Haptic Interfaces
Haptic interfaces are devices that provide force and tactile feedback to the user as they interact with objects in a computer-generated virtual world. Our research effort is focused on development of portable haptic devices. With the help of such devices and by wearing a head-mounted display and position sensors, we can step inside a computer-generated virtual world to interact with virtual objects. For example, we can "hold" two digital parts (CAD models) in our hands and try to assemble them while feeling the interaction forces through the haptic interface. Such a system would allow evaluation of designs thoroughly before a physical prototype is manufactured leading to reduced time to market and cost. Other uses for haptics have been realized in areas of training, such as a medical students practicing virtual surgery or a soldier performing a simulated military operation, and in minimal invasive robotic surgery, teleoperated robots, prosthetics and robotic neuro-rehabilitation.
In this section you will find brief information about our haptic interface research projects. For more details, please refer to our publications.
HAPTIC GLOVES
This haptic glove uses six miniature MR-brakes to apply forces on the user's fingers. Here is a video of the glove in a virtual pick-and-place experiment. Read more...
This haptic glove uses three miniature MR-brakes and a finger mechanism that wraps around the user's finger to apply distributed forces to the fingers. Read more ...
This glove uses a finger mechanism that wraps around the user's finger. It employes three servo motors for actuation. Here is a video of the glove in a virtual pick-and-place experiment. Read more ...
The AirGlove uses six airjets to apply an arbitrary force on the user's hand to simulate gravitational force due to the weight of a virtual object. Read more ...
MR-BRAKES
MR-brakes are passive actuators where the braking torque/force can be controlled electronically. They employ magnetorheological fluid (MRF). This fluid is a suspension of small iron particles. The MRF can be activated using a magnetic field. In the inactive state the fluid has a viscosity similar to low viscosity oil. Upon activation it changes to a thick consistency similar to peanut butter.
This is a miniature MR-brake
about the size of a U.S. quarter in diameter, weighs about 85 grams and can apply about 900 N-mm braking torque.
It uses the serpentine flux path to increase the torque output. Read more...
This MR-brake
has 63 mm diameter and 10.9 Nm torque at 1.5A current input. It uses the serpentine flux path to increase the torque output.
about 2.7 times more powerful than the only commercially available MR-brake and about 33% smaller in diameter.
Read more ...
This is a spherical MR-brake , the first of its kind. It is a multi degree-of-freedom actuator which uses the serpentine flux path concept. When not activated the brake is capable of motion about any arbitrary axis. Once activated all 3 DOFs are locked simultaneously. Read more ...
HAPTIC DEVICES
This is a force-feedback interface for an atomic-force-microscope (AFM). The interface enables the user to feel tip-to-sample force interactions in real-time while manipulating materials at the nanometer scale. Read more...
This is a haptic surgical aid for dental implant surgery. Read more ...