HapticV1, PascalFrancis, Corpus, bibRecord, 000604

MR-Drive: A new 1-DOF MR Fluid Based Haptic Interface

Identifieur interne : 000604 ( PascalFrancis/Corpus ); précédent : 000603; suivant : 000605

MR-Drive: A new 1-DOF MR Fluid Based Haptic Interface

Auteurs : Florian Periquet ; José Lozada ; Samuel Roselier ; René Polizzi ; Margarita Anastassova ; Moustapha Hafez

Source :

RBID : Pascal:10-0344843

Descripteurs français

Pascal (Inist)
- Interface utilisateur, Sensibilité tactile, Fluide magnétorhéologique, Cognition, Système actif, Freinage, Interface graphique, Perception sensorielle, Comportement utilisateur, Théorie cognitive, Système passif, Cisaillement, Fluide magnétique, Circuit magnétique, Couple moteur, Dispositif cristaux liquides.

English descriptors

KwdEn :
- Active system, Braking, Cognition, Cognitive theory, Graphical interface, Liquid crystal devices, Magnetic circuit, Magnetic fluid, Magnetorheological fluid, Motor torque, Passive system, Sensorial perception, Shear, Tactile sensitivity, User behavior, User interface.

Abstract

This paper introduces a new rotary haptic interface based on Magneto-Rheological (MR) fluids for in-vehicule functions and instrument control. The MR fluid allows the rendering of multiple haptic patterns to enhance the user interaction and to decrease the cognitive load of the driver. The system consists of an innovative semi-active rotary interface, able to emulate the touch feedback of many conventional knobs. The active part is composed of a thin cylinder that shears the MR fluid between two static magnetic poles. A magnet is placed inside the magnetic circuit to generate a magnetic field offset which is either cancelled or reinforced depending on the current direction in the coil. With an appropriate design and the same electrical power, the introduction of an offset should double the magnetic field range. Without electrical power, a permanent braking torque is applied. The output torque ranges from 0.03 Nm to 5.25 Nm. An integrated demonstrator has also been developed, combining the MR device with a 7" LCD panel. The LCD panel displays a custom graphical interface. thus allowing an exploratory user-centered evaluation of the MR haptic device.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 MR-Drive: A new 1-DOF MR Fluid Based Haptic Interface`
A09	`01`	`1`	`ENG`	`@1 International conference on mechatronics for vehicle and production : Paris, 24-25 June 2009`
A11	`01`	`1`		`@1 PERIQUET (Florian)`
A11	`02`	`1`		`@1 LOZADA (José)`
A11	`03`	`1`		`@1 ROSELIER (Samuel)`
A11	`04`	`1`		`@1 POLIZZI (René)`
A11	`05`	`1`		`@1 ANASTASSOVA (Margarita)`
A11	`06`	`1`		`@1 HAFEZ (Moustapha)`
A14	`01`			`@1 CEA LIST, Laboratoire Interfaces Sensorielles, 18, route du Panorama, BP 6 @2 FONTENAY AUX ROSES, 92265 @3 FRA @Z 1 aut. @Z 2 aut. @Z 3 aut. @Z 4 aut. @Z 5 aut. @Z 6 aut.`
A18	`01`	`1`		`@1 Société des Ingénieurs de l'Automobile @3 FRA @9 org-cong.`
A20				`@2 [7 p.]`
A21				`@1 2009`
A23	`01`			`@0 ENG`
A25	`01`			`@1 SIA @2 Suresnes`
A30	`01`	`1`	`ENG`	`@1 Mechatronics for vehicle and production. International conference @3 Paris FRA @4 2009-06-24`
