Design of Miniature MR Fluid Device for Wireless Haptic Gripper

Abstract

Magnetorheological (MR) fluids are suspensions of ferromagnetic particles, medium oils, and several types of additives. Their rheological properties change rapidly, stably, and repeatedly when applying magnetic fields. Therefore, MR fluids have been used to develop several haptic devices. Consequently, we focus on developing a wireless and lightweight handheld haptic gripper with MR fluid device. Subsequently, to reduce the weight of the wireless haptic gripper, we designed the miniature MR fluid device. According to the design result, the weight and torque performance of the miniature MR fluid device were approximately 60 g and 0.27 Nm at 1A, respectively.