An Exoskeleton Type 4-DOF Force Feedback Device Using Magnetorheological Fluid Clutches and Artificial Muscles

Recently, virtual reality (VR) technology has been developed using a head mounted displays (HMD). Users can recognize virtual objects easily in a VR space. However, users cannot obtain haptic perception, such as operating actual objects. There are force feedback devices that can render its perception. General devices are desktop types which restrict the range of motion (ROM) of operators, whereas exoskeleton types achieve ROM like a human. Many force feedback devices using motors and decelerators lead to a loss of backdrivability and can harm the operator by active force. Therefore, we developed an exoskeleton type four degrees of freedom (DOF) force feedback device for the upper limb with magnetorheological fluid clutches and artificial muscles that are backdrivable and safe actuators; we confirmed that the proposed device can render an elastic force.