A43	`01`			`@1 INIST @2 Y 39500 @5 354000174672350090`
A44				`@0 0000 @1 © 2010 INIST-CNRS. All rights reserved.`
A45				`@0 16 ref.`
A47	`01`	`1`		`@0 10-0344843`
A60				`@1 C`
A61				`@0 A`
A66	`01`			`@0 FRA`
C01	`01`		`ENG`	@0 This paper introduces a new rotary haptic interface based on Magneto-Rheological (MR) fluids for in-vehicule functions and instrument control. The MR fluid allows the rendering of multiple haptic patterns to enhance the user interaction and to decrease the cognitive load of the driver. The system consists of an innovative semi-active rotary interface, able to emulate the touch feedback of many conventional knobs. The active part is composed of a thin cylinder that shears the MR fluid between two static magnetic poles. A magnet is placed inside the magnetic circuit to generate a magnetic field offset which is either cancelled or reinforced depending on the current direction in the coil. With an appropriate design and the same electrical power, the introduction of an offset should double the magnetic field range. Without electrical power, a permanent braking torque is applied. The output torque ranges from 0.03 Nm to 5.25 Nm. An integrated demonstrator has also been developed, combining the MR device with a 7" LCD panel. The LCD panel displays a custom graphical interface. thus allowing an exploratory user-centered evaluation of the MR haptic device.
C02	`01`	`X`		`@0 001D12E04`
C02	`02`	`X`		`@0 001D02B04`
C03	`01`	`X`	`FRE`	`@0 Interface utilisateur @5 06`
C03	`01`	`X`	`ENG`	`@0 User interface @5 06`
C03	`01`	`X`	`SPA`	`@0 Interfase usuario @5 06`
C03	`02`	`X`	`FRE`	`@0 Sensibilité tactile @5 07`
C03	`02`	`X`	`ENG`	`@0 Tactile sensitivity @5 07`
C03	`02`	`X`	`SPA`	`@0 Sensibilidad tactil @5 07`
C03	`03`	`X`	`FRE`	`@0 Fluide magnétorhéologique @5 08`
C03	`03`	`X`	`ENG`	`@0 Magnetorheological fluid @5 08`
C03	`03`	`X`	`SPA`	`@0 Fluido magnetoreologico @5 08`
C03	`04`	`X`	`FRE`	`@0 Cognition @5 09`
C03	`04`	`X`	`ENG`	`@0 Cognition @5 09`
C03	`04`	`X`	`SPA`	`@0 Cognición @5 09`
C03	`05`	`X`	`FRE`	`@0 Système actif @5 10`
C03	`05`	`X`	`ENG`	`@0 Active system @5 10`
C03	`05`	`X`	`SPA`	`@0 Sistema activo @5 10`
C03	`06`	`X`	`FRE`	`@0 Freinage @5 11`
C03	`06`	`X`	`ENG`	`@0 Braking @5 11`
C03	`06`	`X`	`SPA`	`@0 Frenado @5 11`
C03	`07`	`X`	`FRE`	`@0 Interface graphique @5 12`
C03	`07`	`X`	`ENG`	`@0 Graphical interface @5 12`
C03	`07`	`X`	`SPA`	`@0 Interfaz grafica @5 12`
C03	`08`	`X`	`FRE`	`@0 Perception sensorielle @5 18`
C03	`08`	`X`	`ENG`	`@0 Sensorial perception @5 18`
C03	`08`	`X`	`SPA`	`@0 Percepción sensorial @5 18`
C03	`09`	`X`	`FRE`	`@0 Comportement utilisateur @5 19`
C03	`09`	`X`	`ENG`	`@0 User behavior @5 19`
C03	`09`	`X`	`SPA`	`@0 Comportamiento usuario @5 19`
C03	`10`	`X`	`FRE`	`@0 Théorie cognitive @5 20`
C03	`10`	`X`	`ENG`	`@0 Cognitive theory @5 20`
C03	`10`	`X`	`SPA`	`@0 Teoría cognitiva @5 20`
C03	`11`	`X`	`FRE`	`@0 Système passif @5 21`
C03	`11`	`X`	`ENG`	`@0 Passive system @5 21`
C03	`11`	`X`	`SPA`	`@0 Sistema pasivo @5 21`
C03	`12`	`X`	`FRE`	`@0 Cisaillement @5 22`
C03	`12`	`X`	`ENG`	`@0 Shear @5 22`
C03	`12`	`X`	`SPA`	`@0 Cizalladura @5 22`
C03	`13`	`X`	`FRE`	`@0 Fluide magnétique @5 23`
