磁流变液
触觉技术
扭矩
材料科学
智能材料
弹性体
机器人
磁致伸缩
复合数
磁流变弹性体
机械工程
磁场
复合材料
计算机科学
模拟
工程类
结构工程
物理
热力学
阻尼器
量子力学
人工智能
作者
Amir Hooshiar,Alireza Payami,Javad Dargahi,Siamak Najarian
标识
DOI:10.1016/j.ymssp.2021.107918
摘要
Magnetorheological elastomer composites are a class of smart materials with controllable deformation by an external magnetic field. Recent studies have shown the feasibility of using magnetorheological composites for tactile feedback applications. In this study, a new haptic feedback system for regulating torque through contact friction was proposed, constitutively modeled, and experimentally validated. To this end, an analytical constitutive model for the composite was proposed and solved and was used to find the contact stress between the composite and a ferromagnetic shaft. Afterward, the proposed device was prototyped and a series of validation studies with three types of magnetorheological composites was performed. The validation studies showed that the analytical predictions for resistant torque were in fair agreement with the experimental results. Also, the proposed device was capable of generating and controlling a resistant torque of up to 115.5±0.7 mNm and haptic force of up to 5.77 N. The system showed favorable performance for haptic feedback applications in robot-assisted cardiovascular interventions.
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