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.
Available at: http://works.bepress.com/weihua_li/34/