Development of 2-D Force Display System Using MR Actuators

A force display system is a kind of these robot systems, which share pepole with the space while they are working, and which directly touch and display force-sences to their users. For such a robot system, it is desirable to estimate safety quantitatively and to ensure mechanically safety. By using MR actuators, the safety can be ensured. Moreover, characteristics of MR actuators which are low inertia, high torque/inetia ratio and high resposibility make the force display system present high rigidity and high fidelity. In this study, we were started developping MR actuators and a 2-D force display system with them. As a result, MR actuators whose torque/inertia ratio are much higher than conventional servo actuators and the 2-D force display system which can present high rigidity are developed. Moreover, this system can ensure safety mechanically and quantitatively. Key Words: force display, virtual reality, MR fluid, actuator, Safety

• Type: Conference
• Year: 2003
• Where: ICAT
• Authors: Yuhei Yamaguchi, Junji Furusho, Shin'ya Kimura, Ken'ichi Koyanagi
• Keywords: 2-D Force Display, Force Display, ICAT 2003, MR Actuators