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Fabrication, enhancement, and comparative study of ferro-fluid-based haptic wearables

Pérez Marcilla, Luis (2022) Fabrication, enhancement, and comparative study of ferro-fluid-based haptic wearables. Master's, Universidad de Navarra, Tecnun.

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The development of tactile devices is becoming very important, especially now that the virtual reality (VR) applications are becoming more common. The devices that have been designed respond to a wide variety of problems, a brief literature has been conducted about them. In this thesis, three different tactile devices, based on the ferrofluid tactile device, with different actuation principle were designed and fabricated. The objective is to conduct a comparison of capabilities (DoF, weight, bandwidth, speed, size, force exertion) and a user study to determine the capabilities of the three devices. The user study will be conducted with the help of ViESTac, a VR suite developed for evaluating different novel tactile devices with tasks that consider the properties of the tactile perception. The use of ViESTac allows to compare many devices under the same standard, thereby allowing the possibility to choose the right device for the right task. The thesis can be divided into four blocks. i. 3D modelling of the devices was carried out. They were printed using a 3D printer. The device was assembled, including solenoid winding, nitrile rubber, ferrofluid, neodymium magnets and other components. ii. Since different actuation mechanisms were used for the three different devices, therefore specific electronic circuits were designed for each of them, so that they could be actuated using the same power supply input. iii. The mechanical structure and electronics were designed in such a manner, so that all the devices would deliver similar orientation and texture feedback to the user. A proof-of-concept wearable prototype of the ferrofluid tactile device was also developed. iv. To check the feasibility of the devices and to have an objective and subjective comparison between them, this and this was done. The objective comparison considered the physical parameters of the devices, all put together in a table. The subjective involved a user study of 14 participants, conducted with ViESTac, a VR suite that was developed for testing tactile devices through different tasks. There are three different tasks (angle discrimination, texture discrimination and a pick and place task) each of them tested the capabilities of the devices and allowed to establish a comparison between them.

Item URL in elib:https://elib.dlr.de/190188/
Document Type:Thesis (Master's)
Additional Information:DLR-IB-RM-OP-2022-141
Title:Fabrication, enhancement, and comparative study of ferro-fluid-based haptic wearables
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Pérez Marcilla, LuisUniversidad de Navarra, TecnunUNSPECIFIEDUNSPECIFIED
Date:March 2022
Journal or Publication Title:Fabrication, enhancement, and comparative study of ferro-fluid-based haptic wearables
Refereed publication:No
Open Access:No
Number of Pages:117
Keywords:Tactile device, Haptics, Ferrofluid
Institution:Universidad de Navarra, Tecnun
Department:Industrial Engineering
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Telerobotics
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Singh, Harsimran
Deposited On:17 Nov 2022 15:08
Last Modified:17 Nov 2022 15:08

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