01614nas a2200229 4500008004100000245007300041210006800114260003300182300001200215490001200227520089600239653001201135653001301147100002001160700001901180700001501199700001501214700001201229700001401241700001201255856011701267 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 a39 - 600 v45/20083 a
Dynamic stimuli in visual and tactile sensory modalities share fundamental psychophysical features that can be explained by similar computational models. In vision, information about relative motion between objects and the observer are mainly processed by optic flow, which is a 2D field of velocities associated with variation of brightness patterns in the image plane. It provides important information about cues for region and boundary segmentation, shape recovery, and so on. For instance, radial patterns of optic flow are often used to estimate time before contact with an approaching object. We put forward the hypothesis that a similar behavior can be present in the tactile domain, in which an analogous paradigm to optic flow might exist. Moreover, as optic flow is also invoked to explain several visual illusions, including the well-known "barber-pole" effect and Ouchi
10aHaptics10aRobotics1 aScilingo, E. P.1 aSgambelluri, N1 aBicchi, A.1 aBicchi, A.1 aBuss, M1 aErnst, M.1 aPeer, A uhttps://www.centropiaggio.unipi.it/publications/sense-touch-and-its-rendering-progresses-haptics-research.html-001548nas a2200241 4500008004100000245007300041210006800114260003300182300001200215490001200227520080500239653001201044653001301056100001901069700002001088700001301108700001501121700001501136700001201151700001401163700001201177856011701189 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 aIn 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 uhttps://www.centropiaggio.unipi.it/publications/sense-touch-and-its-rendering-progresses-haptics-research.html-102166nas a2200337 4500008004100000245010800041210006900149300001200218490000700230520114700237653001201384653001301396100001501409700001501424700001501439700001701454700001701471700001401488700001501502700001501517700001901532700002001551700001901571700001601590700002201606700001501628700001601643700001701659700001501676856013701691 2008 eng d00aSensing Glove for Brain Studies: Design and assessment of its Compatibility for fMRI with a Robust Test0 aSensing Glove for Brain Studies Design and assessment of its Com a345-3540 v133 aIn this paper, we describe a biomimetic-fabric-based sensing glove that can be used tomonitor hand posture and gesture. Our device is made of a distributed sensor network of piezoresistive conductive elastomers integrated into an elastic fabric. This solution does not affect natural movement and hand gestures, and can be worn for a long time with no discomfort. The glove could be fruitfully employed in behavioral and functional studies with functional MRI (fMRI) during specific tactile or motor tasks. To assess MR compatibility of the system, a statistical test on phantoms is introduced. This test can also be used for testing the compatibility of mechatronic devices designed to produce different stimuli inside the MR environment. We propose a statistical test to evaluate changes in SNR and time-domain standard deviations between image sequences acquired under different experimental conditions. fMRI experiments on subjects wearing the glove are reported. The reproducibility of fMRIresults obtained with andwithout the glove was estimated. A good similarity between the activated regions was found in the two conditions.
10aHaptics10aRobotics1 aVanello, N1 aHartwig, V1 aTesconi, M1 aRicciardi, E1 aTognetti, A.1 aZupone, G1 aGassert, R1 aChapuis, D1 aSgambelluri, N1 aScilingo, E. P.1 aGiovannetti, G1 aPositano, V1 aSantarelli, M. F.1 aBicchi, A.1 aPietrini, P1 aDe Rossi, D.1 aLandini, L uhttps://www.centropiaggio.unipi.it/publications/sensing-glove-brain-studies-design-and-assessment-its-compatibility-fmri-robust-test00688nas a2200193 4500008004100000245009800041210006900139260000900208300001200217653001200229100001900241700001600260700001300276700001500289700002000304700001700324700001500341856013800356 2007 eng d00aAn Artificial Neural Network approach for Haptic Discrimination in Minimally Invasive Surgery0 aArtificial Neural Network approach for Haptic Discrimination in bIEEE a25–3010aHaptics1 aSgambelluri, N1 aValenza, G.1 aFerro, M1 aPioggia, G1 aScilingo, E. P.1 aDe Rossi, D.1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/artificial-neural-network-approach-haptic-discrimination-minimally-invasive-surgery-001513nas a2200181 4500008004100000245010700041210006900148300001400217490000700231520087800238653001201116100001301128700001901141700002001160700001301180700001501193856012301208 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 aThis 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. uhttps://www.centropiaggio.unipi.it/publications/electromagnetic-modeling-and-design-haptic-interfaces-prototypes-based01665nas a2200157 4500008004100000245006300041210006300104300001200167520113400179653001201313100002001325700001901345700001601364700001501380856011201395 2007 eng d00aIntegrating Two Haptic devices for Performance Enhancement0 aIntegrating Two Haptic devices for Performance Enhancement a139-1443 aThis paper deals with a new configuration for a haptic system, which is able to simultaneously replicate independent force/displacement and force/area behaviors of a given material. Being force/area information a relevant additional haptic cue for improving softness discrimination, this system allows to extend the range of materials whose rheology can be carefully mimicked. Moreover, according to the Hertz theory, two objects with different curvature radius having the same force/displacement behavior can respond with different contact area to the same applied force. These behaviors can be effectively replicated by the integrated haptic system here proposed enabling and independent control of force/displacement and force/area. The system is comprised of a commercial device (Delta Haptic Device) serially coupled with a Contact Area Spread Rate (CASR) device. Two specimens of a material and two of another one, all with different curvature radii, were identified and modeled in terms of force/area and force/displacement. These behaviors were successfully tracked by the integrated haptic system here proposed.
