햅틱 글러브를 위한 소형 MR 작동기의 설계 및 성능 평가

This paper presents the design and performance evaluation of a miniature MR actuator with double-rod for the haptic glove. On the basis of the Bingham property of the used MR fluid and the magnetic field analysis of the magnetic circuit built in the actuator, the miniature MR actuator is designed and manufactured. Through the experimental investigations on the magnetic field-dependent reaction force and response characteristic, the static and dynamic performances of the proposed actuator are evaluated. Finally, the effectiveness of the proposed miniature MR actuator is verified through the application to the haptic glove.