@article {1726,
	title = {A Permanent-Magnet Exciter for Magneto-Rheological Fluid-Based Haptic Interfaces},
	journal = {IEEE Transactions on Magnetics},
	volume = {49},
	year = {2013},
	pages = {1390{\textendash}1401},
	abstract = {<p>This paper describes an innovative haptic interface device based on magneto-rheological fluid (MRF). A system of permanent magnets and coils is designed in order to produce a proper distribution of a magnetic field inside the fluid. This distribution, with its spatial resolution, causes the MRF to assume prescribed shapes and softness profiles that can be directly felt and explored by hand. The device is designed using a 3-D finite-elements code taking into account the B-H functions of the nonlinear materials (MRF, permanent magnets, ferromagnetic materials). In order to validate the finite-element model, some experimental magnetic measurements are taken on a simplified prototype. Furthermore, the maps of the flux density and those of the shear stress inside the fluid are carefully analyzed. Finally, the interaction between the operator{\textquoteright}s hand and the MRF is numerically investigated.</p>
},
	keywords = {Haptics, Robotics},
	issn = {0018-9464},
	doi = {10.1109/TMAG.2012.2233491},
	author = {R. Rizzo}
}
@inbook {HB08-2,
	title = {The Sense of Touch and its Rendering: Progresses in Haptics Research},
	series = {Springer Tracts in Advanced Robotics (STAR)},
	volume = {45/2008},
	year = {2008},
	pages = {155-178},
	publisher = {Springer},
	organization = {Springer},
	type = {Chapter},
	chapter = {Rheological Device},
	address = {Berlin, Heidelberg},
	abstract = {<p>In this work we investigate the possibility of mimicking haptic perception by using rheological materials. An analysis of the rheological behaviour of some "smart fluids", such as Electro-rheological Fluids (ERFs) and Magneto-rheological Fluids (MRFs), is provided to design new haptic interfaces capable of reproducing shape and compliance of some virtual objects. Some theoretical design considerations are discussed and supported by magnetic simulations implemented by means of a numerical code. Several prototypes were designed and realized through a progressive enhancement of performance up to a final 3D immersive device. Furthermore, to assess performance a set of psychophysical tests was carried out and experimental results in terms of softness and shape recognition are reported.</p>
},
	keywords = {Haptics, Robotics},
	author = {N. Sgambelluri and E. P. Scilingo and R. Rizzo and A. Bicchi},
	editor = {A. Bicchi and M. Buss and M. Ernst and A. Peer}
}