10aHaptics1 aScilingo, E. P.1 aSgambelluri, N1 aTonietti, G1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/integrating-two-haptic-devices-performance-enhancement.html00843nas a2200253 4500008004100000245010200041210006900143300001000212653001200222100001500234700001500249700001500264700001400279700001900293700001700312700001700329700002000346700001500366700001600381700001700397700001500414700002200429856013800451 2007 eng d00aAn MRI Compatibility Study of a Fabric Sensing Glove for Sensory-Motor Brain Activity Exploration0 aMRI Compatibility Study of a Fabric Sensing Glove for SensoryMot a79-8310aHaptics1 aVanello, N1 aHartwig, V1 aTesconi, M1 aZupone, G1 aSgambelluri, N1 aTognetti, A.1 aRicciardi, E1 aScilingo, E. P.1 aBicchi, A.1 aPietrini, P1 aDe Rossi, D.1 aLandini, L1 aLaura Moreno, S L uhttps://www.centropiaggio.unipi.it/publications/mri-compatibility-study-fabric-sensing-glove-sensory-motor-brain-activity-exploration01666nas a2200181 4500008004100000245009500041210006900136260001200205300001400217520102400231653001201255100001901267700002001286700001501306700001301321700001301334856013701347 2006 eng d00aAdvanced Modeling and preliminary psychophysical experiments for a free-hand haptic device0 aAdvanced Modeling and preliminary psychophysical experiments for cOctober a1558-15633 aIn 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 uhttps://www.centropiaggio.unipi.it/publications/advanced-modeling-and-preliminary-psychophysical-experiments-free-hand-haptic-device01285nas a2200181 4500008004100000245006700041210006700108260001000175300001200185520069700197653001200894100001900906700001300925700002000938700001300958700001500971856011700986 2006 eng d00aFree Hand Haptic Interfaces Based on Magnetorheological Fluids0 aFree Hand Haptic Interfaces Based on Magnetorheological Fluids cMarch a367-3713 aThis 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. uhttps://www.centropiaggio.unipi.it/publications/free-hand-haptic-interfaces-based-magnetorheological-fluids.html01437nas a2200169 4500008004100000245006900041210006700110300001200177520086000189653001201049100002001061700001901081700001501100700001601115700001601131856012001147 2006 eng d00aMinimally Invasive Therapies & Novel Embedded Technology Systems0 aMinimally Invasive Therapies Novel Embedded Technology Systems a133-1423 aRecent developments in advanced interface technology allowed to implement new haptic device for biomedical applications. Specifically, several innovative and more effective tools that allow people to interact by touch with virtual objects have been developed. Besides several applications such as gaming, entertainment, virtual reality, an important and promising field of application is the surgical simulation. Novice surgeons can be able to practice their first incisions without actually cutting anyone. Simulation for surgical training is a major focus for several research activity during the last few years. Simulating an organ is not easy, because is more complicated to model than is a common physical object, e.g. a ball. In this chapter we report several examples of haptic interfaces and introduce new technologies for implementation.
