01652nas a2200181   4500008004100000245009500041210006900136260001200205300001400217520102400231653001201255100001901267700002001286700001501306700001301321700001301334856012301347       2006                        eng d00aAdvanced Modeling and preliminary psychophysical experiments for a free-hand haptic device0 aAdvanced Modeling and preliminary psychophysical experiments for  cOctober  a1558-15633 a<p>In this paper we report on a new improved free-hand haptic interface based on magnetorheological fluids (MRFs). MRFs are smart materials which change their rheology according to an external magnetic field. The new architecture here proposed results from the development and improvement of earlier prototypes. The innovative idea behind this device is to allow subjects interacting directly with an object, whose rheology is rapidly and easily changeable, freely moving their hands without rigid mechanical linkages. Numerical advanced simulation tests using algorithms based on finite element methods have been implemented, in order to analyze and predict the spatial distribution of the magnetic field. A special focus was laid on investigating on how the magnetic filed profile is altered by the introduction of the hand. Possible solutions were proposed to overcome this perturbation. Finally some preliminary psychophysical tests in order to assess the performance of the device are reported and discussed.</p>
10aHaptics1 aSgambelluri, N1 aScilingo, E. P.1 aBicchi, A.1 aRizzo, R1 aRaugi, M  uhttp://95.110.227.47/publications/advanced-modeling-and-preliminary-psychophysical-experiments-free-hand-haptic-device