Abstract
This paper presents the force-feedback performance of an active type of haptic devicefeaturing an electrorheological (ER) fluid via a sliding mode controller (SMC), which isvery robust to external disturbances and parameter uncertainties. In order to generate a2-degrees-of-freedom (2-DOF) active force, a spherical ER joint is designed based on themathematical torque model. The ER joint is then manufactured by adopting twobi-directional clutch actuators and the spherical geometry of the electrode, andits field-dependent generating force is experimentally evaluated. Subsequently,the 2-DOF force display is manufactured by integrating the ER joint with ACmotors. The force response of the manufactured haptic device is experimentallyevaluated, and expressed by a second-order dynamic equation. In order to achieve thedesired force trajectories, the SMC is formulated and experimentally realized byimposing an Euler angle relationship. Tracking control performances for various forcetrajectories are presented in the time domain, and their tracking errors are evaluated.
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