10aHaptics1 aScilingo, E. P.1 aSgambelluri, N1 aBicchi, A.1 aCasciaro, S1 aDistante, A uhttps://www.centropiaggio.unipi.it/publications/minimally-invasive-therapies-novel-embedded-technology-systems.html01171nas a2200169 4500008004100000245013000041210006900171300001600240490000700256520052700263653001200790100001500802700001300817700001300830700001900843856013900862 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 aIn 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 uhttps://www.centropiaggio.unipi.it/publications/analysis-and-design-electromagnetic-system-characterization-magneto-rheological-fluids01096nas a2200157 4500008004100000245006200041210006100103300001200164520056900176653001200745100001300757700002000770700001900790700001500809856011400824 2005 eng d00aDoes Active Exploration Suppress Tactile Flow Perception?0 aDoes Active Exploration Suppress Tactile Flow Perception a660-6613 aIn this paper we report on results of a set of tests in which a group of subjects were asked to trace a straight line with the forefinger while actively scanning over a textured surface. A pattern of bumped dots, randomly distributed, and a diagonal striped pattern were used in order to investigate the occurrence of misleading perceptions based on the aperture problem of tactile flow during an active exploration. Obtained results are compared with findings achieved from a previous experiment based on passive exploration.
10aHaptics1 aDente, D1 aScilingo, E. P.1 aSgambelluri, N1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/does-active-exploration-suppress-tactile-flow-perception.html01038nas a2200157 4500008004100000245003600041210003600077300001000113520059200123653001200715100001500727700001300742700002000755700001900775856008600794 2005 eng d00aPerceptual Bias in Tactile Flow0 aPerceptual Bias in Tactile Flow a17-203 aIn this paper we report on results of a psychophysical experiment in which the optic illusion of Ouchi is reproduced in the tactile domain. In the vision field, when eyes scan over a texture grid, consisting in two rectangular checkerboard patterns oriented in orthogonal directions, the inset pattern appears to move relatively to the surrounding grid. A simplified 3D version of this pattern was realized and a group of subjects were asked to touch it while it was vibrating. Outcomes of this experiment are discussed in terms of tactile flow and the related aperture problem.
10aHaptics1 aBicchi, A.1 aDente, D1 aScilingo, E. P.1 aSgambelluri, N uhttps://www.centropiaggio.unipi.it/publications/perceptual-bias-tactile-flow.html00614nas a2200193 4500008004100000245005500041210005500096260002000151300001200171653001200183100001500195700002000210700001300230700001900243700001600262700002000278700001700298856010500315 2005 eng d00aTactile Flow and Haptic Discrimination of Softness0 aTactile Flow and Haptic Discrimination of Softness bSpringer Verlag a165-17610aHaptics1 aBicchi, A.1 aScilingo, E. P.1 aDente, D1 aSgambelluri, N1 aBarbagli, F1 aPrattichizzo, D1 aSalisbury, K uhttps://www.centropiaggio.unipi.it/publications/tactile-flow-and-haptic-discrimination-softness.html01508nas a2200181 4500008004100000245008800041210006900129260002600198300001200224520086500236653001201101100001901113700001301132700002001145700001301165700001501178856013301193 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 aIn 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. uhttps://www.centropiaggio.unipi.it/publications/analysis-and-design-new-haptic-box-display-based-magneto-rheological-fluids.html01160nas a2200157 4500008004100000245013000041210006900171260002300240520052700263653001200790100001500802700001300817700001300830700001900843856014000862 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 aIn 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 uhttps://www.centropiaggio.unipi.it/publications/analysis-and-design-electromagnetic-system-characterization-magneto-rheological-fluid-001607nas a2200145 4500008004100000245007300041210006900114260002300183300001200206520108900218653001201307100001301319700001901332856011001351 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 aIn 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 uhttps://www.centropiaggio.unipi.it/publications/design-system-energization-magnetorheological-fluids.html01539nas a2200265 4500008004100000245009700041210006900138520068700207653001200894100001500906700001700921700001300938700001900951700002000970700001600990700001201006700001601018700002201034700001701056700001501073700001501088700001501103700001601118856013901134 2004 eng d00aPerception of Optic and Tactile Flow Both Activate V5/MT cortical complex in the human brain0 aPerception of Optic and Tactile Flow Both Activate V5MT cortical3 aV5/MT complex responds selectively to perception of optic flow (Morrone et al., Nature Neurosci , 2001). Since similarities exist between visual and tactile perception, we hypothesized that tactile flow might also rely on V5/MT response. We and others have shown recently that visual extrastriate cortical areas respond both during visual and tactile recognition of objects, indicating that these regions are organized in a supramodal fashion. In this study, we measured neural response evoked during visual and tactile perception of coherently moving dot patterns to test the hypothesis that V5/MT may be supramodally organized and may respond also to tactile stimulation.
