Mechanical Mirroring using Controlled stiffness and Actuators

Mechanical Mirroring using Controlled stiffness and Actuators

Abstract

MEMICA is Remote MEchanical MIrroring using Controlled stiffness and Actuators. This paper presents the development of haptic interfacing mechanism that will enable a remote operator to "feel" the stiffness and forces at remote or virtual sites. The key aspect of the MEMICA system is a miniature electrically controlled stiffness (ECS) element that mirrors the stiffness at remote/virtual sites. he ECS elements make use of electro- rheological fluid (ERF), which is an Electro Active Polymer (EAP), to achieve this feeling of stiffness. The ECS elements are placed at selected locations on an instrumented glove to mirror the forces of resistance to motion at the corresponding locations at the robot hand. Forces applied at the robot end-effecter due to a compliant environment will be reflected to the user using this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted.