Haptic actuator using magnetorheological elastomer and magnetorheological fluid

Abstract

To provide a haptic actuator using a magnetorheological elastomer and a magnetorheological fluid.SOLUTION: A haptic actuator provided herein is configured to have a magnetorheological elastomer surround a ferrous elastomer and a magnetorheological fluid. The haptic actuator is capable of providing kinesthetic feedback on an external force by increasing rigidity of the magnetorheological elastomer and increasing viscosity of the magnetorheological fluid and, when an alternating current magnetic field is applied, is capable of providing vibration feedback by repeating shape compression and restoration to generate vibration.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a haptic actuator using a magnetorheological elastomer and a magnetorheological fluid. More specifically, it has a form in which a ferromagnetic elastomer and a magnetorheological fluid are surrounded by a magnetorheological elastomer, and it is possible to provide a kinesthetic feedback against an external force by increasing the rigidity of the magnetorheological elastomer and the viscosity of the magnetorheological fluid, and when an alternating magnetic field is applied, it is possible to provide a vibration feedback by repeatedly generating vibrations by repeating shape compression and restoration. The present invention relates to a haptic actuator using a magnetorheological elastomer and a magnetorheological fluid.

Background Art

[0002] Generally, a magnetorheological fluid (MR fluid) exhibits a phenomenon similar to the ER effect as a fluid having an effect of increasing the flow resistance of the fluid when a magnetic field is applied. A magnetorheological fluid is a fluid in which paramagnetic particles are dispersed in a solvent having a low permeability. When there is no magnetic field load, it behaves like a Newtonian fluid in which the particles move freely, but when a magnetic field is applied, the particles are charged to form a chain structure and exhibit the behavior of a Bingham fluid having a yield stress.

[0003] Such magnetorheological fluids are utilized in the design, manufacture, positioning, and vibration control of various application devices. For example, they are utilized in vehicle shock absorbers, impact dampers, engine mounts, and vehicle suspensions.

[0004] On the other hand, in the case of currently developed MR dampers, since the price is very high and the volume is large, they are mainly utilized in the fields of automobiles, railways, or civil engineering / construction. In order to utilize this in tactile footwear, VR controller buttons, etc., it is necessary to downsize the volume and weight, and there is a need for technological development to significantly reduce the manufacturing cost and enhance price competitiveness compared to the present situation.

Prior Art Documents

Patent Document

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] In order to solve the above problems, the present invention has a form in which a ferromagnetic elastomer and a magnetorheological fluid are surrounded by a magneto-viscoelastic elastomer, and can provide motion sensory feedback against an external force by increasing the rigidity of the magneto-viscoelastic elastomer and the viscosity of the magnetorheological fluid. When an alternating magnetic field is applied, vibration feedback can be provided by repeatedly compressing and restoring the shape to generate vibration. An object of the present invention is to provide a haptic actuator using a magneto-viscoelastic elastomer and a magnetorheological fluid.

Means for Solving the Problems

[0007] A haptic actuator 100 using a magneto-viscoelastic elastomer and a magnetorheological fluid according to an embodiment of the present invention includes a magneto-viscoelastic elastomer housing 110 having a hollow portion 111 formed therein, an elastomer 120 provided in the magneto-viscoelastic elastomer housing 110, and a magnetorheological fluid 130 filled in the hollow portion 111. When an external magnetic field is applied, the rigidity of the magneto-viscoelastic elastomer housing 110 is increased and the viscosity of the magnetorheological fluid 130 is increased, so that the resistance against an external force is increased. When an external alternating magnetic field is applied, the magneto-viscoelastic elastomer housing 110 can repeatedly compress and restore in the direction of the external magnetic field to generate vibration.

[0008] In one embodiment, the magneto-viscoelastic elastomer housing 110 may correspond to a cylindrical shape with a hollow interior.

[0009] In one embodiment, the magnetorheological elastomer housing 110 may be formed to have a hollow interior and a size corresponding to the shoe sole area of the footwear.

[0010] In one embodiment, a plurality of the elastomers 120 may be provided in the inner hollow portion 110 of the magnetorheological elastomer housing 110 having a size corresponding to the shoe sole area of the footwear.

[0011] In one embodiment, when a magnetic field is locally generated from a specific external magnetic field generator among the plurality of external magnetic field generators provided in the entire area of the shoe sole of the footwear, the rigidity and viscosity of the magnetorheological elastomer housing 110 and the magnetorheological fluid 130 in the area adjacent to the area where the magnetic field is generated can be locally increased.

[0012] In one embodiment, a plurality of the magnetorheological elastomer housings 110 may be provided to correspond to the shoe sole area of the footwear.

[0013] In one embodiment, the upper and lower sides of the elastomer 120 may be in contact with the inner upper and lower surfaces of the magnetorheological elastomer housing 110, respectively.

[0014] In one embodiment, when an external magnetic field is applied, the iron particles in the magnetorheological fluid 130 may interfere with the compression of the elastomer 120 while being aligned vertically between the elastomers 120.

[0015] In one embodiment, when an external alternating magnetic field is applied, a partial region of the magnetorheological elastomer housing 110 is compressed in the direction of application of the external alternating magnetic field, and when the direction of application of the external alternating magnetic field is changed, the process of restoring the shape of the magnetorheological elastomer housing 110 to its original shape by the elastic force of the elastomer 120 may be repeated.

[0016] In one embodiment, when an external force is applied in the direction from the upper side to the lower side in a state where no external magnetic field is applied, the magnetorheological elastomer housing 110 can be deformed in shape such that its height decreases while being compressed in the lower side direction and its side surfaces extend outward.

Advantages of the Invention

[0017] According to one aspect of the present invention, by increasing the rigidity of the magnetorheological elastomer and the viscosity of the magnetorheological fluid, it is possible to provide motion sensory feedback against an external force, and when applying an alternating magnetic field, by repeatedly performing shape compression and restoration to generate vibration, there is an advantage that vibration feedback can be provided.

[0018] Also, according to one aspect of the present invention, due to a simplified and miniaturized structure, it can be applied to areas that require ultra-small volume applications such as tactile footwear and VR controllers, thereby significantly reducing manufacturing costs and enhancing price competitiveness.

Brief Description of the Drawings

[0019]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Mode for Carrying Out the Invention

[0020] Hereinafter, preferred embodiments will be presented to assist in understanding the present invention. However, the following embodiments are provided only to more easily understand the present invention, and the content of the present invention is not limited by the embodiments.

[0021] FIG. 1 is a drawing showing the configuration of a haptic actuator 100 using a magnetorheological elastomer and a magnetorheological fluid according to an embodiment of the present invention, and FIG. 2 is a drawing showing the concept that the resistance is increased when a magnetic field is applied to the magnetorheological elastomer housing 110.

[0022] Referring to FIGS. 1 and 2, a haptic actuator 100 using a magnetorheological elastomer and a magnetorheological fluid according to an embodiment of the present invention mainly includes a magnetorheological elastomer housing 110, an elastomer 120, and a magnetorheological fluid 130.

[0023] First, the magnetorheological elastomer housing 110 has a hollow portion 111 formed inside, and the elastomer 120 and the magnetorheological fluid 130 are accommodated in the hollow portion 111. More specifically, the hollow portion 111 forms only a sufficient space for accommodating the elastomer 120 and the magnetorheological fluid 130. At this time, even if the shape of the magnetorheological elastomer housing 110 is deformed such as being pushed or crushed by an external force, since the magnetorheological elastomer housing 110 itself surrounds the elastomer 120 and the magnetorheological fluid 130, it is possible to prevent the magnetorheological fluid 130 from leaking to the outside.

[0024] Such a magnetorheological elastomer 110 may basically have a hollow cylindrical shape inside. Also, in one embodiment, it may be formed in a shape similar to the sole shape of a tactile footwear, and may be formed to have a size corresponding to the sole area of the footwear.

[0025] The elastomer 120 is provided in the magnetorheological elastomer 110 in the vertical direction. Basically, one is provided, but depending on the shape, size, etc. of the magnetorheological elastomer 110, the number and arrangement of the elastomer 120 can be changed arbitrarily.

[0026] When an external magnetic field or an external alternating magnetic field is applied to such a magnetorheological elastomer 110, its shape can be deformed by the direction of the magnetic field application, which will be described later.

[0027] The elastomer 120 is provided in the magnetorheological elastomer housing 110 and is arranged to face the vertical direction. The elastomer 120 is mainly made of a steel body (iron), and the upper and lower sides are provided so as to be in contact with the inner upper surface and the lower surface of the magnetorheological elastomer housing 110, respectively.

[0028] Such an elastomer 120 can be compressed accordingly when a physical external force is applied from above or below, or when an external magnetic field is applied to the magnetorheological elastomer housing 110 and the shape of the magnetorheological elastomer housing 110 is deformed, by having an elastic force autonomously.

[0029] When the elastomer 120 is compressed, since the elastomer 120 maintains an elastic force autonomously, when the object to which the external force is applied disappears or the external magnetic field applied to the magnetorheological elastomer housing 110 disappears, the magnetorheological elastomer housing 110 can be restored to its original shape by the elastomer 120 being restored to its original state.

[0030] Also, the remaining area in the hollow portion 111 of the magnetorheological elastomer housing 110 excluding the elastomer 120 is filled with the magnetorheological fluid 130 in its entirety. Therefore, when the viscosity of the magnetorheological fluid 130 is increased by an external magnetic field, the iron particles constituting the magnetorheological fluid 130 are aligned vertically between the elastomers 120, so that the elastomers 120 are not compressed and the structural resistance can be increased. This will be described later.

[0031] The magnetorheological fluid 130 is filled so as to fill the remaining area in the hollow portion 111 excluding the elastomer 120. When an external magnetic field is applied, while the viscosity is increased, it becomes such as to prevent the compression of the above-described elastomer 120. Also, when the generation of the external magnetic field is released in this state, the viscosity of the magnetorheological fluid 130 returns to its original viscosity, and in this case, the elastomer 120 can be compressed again as originally.

[0032] Next, the state in which the above-described magnetorheological elastomer housing 110 and magnetorheological fluid 130 are deformed in shape by an external magnetic field, an external alternating magnetic field, or repeatedly compressed and restored in the magnetic field application direction to generate vibration will be described more specifically.

[0033] FIG. 3 is a drawing showing a state in which the shape of the magnetorheological elastomer housing 110 is deformed by the application of an external magnetic field, and FIG. 4 is a drawing showing a state in which vibration of the magnetorheological elastomer housing 110 is generated by the application of an external alternating magnetic field.

[0034] First, referring to FIG. 3, when an external magnetic field is applied outside the magnetorheological elastomer housing 110, while the rigidity of the magnetorheological elastomer housing 110 increases due to the external magnetic field, the structural resistance to external forces increases, and thereby the shape deformation can be suppressed.

[0035] At the same time, the viscosity of the magnetorheological fluid 130 filled in the magnetorheological elastomer housing 110 increases. By aligning the iron particles in the magnetorheological fluid 130 vertically between the elastomers 120, the elastomers 120 are not compressed, and structurally the resistance further increases, and the shape deformation can be further suppressed.

[0036] Such a point can be applied to a button that limits the externally applied pressure in some cases (for example, the button of a VR controller) or in some cases to the sole of a shoe worn by a user to provide various motion sensory feedback.

[0037] Referring to FIG. 4, when an external alternating magnetic field is applied outside the magnetorheological elastomer housing 110, the shape of the magnetorheological elastomer housing 110 is deformed in the direction of application of the external alternating magnetic field by the external alternating magnetic field. At this time, the inner elastomer 120 is also compressed accordingly. However, when the direction of application of the external alternating magnetic field is reversed, the shape of the magnetorheological elastomer housing 110 is restored to its original state by the restoring force of the elastomer 120. When such a process is repeated, vibration can be generated in the magnetorheological elastomer housing 110. Such a point can be applied to a button that limits the externally applied pressure depending on the case (for example, the button of a VR controller) to generate vibration, or can be applied to the sole of a shoe worn by a user depending on the case to provide vibration feedback by the action of stepping on the foot.

[0038] Hereinafter, embodiments in which the haptic actuator 100 using such a magnetorheological elastomer and a magnetorheological fluid is applied to various fields such as an actuator composed of a coil and a ferromagnetic housing, a button of a VR controller, and the sole of a tactile footwear will be described.

[0039] FIG. 5 is a drawing showing an embodiment in which the haptic actuator 100 using a magnetorheological elastomer and a magnetorheological fluid according to the present invention is applied to an actuator composed of a coil and a ferromagnetic housing, FIG. 6 is a drawing showing an embodiment in which the haptic actuator 100 using a magnetorheological elastomer and a magnetorheological fluid according to the present invention is applied to a button of a VR controller, and FIG. 7 is a drawing showing an embodiment in which the haptic actuator 100 using a magnetorheological elastomer and a magnetorheological fluid according to the present invention is applied to the sole of a tactile footwear.

