@inbook {HB08-2,
	title = {The Sense of Touch and its Rendering: Progresses in Haptics Research},
	series = {Springer Tracts in Advanced Robotics (STAR)},
	volume = {45/2008},
	year = {2008},
	pages = {155-178},
	publisher = {Springer},
	organization = {Springer},
	type = {Chapter},
	chapter = {Rheological Device},
	address = {Berlin, Heidelberg},
	abstract = {<p>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.</p>
},
	keywords = {Haptics, Robotics},
	author = {N. Sgambelluri and E. P. Scilingo and R. Rizzo and A. Bicchi},
	editor = {A. Bicchi and M. Buss and M. Ernst and A. Peer}
}
