MR Haptic Device for Integrated Control of Vehicle Comfort Systems

차량 편의장치 통합 조작을 위한 MR 햅틱 장치

  • Received : 2017.10.20
  • Accepted : 2017.12.20
  • Published : 2017.12.28


In recent years, the increase of secondary controls within vehicles requires a mechanism to integrate various controls into a single device. This paper presents control performance of an integrated magnetorheological (MR) haptic device which can adjust various in-vehicle comfort instruments. As a first step, the MR fluid-based haptic device capable of both rotary and push motions within a single device is devised as an integrated multi-functional instrument control device. Under consideration of the torque and force model of the proposed device, a magnetic circuit is designed. The proposed MR haptic device is then manufactured and its field-dependent torque and force are experimentally evaluated. Furthermore, an inverse model compensator is synthesized under basis of the Bingham model of the MR fluid and torque/force model of the device. Subsequently, haptic force-feedback maps considering in-vehicle comfort functions are constructed and interacts with the compensator to achieve a desired force-feedback. Control performances such as reflection force are experimentally evaluated for two specific comfort functions.


Magnetorheological Fluid;Vehicle Comfort Device;Integrated Control;Haptic Device;Inverse Model Compensator;Force-feedback Control


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