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Proceedings Paper

Controlled compliance haptic interface using electrorheological fluids
Author(s): Constantinos Mavroidis; Charles Pfeiffer; J. Celestino; Yoseph Bar-Cohen
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Paper Abstract

ERFs are electroactive fluids that experience dramatic changes in rheological properties, in the presence of an electric field. The fluids are made from suspensions of an insulating base fluid and particles on the order of one tenth to one hundred microns in size. In the presence of an electric field, the particles, due to an induced dipole moment, will form chains along the field lines. This induced structure changes the ERFs viscosity, yield stress, and other properties, allowing the ERF to change consistency from that of a liquid to something that is viscoelastic, such as a gel, with response times to changes in electric fields on the order of milliseconds. In this paper the modeling and experimental studies of a novel ERF based haptic interface are presented. Forces applied at a robot end-effector due to a compliant environment are reflected to the remote human operator using this ERF based haptic interface where a change in the system viscosity occurs proportionally to the force to be transmitted. Results of preliminary test are presented where forces, displacements, pressure and temperature data are measured and analyzed.

Paper Details

Date Published: 7 June 2000
PDF: 11 pages
Proc. SPIE 3987, Smart Structures and Materials 2000: Electroactive Polymer Actuators and Devices (EAPAD), (7 June 2000); doi: 10.1117/12.387789
Show Author Affiliations
Constantinos Mavroidis, Rutgers Univ. (United States)
Charles Pfeiffer, Rutgers Univ. (United States)
J. Celestino, Rutgers Univ. (United States)
Yoseph Bar-Cohen, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 3987:
Smart Structures and Materials 2000: Electroactive Polymer Actuators and Devices (EAPAD)
Yoseph Bar-Cohen, Editor(s)

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