Abstract
By applying our developed intelligent fluid, magnetic compound fluid (MCF), to silicon oil rubber, we have made the MCF rubber highly sensitive to temperature and electric conduction. MCF is useful as the element material in haptic robot sensors and other related devices. In the present paper, we clarified the relationship between the electric current and the voltage under a tensile strain by utilizing the quantum mechanics theory on the multibarrier potential problem. The experimental results could be qualitatively explained by our proposed theory. The electrons can be moved between the solid materials by the tunnel effect. The relation between voltage and electric current is affected by the formation of the clusters, and it is changed by the application of heat. We also clarified experimentally the present MCF rubber useful in haptic sensors. Because the motions of humans and robots are different, the sensing of the rubber is different, depending on the placement. However, as for both motions of human and robot, there is no quantitative difference in the electric resistance among kinetic energy, momentum, and force. The sensing is also different based on the stiffness of the surface to which the sensor is adhered.
Highlights
In the ongoing development of engineering technology, the development of new composite materials is needed in, for example, the fields of robotics, sensing, and related areas
We can control the various characteristics of magnetic compound fluid (MCF), because Shimada succeeded in extracting the magnetic clusters formed by the magnetic particles from both MCF and magnetorheological fluid (MRF) [5]
We examined the electron bond in the metal particles condensing in MCF rubber, Fe3O4, Cu, Ni, Fe, and carbon blacks in dotite A and B and considered the behavior of the electrons transmitted over the potential barrier of the rubber eEo = 0.401 eV 20
Summary
In the ongoing development of engineering technology, the development of new composite materials is needed in, for example, the fields of robotics, sensing, and related areas. By using network-like magnetic clusters in the MCF rubber, we can expect to make a haptic sensor with high electric and temperature sensitivity as discussed by Zheng and Shimada [21]. The improved MCF rubber has greater electric resistivity change induced by compression for inducing carbon blacks, because the other metal particles are involved in the MCF rubber. These facts imply the difference between the MCF rubber and the ordinary commercial base electric conductive rubber. The switching effect is more useful for haptic robot sensors because of larger change of the flowing electric current at the case of applied large compressed force from the case of touching it without any compressed force. In the second half of the present paper, we investigate the characteristics of sensing during the motions of human and robot legs by setting MCF rubber on the bottom surfaces of a sole of the shoes and a robot’s leg
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