C03	`13`	`X`	`ENG`	`@0 Magnetic fluid @5 23`
C03	`13`	`X`	`SPA`	`@0 Fluido magnético @5 23`
C03	`14`	`X`	`FRE`	`@0 Circuit magnétique @5 24`
C03	`14`	`X`	`ENG`	`@0 Magnetic circuit @5 24`
C03	`14`	`X`	`SPA`	`@0 Circuito magnético @5 24`
C03	`15`	`X`	`FRE`	`@0 Couple moteur @5 25`
C03	`15`	`X`	`ENG`	`@0 Motor torque @5 25`
C03	`15`	`X`	`SPA`	`@0 Par motor @5 25`
C03	`16`	`3`	`FRE`	`@0 Dispositif cristaux liquides @5 26`
C03	`16`	`3`	`ENG`	`@0 Liquid crystal devices @5 26`
N21				`@1 221`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 10-0344843 INIST
ET :	MR-Drive: A new 1-DOF MR Fluid Based Haptic Interface
AU :	PERIQUET (Florian); LOZADA (José); ROSELIER (Samuel); POLIZZI (René); ANASTASSOVA (Margarita); HAFEZ (Moustapha)
AF :	CEA LIST, Laboratoire Interfaces Sensorielles, 18, route du Panorama, BP 6/FONTENAY AUX ROSES, 92265/France (1 aut., 2 aut., 3 aut., 4 aut., 5 aut., 6 aut.)
DT :	Congrès; Niveau analytique
SO :	Mechatronics for vehicle and production. International conference/2009-06-24/Paris FRA; France; Suresnes: SIA; Da. 2009; [7 p.]
LA :	Anglais
EA :	This paper introduces a new rotary haptic interface based on Magneto-Rheological (MR) fluids for in-vehicule functions and instrument control. The MR fluid allows the rendering of multiple haptic patterns to enhance the user interaction and to decrease the cognitive load of the driver. The system consists of an innovative semi-active rotary interface, able to emulate the touch feedback of many conventional knobs. The active part is composed of a thin cylinder that shears the MR fluid between two static magnetic poles. A magnet is placed inside the magnetic circuit to generate a magnetic field offset which is either cancelled or reinforced depending on the current direction in the coil. With an appropriate design and the same electrical power, the introduction of an offset should double the magnetic field range. Without electrical power, a permanent braking torque is applied. The output torque ranges from 0.03 Nm to 5.25 Nm. An integrated demonstrator has also been developed, combining the MR device with a 7" LCD panel. The LCD panel displays a custom graphical interface. thus allowing an exploratory user-centered evaluation of the MR haptic device.
CC :	001D12E04; 001D02B04
FD :	Interface utilisateur; Sensibilité tactile; Fluide magnétorhéologique; Cognition; Système actif; Freinage; Interface graphique; Perception sensorielle; Comportement utilisateur; Théorie cognitive; Système passif; Cisaillement; Fluide magnétique; Circuit magnétique; Couple moteur; Dispositif cristaux liquides
ED :	User interface; Tactile sensitivity; Magnetorheological fluid; Cognition; Active system; Braking; Graphical interface; Sensorial perception; User behavior; Cognitive theory; Passive system; Shear; Magnetic fluid; Magnetic circuit; Motor torque; Liquid crystal devices
SD :	Interfase usuario; Sensibilidad tactil; Fluido magnetoreologico; Cognición; Sistema activo; Frenado; Interfaz grafica; Percepción sensorial; Comportamiento usuario; Teoría cognitiva; Sistema pasivo; Cizalladura; Fluido magnético; Circuito magnético; Par motor
LO :	INIST-Y 39500.354000174672350090
ID :	10-0344843

