Development and Evaluation of a Novel 3D Haptic Joystick with Force Feedback Using Three Magneto-Rheological Brakes

Abstract

This study aims to develop and evaluate a unique 3D haptic system utilizing a gimbal mechanism and three Magneto-Rheological Brakes (MRBs). The research begins with a comprehensive literature review to propose a configuration for a 3D haptic joystick with force feedback, employing MRF actuators. The gimbal mechanism integrates the three MRBs to provide force feedback for rotational movement along the X, Y, and Z axes. The design and simulation of the MRBs are carried out using the finite element method and the Bingham plastic rheological model, with a focus on minimizing mass and production costs. To address the objective optimization problem associated with the MRBs, Particle Swarm Optimization is applied. Subsequently, a physical prototype of the 3D haptic joystick is constructed, and an evaluation is conducted to assess the feedback force. This research also paves the way for future investigations into force feedback in remote control, particularly within the context of the Master-Slave system.

Keywords

• haptic joystick
• force feedback
• magneto-rheological brake (mrb)
• particle swarm optimization (pso)