A novel miniature kinaesthetic actuator based on magnetorheological fluids

This paper presents a miniature haptic actuator based on MR fluids, designed to convey realistic haptic information to users in portable electronic devices. Named as a kinaesthetic actuator, the proposed haptic actuator can convey various kinaesthetic sensations. Humans generally rub (tactile) and press (kinaesthetic) target objects when they try to perceive them. While haptic researches have been focused on developing miniature tactile actuators, miniature kinaesthetic actuators have been rarely researched. Hence, the proposed kinaesthetic actuator offers more immersive and vivid haptic sensations to users by adding kinaesthetic feeling to tactile sensations. After constructing a prototype actuator, its performances with the respect to the resistive force were evaluated by varying input current. Experimental results show that the proposed actuator is capable of providing plentiful kinaesthetic sensations for much enhanced realistic haptic experiences.