Links to Exploration step

Pascal:10-0344843

Le document en format XML

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<term>Liquid crystal devices</term>
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<term>Système actif</term>
<term>Freinage</term>
<term>Interface graphique</term>
<term>Perception sensorielle</term>
<term>Comportement utilisateur</term>
<term>Théorie cognitive</term>
<term>Système passif</term>
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<front><div type="abstract" xml:lang="en">This paper introduces a new rotary haptic interface based on Magneto-Rheological (MR) fluids for in-vehicule functions and instrument control. The MR fluid allows the rendering of multiple haptic patterns to enhance the user interaction and to decrease the cognitive load of the driver. The system consists of an innovative semi-active rotary interface, able to emulate the touch feedback of many conventional knobs. The active part is composed of a thin cylinder that shears the MR fluid between two static magnetic poles. A magnet is placed inside the magnetic circuit to generate a magnetic field offset which is either cancelled or reinforced depending on the current direction in the coil. With an appropriate design and the same electrical power, the introduction of an offset should double the magnetic field range. Without electrical power, a permanent braking torque is applied. The output torque ranges from 0.03 Nm to 5.25 Nm. An integrated demonstrator has also been developed, combining the MR device with a 7" LCD panel. The LCD panel displays a custom graphical interface. thus allowing an exploratory user-centered evaluation of the MR haptic device.</div>
</front>
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<inist><standard h6="B"><pA><fA08 i1="01" i2="1" l="ENG"><s1>MR-Drive: A new 1-DOF MR Fluid Based Haptic Interface</s1>
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<fA09 i1="01" i2="1" l="ENG"><s1>International conference on mechatronics for vehicle and production : Paris, 24-25 June 2009</s1>
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<fA11 i1="01" i2="1"><s1>PERIQUET (Florian)</s1>
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<fA11 i1="02" i2="1"><s1>LOZADA (José)</s1>
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<fA11 i1="03" i2="1"><s1>ROSELIER (Samuel)</s1>
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<fA11 i1="04" i2="1"><s1>POLIZZI (René)</s1>
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<fA11 i1="05" i2="1"><s1>ANASTASSOVA (Margarita)</s1>
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<fA11 i1="06" i2="1"><s1>HAFEZ (Moustapha)</s1>
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<fA14 i1="01"><s1>CEA LIST, Laboratoire Interfaces Sensorielles, 18, route du Panorama, BP 6</s1>
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<fA18 i1="01" i2="1"><s1>Société des Ingénieurs de l'Automobile</s1>
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<fA30 i1="01" i2="1" l="ENG"><s1>Mechatronics for vehicle and production. International conference</s1>
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<s1>© 2010 INIST-CNRS. All rights reserved.</s1>
</fA44>
<fA45><s0>16 ref.</s0>
</fA45>
<fA47 i1="01" i2="1"><s0>10-0344843</s0>
</fA47>
<fA60><s1>C</s1>
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<fA61><s0>A</s0>
</fA61>
<fA66 i1="01"><s0>FRA</s0>
</fA66>
<fC01 i1="01" l="ENG"><s0>This paper introduces a new rotary haptic interface based on Magneto-Rheological (MR) fluids for in-vehicule functions and instrument control. The MR fluid allows the rendering of multiple haptic patterns to enhance the user interaction and to decrease the cognitive load of the driver. The system consists of an innovative semi-active rotary interface, able to emulate the touch feedback of many conventional knobs. The active part is composed of a thin cylinder that shears the MR fluid between two static magnetic poles. A magnet is placed inside the magnetic circuit to generate a magnetic field offset which is either cancelled or reinforced depending on the current direction in the coil. With an appropriate design and the same electrical power, the introduction of an offset should double the magnetic field range. Without electrical power, a permanent braking torque is applied. The output torque ranges from 0.03 Nm to 5.25 Nm. An integrated demonstrator has also been developed, combining the MR device with a 7" LCD panel. The LCD panel displays a custom graphical interface. thus allowing an exploratory user-centered evaluation of the MR haptic device.</s0>
</fC01>
<fC02 i1="01" i2="X"><s0>001D12E04</s0>
</fC02>
<fC02 i1="02" i2="X"><s0>001D02B04</s0>
</fC02>
<fC03 i1="01" i2="X" l="FRE"><s0>Interface utilisateur</s0>
<s5>06</s5>
</fC03>
<fC03 i1="01" i2="X" l="ENG"><s0>User interface</s0>
<s5>06</s5>
</fC03>
<fC03 i1="01" i2="X" l="SPA"><s0>Interfase usuario</s0>
<s5>06</s5>
</fC03>
<fC03 i1="02" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>07</s5>
</fC03>
<fC03 i1="02" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>07</s5>
</fC03>
<fC03 i1="03" i2="X" l="FRE"><s0>Fluide magnétorhéologique</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>Magnetorheological fluid</s0>
<s5>08</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Fluido magnetoreologico</s0>
<s5>08</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE"><s0>Cognition</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="ENG"><s0>Cognition</s0>
<s5>09</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Cognición</s0>
<s5>09</s5>
</fC03>
<fC03 i1="05" i2="X" l="FRE"><s0>Système actif</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="ENG"><s0>Active system</s0>
