Development of 2 DOF force display system using ER actuators

Force display systems are very important devices in many fields such as virtual reality, human interface, medical treatment, and amusement etc. A force display system is a kind of robot system which presents a force sense to human being. Since the operator must grip the tip of the robot system directly, the maneuverability and kinetic safety of the system become very important. Many force display systems or haptic interfaces have been developed which used servo motors for their actuators. But, the conventional servo motor does not always suit for the force display system. We developed a new actuator using ER fluid. The ER actuator has the characteristics which suit for the force display system. Then, we developed a 2 DOF force display system using ER actuators. This system can provide good force senses in various situations