Evaluation of Force Control for Delta-type Haptic Device Using Twin-driven MR Fluid Actuator

Abstract

We have developed the twin-drive MR fluid actuator (TD-MRA) by using two MR fluid clutches and single motor for fine haptic interfaces. In our previous project, this actuator was utilized in a follower system of a remote-controlled surgical simulator. To expand its usability and application, we proposed a generally usable haptic interface by combining a delta-type structure and three TD-MRAs (DH-MRD). In this study, we evaluated and discussed its force control performance.