Using a Dual Differential Rheological Actuator as a high-performance haptic interface

In this paper, Dual Differential Rheological Actuator (DDRA) is discussed. DDRA is an actuator with high performance torque and position control characteristics, in addition to versatile, safe, robust and easily controllable robotic interactions. DDRA´s design is based on the use of two magnetorheological (MR) brakes coupled to an EM motor and to the system´s output through a dual differential mechanism that also serve as a speed reducer. MR brakes are semi-active actuators that make use of MR fluids. Compared to active actuators, MR brakes are small, light and have low inertia.