[0040] Referring to FIG. 5, the haptic actuator 100 using a magnetorheological elastomer and a magnetorheological fluid according to the present invention can also be applied to an actuator composed of a coil and a ferromagnetic housing.

[0041] At this time, the actuator composed of a coil and a ferromagnetic housing can correspond to buttons, dampers, etc., and when a magnetic field is applied, as shown in Fig. 5(b), a magnetic field is formed throughout the inside of the coil and the ferromagnetic housing. At this time, due to the increase in the rigidity of the magneto-viscoelastic elastomer housing 110 and the increase in the viscosity of the magneto-viscous fluid 130 in the haptic actuator 100 using the magneto-viscoelastic elastomer and the magneto-viscous fluid, the shape deformation of the magneto-viscoelastic elastomer housing 110 can be maximally suppressed. Therefore, while the height does not decrease, the resistance of the magneto-viscoelastic elastomer housing 110, the elastomer 120, and the magneto-viscous fluid 130 is maximized, so that a strong resistance can be applied to the actuator composed of a coil and a ferromagnetic housing.

[0042] Also, when an external alternating magnetic field is applied, the shape of the magneto-viscoelastic elastomer housing 110 is deformed in the direction of application of the external alternating magnetic field by the external alternating magnetic field. At this time, the inner elastomer 120 is also compressed accordingly. When the direction of application of the external alternating magnetic field is reversed, the shape of the magneto-viscoelastic elastomer housing 110 is restored to its original state by the restoring force of the elastomer 120. When such a process is repeated, vibration can be generated in the actuator composed of a coil and a ferromagnetic housing.

[0043] Referring to Fig. 6, the haptic actuator 100 using the magneto-viscoelastic elastomer and the magneto-viscous fluid according to the present invention can also be applied to the buttons of a VR controller. This is because the button can be freely pressed normally, but when a magnetic field is applied, due to the increase in the rigidity of the magneto-viscoelastic elastomer housing 110 and the increase in the viscosity of the magneto-viscous fluid 130 in the haptic actuator 100 using the magneto-viscoelastic elastomer and the magneto-viscous fluid, the shape deformation of the magneto-viscoelastic elastomer housing 110 is maximally suppressed, thereby providing various user experiences so that the button is not pressed. Utilizing this, the button can be selectively pressed in various environments such as games and VR content.

[0044] Referring to Fig. 7, the haptic actuator 100 using the magnetorheological elastomer and the magnetorheological fluid according to the present invention can also be applied to the sole of a tactile footwear. More specifically, a separate external magnetic field generator composed of a coil, an electromagnet, an EPM, etc. may be provided on the sole of the tactile footwear. A plurality of external magnetic field generators may be provided on the sole of the tactile footwear. All the external magnetic field generators may generate a magnetic field collectively, or a specific external magnetic field generator may generate a magnetic field locally.

[0045] In this case, a magnetorheological elastomer housing 110 corresponding to the size and the corresponding area of the shape of the sole of the tactile footwear is provided below the external magnetic field generator. A plurality of elastomers 120 can be arranged inside the magnetorheological elastomer housing 110. When a magnetic field is locally generated from a specific external magnetic field generator in this state, the rigidity and viscosity of the magnetorheological elastomer housing 110 and the magnetorheological fluid 130 in the region adjacent to the region where the magnetic field is generated can be locally increased.

[0046] Further, when an external alternating magnetic field is generated by the external magnetic field generator, vibration can be generated from the magnetorheological elastomer housing 110 in the region adjacent to the region where the magnetic field is generated. Thus, when the tactile footwear is applied to a situation such as virtual reality, various virtual terrains can be represented by the change in rigidity and the change in vibration and provided to the wearer of the shoes.

[0047] On the other hand, in the haptic actuator 100 using the magnetorheological elastomer and the magnetorheological fluid according to an embodiment of the present invention, an electro-rheological elastomer may be applied instead of the magnetorheological elastomer of the magnetorheological elastomer housing 110, or an electro-rheological fluid may be applied instead of the magnetorheological fluid 130. The explanation thereof is as follows.