<s5>10</s5>
</fC03>
<fC03 i1="05" i2="X" l="SPA"><s0>Sistema activo</s0>
<s5>10</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Freinage</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Braking</s0>
<s5>11</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Frenado</s0>
<s5>11</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Interface graphique</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>Graphical interface</s0>
<s5>12</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Interfaz grafica</s0>
<s5>12</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Perception sensorielle</s0>
<s5>18</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Sensorial perception</s0>
<s5>18</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Percepción sensorial</s0>
<s5>18</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Comportement utilisateur</s0>
<s5>19</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>User behavior</s0>
<s5>19</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Comportamiento usuario</s0>
<s5>19</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Théorie cognitive</s0>
<s5>20</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Cognitive theory</s0>
<s5>20</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Teoría cognitiva</s0>
<s5>20</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Système passif</s0>
<s5>21</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Passive system</s0>
<s5>21</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Sistema pasivo</s0>
<s5>21</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Cisaillement</s0>
<s5>22</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Shear</s0>
<s5>22</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Cizalladura</s0>
<s5>22</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Fluide magnétique</s0>
<s5>23</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Magnetic fluid</s0>
<s5>23</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Fluido magnético</s0>
<s5>23</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Circuit magnétique</s0>
<s5>24</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Magnetic circuit</s0>
<s5>24</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Circuito magnético</s0>
<s5>24</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE"><s0>Couple moteur</s0>
<s5>25</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG"><s0>Motor torque</s0>
<s5>25</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA"><s0>Par motor</s0>
<s5>25</s5>
</fC03>
<fC03 i1="16" i2="3" l="FRE"><s0>Dispositif cristaux liquides</s0>
<s5>26</s5>
</fC03>
<fC03 i1="16" i2="3" l="ENG"><s0>Liquid crystal devices</s0>
<s5>26</s5>
</fC03>
<fN21><s1>221</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 10-0344843 INIST</NO>
<ET>MR-Drive: A new 1-DOF MR Fluid Based Haptic Interface</ET>
<AU>PERIQUET (Florian); LOZADA (José); ROSELIER (Samuel); POLIZZI (René); ANASTASSOVA (Margarita); HAFEZ (Moustapha)</AU>
<AF>CEA LIST, Laboratoire Interfaces Sensorielles, 18, route du Panorama, BP 6/FONTENAY AUX ROSES, 92265/France (1 aut., 2 aut., 3 aut., 4 aut., 5 aut., 6 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
<SO>Mechatronics for vehicle and production. International conference/2009-06-24/Paris FRA; France; Suresnes: SIA; Da. 2009; [7 p.]</SO>
<LA>Anglais</LA>
<EA>This paper introduces a new rotary haptic interface based on Magneto-Rheological (MR) fluids for in-vehicule functions and instrument control. The MR fluid allows the rendering of multiple haptic patterns to enhance the user interaction and to decrease the cognitive load of the driver. The system consists of an innovative semi-active rotary interface, able to emulate the touch feedback of many conventional knobs. The active part is composed of a thin cylinder that shears the MR fluid between two static magnetic poles. A magnet is placed inside the magnetic circuit to generate a magnetic field offset which is either cancelled or reinforced depending on the current direction in the coil. With an appropriate design and the same electrical power, the introduction of an offset should double the magnetic field range. Without electrical power, a permanent braking torque is applied. The output torque ranges from 0.03 Nm to 5.25 Nm. An integrated demonstrator has also been developed, combining the MR device with a 7" LCD panel. The LCD panel displays a custom graphical interface. thus allowing an exploratory user-centered evaluation of the MR haptic device.</EA>
<CC>001D12E04; 001D02B04</CC>
<FD>Interface utilisateur; Sensibilité tactile; Fluide magnétorhéologique; Cognition; Système actif; Freinage; Interface graphique; Perception sensorielle; Comportement utilisateur; Théorie cognitive; Système passif; Cisaillement; Fluide magnétique; Circuit magnétique; Couple moteur; Dispositif cristaux liquides</FD>
<ED>User interface; Tactile sensitivity; Magnetorheological fluid; Cognition; Active system; Braking; Graphical interface; Sensorial perception; User behavior; Cognitive theory; Passive system; Shear; Magnetic fluid; Magnetic circuit; Motor torque; Liquid crystal devices</ED>
<SD>Interfase usuario; Sensibilidad tactil; Fluido magnetoreologico; Cognición; Sistema activo; Frenado; Interfaz grafica; Percepción sensorial; Comportamiento usuario; Teoría cognitiva; Sistema pasivo; Cizalladura; Fluido magnético; Circuito magnético; Par motor</SD>
<LO>INIST-Y 39500.354000174672350090</LO>
<ID>10-0344843</ID>
</server>
</inist>
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MR-Drive: A new 1-DOF MR Fluid Based Haptic Interface

MR-Drive: A new 1-DOF MR Fluid Based Haptic Interface

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