Development of 2-DOF MR joysticks for virtual reality applications



Publication Details

Li, W., Zhang, X., Kosasih, P. B. & Liu, B. 2007, ''Development of 2-DOF MR joysticks for virtual reality applications'', in F. Gordaninejad, A. Fuchs, D. York & O. A. Graeve (eds), Proceedings of the 10th International Conference on Electrorheological Fluids and Magnetorheological Suspensions, World Scientific Publishing Co. Pty. Ltd., Singapore, pp. 527-533.


The paper presents the design and development of a 2-DOF magnetorheological fluid (MRF) based haptic joystick and studies its applications in virtual reality. The developed system consists of three main parts: MR joystick, control hardware, and software. The MR joystick is composed of two actuators with disc shape positioned perpendicularly with a gimbal structure. The dimensions of the actuators were optimized using finite element analysis and their steady-state performances of the actuator were measured. The kinetics of the joystick in terms of working space and resistance force were discussed, where a subhysteresis model and a compensation technique were employed. The applications of the MR joystick in virtual reality were demonstrated using two interface examples.

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