. Raugi KW - Haptics AB -

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.

JF - Proc. IEEE/RSJ Int. Conf. on Robots and Intelligent Systems - IROS06 ER - TY - CONF T1 - Free Hand Haptic Interfaces Based on Magnetorheological Fluids T2 - Proc. 14th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems Y1 - 2006 A1 - N. Sgambelluri A1 - R. Rizzo A1 - E. P. Scilingo A1 - M. Raugi A1 - A. Bicchi KW - Haptics AB -

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

JF - Proc. 14th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems N1 -

Poster presentation

ER - TY - JOUR T1 - Analysis and Design of an Electromagnetic System for the Characterization of Magneto-Rheological Fluids for Haptic Interfaces JF - IEEE Transactions on Magnetics Y1 - 2005 A1 - A. Bicchi A1 - M. Raugi A1 - R. Rizzo A1 - N. Sgambelluri KW - Haptics AB -

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.

VL - 41 ER - TY - CONF T1 - Analysis and Design of a New Haptic Box Display Based on Magneto-Rheological Fluids T2 - Proc. Int. Conf. Eurohaptics 2004 Y1 - 2004 A1 - N. Sgambelluri A1 - R. Rizzo A1 - E. P. Scilingo A1 - M. Raugi A1 - A. Bicchi KW - Haptics AB -

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.

JF - Proc. Int. Conf. Eurohaptics 2004 CY - Munich, Germany ER - TY - CONF T1 - Analysis and Design of an Electromagnetic System for the Characterization of Magneto-Rheological Fluids for Haptic Interfaces T2 - Proc. 11th Biennial IEEE Conference on Electromagnetic Field Computation (CEFC 2004). Y1 - 2004 A1 - A. Bicchi A1 - M. Raugi A1 - R. Rizzo A1 - N. Sgambelluri KW - Haptics AB -

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.

JF - Proc. 11th Biennial IEEE Conference on Electromagnetic Field Computation (CEFC 2004). CY - Seoul, Korea ER - TY - CONF T1 - Design of a System for the Energization of MagnetoRheological Fluids T2 - Proc. Int. Conf. Progress in Electromagnetic Research Symposium (PIERS2004) Y1 - 2004 A1 - R. Rizzo A1 - N. Sgambelluri KW - Haptics AB -

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.

JF - Proc. Int. Conf. Progress in Electromagnetic Research Symposium (PIERS2004) CY - Pisa, Italy ER -