2021 Fiscal Year Annual Research Report
Development a 3-D sensation haptic device based on function material mechanism design loop
| Project/Area Number |
21J13536
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| Research Institution | Waseda University |
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Principal Investigator |
張 裴之 早稲田大学, 理工学術院, 特別研究員(DC2)
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| Project Period (FY) |
2021-04-28 – 2023-03-31
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| Keywords | Haptic device / VR / Smart materials / Multiphysics modeling / Magnetic field |
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| Outline of Annual Research Achievements |
This year, we tried various materials, structures, and approaches to build the haptic device. We first tested the Magetorehological Elastomer (MRE) and Magnetorheological Fluid (MRF) by building multiphysics modeling. With this modeling, the relationship between generated force/ deformation and magnetic field can be investigated. By applying these methodologies, the magnetorheological material-driven actuator can be created for haptics and for human-robot interaction. Related papers have been accepted by journals and international conferences. Next, we tried to use MRE for actuators of the haptic devices. However, due to the size of the magnetic source (i.e., coil) being too big for wear, we tried to design exquisite structures to minimize the size.
To build a haptic device for operators to wear, we investigated a new material, piezoelectric materials, as the actuator. Additionally, we also designed mechanical structures to generate various. Currently, we used ultrasonic actuators (actuated by piezoelectric materials) to generate contact force to operators' finger pulp. And we used plain-weave structured PTFE belts to generate omnidirectional motions haptics feeling to operators' finger pulp. As a result, the haptic device can help operators with active haptic feeling and passive haptic feeling, which will be useful for tool exploration or handing over objects in the teleoperation/ VR environment. The results will be presented in ICRA 2022.
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| Current Status of Research Progress |
Current Status of Research Progress
1: Research has progressed more than it was originally planned.
Reason
Overall, the research in on progressing as scheduled. The haptic device prototype can generate continuous forces and motions in normal and tangential directions of finger pulp, which is 3-D feedback. And to achieve a softness/hardness feeling in the haptic device, MRFs and MREs were investigated. By applying the functional materials-mechanism design loop, MRFs were applied in actuators, and MREs were applied in a suction cup. By knowing their working principles, these materials can be used in haptic devices next. The achievements this year have been published in high-impact journals, top international conferences, and domestic conferences, which will also attract more researchers from all over the world to this project.
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| Strategy for Future Research Activity |
Based on this year’s research, we find insufficient magnetorheological materials. Only using these materials cannot generate obvious force for haptic feeling and the magnetic field generator (i.e., coil) will occupy larger spaces, which is hard to be minimized and to be worn by operators. Currently, two solutions are considered to be applied in the future. One solution is to try more magnetic materials, like permanent magnetic elastomers. This material can generate a magnetic field spontaneously, which may help to generate more force and deformation. The other solution is to design a structure and amplify the motion and force.
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Research Products
(8 results)
