Electromagnetic Modeling and Design of Haptic Interface Prototypes Based on Magnetorheological Fluids

We report on the design and implementation of innovative haptic interfaces based on magnetorheological fluids (MRFs). We developed 2D and quasi-3D MRF-based devices capable of suitably energizing fluids with a magnetic field in order to build shapes that can be directly felt and explored by hand. We obtained this effect by properly creating a distribution of a magnetic field over time and space inducing the fluid to assume a desired shape and compliance. We implemented different prototypes, synthesized and designed with the help of preliminary simulations by a 3D finite-element code. In this way, both magnetic field and shear stress profiles inside the fluid could be carefully predicted. Finally, we evaluated and experimentally assessed the performance of these devices.