10aHaptics1 aVanello, N1 aRicciardi, E1 aDente, D1 aSgambelluri, N1 aScilingo, E. P.1 aGentili, C.1 aSani, L1 aPositano, V1 aSantarelli, M. F.1 aGuazzelli, M1 aHaxby, J V1 aLandini, L1 aBicchi, A.1 aPietrini, P uhttps://www.centropiaggio.unipi.it/publications/perception-optic-and-tactile-flow-both-activate-v5mt-cortical-complex-human-brain.html01358nas a2200277 4500008004100000245009400041210006900135300001200204520048800216653001200704100001700716700001500733700001300748700001900761700002000780700001600800700001200816700001600828700002200844700001700866700001500883700001500898700001500913700001600928856013600944 2004 eng d00aPerception of visual and tactile flow activates common cortical areas in the human brain.0 aPerception of visual and tactile flow activates common cortical a290-2923 aWe report results of a pilot study using functional magnetic resonance imaging aimed at determining the neural correlates of tactile flow. We hypothesized that brain response to tactile flow would involve the same cortical areas (V5/MT) that respond to optic flow. Our results showed that V5/MT cortex indeed is activated by tactile flow perception. These findings are consistent with a supramodal organization of brain regions involved in optic and tactile flow processing.
10aHaptics1 aRicciardi, E1 aVanello, N1 aDente, D1 aSgambelluri, N1 aScilingo, E. P.1 aGentili, C.1 aSani, L1 aPositano, V1 aSantarelli, M. F.1 aGuazzelli, M1 aHaxby, J V1 aLandini, L1 aBicchi, A.1 aPietrini, P uhttps://www.centropiaggio.unipi.it/publications/perception-visual-and-tactile-flow-activates-common-cortical-areas-human-brain.html01263nas a2200157 4500008004100000245010600041210006900147300001200216520065600228653001200884100002000896700001900916700001700935700001500952856013800967 2003 eng d00aHaptic Displays Based on Magnetorheological Fluids: Design, Realization and Psychophysical Validation0 aHaptic Displays Based on Magnetorheological Fluids Design Realiz a10–153 aIn this paper we explore the possibility of using magnetorheological (MR) fluids in haptic interfaces, exploiting their property of changing the rheological behaviour by tuning an external magnetic field. In particular, we propose two different prototypes of haptic display, for pinch grasp and for whole-hand immersive exploration. We briefly report on the design of these devices, describe few psychophysical experiments to assess their performance, and report on the experimental results. Such investigation is rather encouraging, and provides reliable cues as to how MR fluid based devices can be designed for haptic display applications.
10aHaptics1 aScilingo, E. P.1 aSgambelluri, N1 aDe Rossi, D.1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/haptic-displays-based-magnetorheological-fluids-design-realization-and-psychophysical01775nas a2200169 4500008004100000245010900041210006900150260002400219300001400243520113000257653001201387100002001399700001901419700001701438700001501455856013501470 2003 eng d00aTowards a Haptic Black Box: Magnetorheological fluid based display for softness and shape discrimination0 aTowards a Haptic Black Box Magnetorheological fluid based displa aTaipei, TaiwancMay a2412-24173 aIn this paper we propose an innovative prototype of a haptic display for whole-hand immersive exploration. We envision a new concept of haptic display, the Haptic Black Box concept, which can be imagined 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's hand would be excited, rather than restricting to just one or few fingertips or phalanges. To progress towards such a challenging goal, magnetorheological (MR) fluids represent a very interesting technology. These fluids are composed of micron-sized, magnetizable particles immersed 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. By removing the magnetic field, the fluid quickly returns to its liquid state. We briefly report on the design of this device, describe psychophysical experiments to assess performance for softness and shape exploration, and report on the experimental results.
10aHaptics1 aScilingo, E. P.1 aSgambelluri, N1 aDe Rossi, D.1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/towards-haptic-black-box-magnetorheological-fluid-based-display-softness-and-shape01650nas a2200169 4500008004100000245005700041210005700098260000900155300000900164520111700173653001201290100001501302700002001317700001901337700001701356856010701373 2002 eng d00aHaptic Interfaces Based on Magnetorheological Fluids0 aHaptic Interfaces Based on Magnetorheological Fluids cJuly a6-113 aIn 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.
10aHaptics1 aBicchi, A.1 aScilingo, E. P.1 aSgambelluri, N1 aDe Rossi, D. uhttps://www.centropiaggio.unipi.it/publications/haptic-interfaces-based-magnetorheological-fluids.html