Abstract
Recently, force feedback devices have been applied in virtual reality, medical training systems, and rehabilitation. Generally, these devices display the human forces sensed by the impedance control using motors; however, motorized actuators are disadvantaged by low output and backdrivability. In an effort to counteract these drawbacks, we developed the force feedback device using pneumatic artificial muscles and magnetorheological (MR) clutches. The artificial muscles deliver high output and backdrivability, while the MR clutches enable fast responses. Furthermore, because the stiffness of its pneumatic artificial muscles directly responds to forces, our force feedback device detects human forces without force sensors feedback. In this study, we introduce the prototype of our force feedback device, and evaluates its performance. Finally, our force feedback device quickly switched between stiffness and the unloaded condition using its MR clutches and displayed arbitrary virtual three-dimensional object without force sensors feedback.