[0048] FIG. 8 is a drawing showing an embodiment in which an electrorheological elastomer housing is applied instead of the magnetorheological elastomer housing 110 shown in FIG. 1, and an electrorheological fluid is applied instead of the magnetorheological fluid 130.

[0049] Referring to FIG. 8, in the present invention, instead of the magnetorheological elastomer applied to the magnetorheological elastomer housing 110, an electrorheological elastomer (ERE) may be used, and instead of the magnetorheological fluid 130, an electrorheological fluid (ERF) may be used. In this case, instead of applying an external magnetic field, by applying an electric field, the rigidity and viscosity are increased in the same manner as the above-described magnetorheological elastomer housing 110 and magnetorheological fluid 130, so that it can also operate like a steel body.

[0050] As described above, the preferred embodiments of the present invention have been described. However, those skilled in the art can make various modifications and changes to the present invention without departing from the spirit and scope of the present invention described in the appended claims.

Description of Reference Numerals

[0051] 100 ··· Haptic actuator using magnetorheological elastomer and magnetorheological fluid 110 ··· Magnetorheological elastomer housing 120 ··· Elastomer 130 ··· Magnetorheological fluid

Claims

1. A magnetorheological elastomer housing (110) having a hollow portion (111) formed inside; An elastomer (120) provided inside the magnetorheological elastomer housing (110); and, A magnetorheological fluid (130) filled in the hollow portion (111); Including, When an external magnetic field is applied, the rigidity of the magnetorheological elastomer housing (110) is increased, and the viscosity of the magnetorheological fluid (130) is increased, so that the resistance to external force is increased. When an external alternating magnetic field is applied, the magnetorheological elastomer housing (110) repeatedly compresses and restores in the direction of the external magnetic field to generate vibration A haptic actuator using a magnetorheological elastomer and a magnetorheological fluid, characterized in that.

2. The magnetorheological elastomer housing (110) is Cylindrical with a hollow interior The haptic actuator using a magnetorheological elastomer and a magnetorheological fluid according to Claim 1.

3. The magnetorheological elastomer housing (110) is Hollow inside and formed to have a size corresponding to the bottom area of a footwear The haptic actuator using a magnetorheological elastomer and a magnetorheological fluid according to Claim 1.

4. Inside the inner hollow portion (110) of the magnetorheological elastomer housing (110) having a size corresponding to the bottom area of a footwear, a plurality of the elastomers (120) are provided The haptic actuator using a magnetorheological elastomer and a magnetorheological fluid according to Claim 3.

5. When a magnetic field is locally generated from a specific external magnetic field generating device among a plurality of external magnetic field generating devices provided in the entire area of the bottom of a footwear, The rigidity and viscosity of the magnetorheological elastomer housing (110) and the magnetorheological fluid (130) in the area adjacent to the area where the magnetic field is generated are locally increased The haptic actuator using a magnetorheological elastomer and a magnetorheological fluid according to Claim 4.

6. The magnetorheological elastomer housing (110) is Provided in a plurality corresponding to the bottom area of a footwear The haptic actuator using a magnetorheological elastomer and a magnetorheological fluid according to Claim 1.

7. The elastomer (120) is The upper and lower sides are adjacent to the inner upper and lower surfaces of the magnetorheological elastomer housing (110), respectively The haptic actuator using the magnetorheological elastomer and the magnetorheological fluid according to claim 1.

8. When an external magnetic field is applied, while the iron particles in the magnetorheological fluid (130) are aligned vertically between the elastomers (120), the compression of the elastomers (120) is obstructed The haptic actuator using the magnetorheological elastomer and the magnetorheological fluid according to claim 1.

9. When an external alternating magnetic field is applied, a partial region of the magnetorheological elastomer housing (110) is compressed in the direction of application of the external alternating magnetic field, When the direction of application of the external alternating magnetic field is changed, the process in which the shape of the magnetorheological elastomer housing (110) is restored to its original shape by the elastic force of the elastomer (120) is repeated The haptic actuator using the magnetorheological elastomer and the magnetorheological fluid according to claim 1.

10. The magnetorheological elastomer housing (110) is When an external force is applied from the upper side to the lower side in a state where no external magnetic field is applied, the height is reduced while being compressed in the lower side direction, and the shape is deformed so that the side surface extends outward The haptic actuator using the magnetorheological elastomer and the magnetorheological fluid according to claim 1.

Images