Development of ER Brake and its Application to Passive Force Display

Abstract

Force display systems are important in virtual reality and other applications. While conventional force displays are active systems with actuators and as such may become inherently dangerous, passive force displays are effective methods for assuring safety. In this paper, we developed a brake using electrorheological (ER) fluid, and showed a passive force display system using ER brakes with two degrees of freedom. We also discuss basic control experiments of the system.

Torque Measurement of 3-DOF Haptic Master Operated by Controllable Electrorheological Fluid

“…Kikuchi et al developed a new practical haptic device 'PLEMO-P1'; this system adopted ER brakes as its force generators [8]. Furusho et al developed an ER brake and showed a passive force display system using ER brakes with two degrees of freedom [9]. However, these researches were conducted by using 1-DOF ER brake.…”

A 3-D Rehabilitation System for Upper Limbs "EMUL", and a 6-DOF Rehabilitation System "Robotherapist" and Other Rehabilitation Systems with High Safety

“…We can control the brake torque form 0. Figure 25 shows a passive force display using ER brakes (IEEE Virtual Reality 2001) in previous research (Furusho, Sakaguchi et al, 2002). In the research, we established control methods with a passive force display system on 2-D space.…”

Electrorheological Behavior of Suspensions between Pattern Electrodes with Fine Projections

“…By taking advantages of these characteristics, ER suspensions have been applied to robots for upper limb rehabilitation and so on. [10][11][12][13] In addition, these suspensions are expected to be applies in a wide range of fields.…”