3-degrees of freedom active haptic master system using ER fluid

摘要

ER 3 free with the master also initiated an active haptic system fluid. Brief coupled to an inner spherical joint to allow free movement in the outer body portion and the body portion with the ER 3 free fluid also active haptic master system is provided with three ER clutch for rotation and having an inner surface on the sphere and , the inner circle of the sphere and the spherical joint body is characterized in that the ER fluid is filled in the gap between the parts . ;