Yaoyang Zheng

Research on a haptic sensor made using MCF conductive rubber

To provide a new composite material having a high electrical sensitivity in the fields of robotics and sensing, a magnetic rubber having network-like magnetic clusters was developed by utilizing a magnetic compound fluid (MCF). MCF rubber with small deformations can provide an effective sensor. In this paper, we report many experiments in which changes of the MCF rubbers resistance were observed when the rubber was compressed and a deformation was generated; we then made a trial haptic sensor using the MCF conductive rubber and performed many experiments to observe changes of the electrical resistance of the sensor. The results of experiments showed that the proposed sensor made with MCF conductive rubber is useful for sensing small amounts of pressure or small deformations.

Research on the conductivity of a haptic sensor, especially with the sensor under extended condition

The present paper describes the application of magnetic compound fluid (MCF) rubber as a haptic sensor for use as a material for robot sensors, artificial skin, and so on. MCF rubber is one of several new composite materials utilizing the MCF magnetic responsive fluid developed by Shimada. By applying MCF to silicon oil rubber, we can make MCF rubber highly sensitive to temperature and electric conduction. By mixing Cu and Ni particles in the silicon oil rubber and then applying a strong magnetic field, we can produce magnetic clusters at high density. The clusters form a network, as confirmed by optical observation. The MCF rubber with small deformations can act as an effective sensor. We report herein several experiments in which changes in the MCF rubbers resistance were observed when the rubber was compressed and a deformation was generated. We then made a trial haptic sensor using the MCF conductive rubber and performed many experiments to observe changes in the electrical resistance of the sensor. The experimental results showed that the proposed sensor made with MCF conductive rubber is useful for sensing small amounts of pressure or small deformations. Sometimes, however, the sensor rubber will be extended when we apply this sensor to the finger of the robot or an elbow. In these cases, it is necessary to understand the changes in sensors conductivity. We therefore carried out some experiments to demonstrate how, under tensile conditions, the sensors conductivity changes to a small value easier than the sensor in free condition. The results show that the sensors became more sensitive to the same pressure under extended conditions. In the present paper, we first describe the new type of functional fluid MCF rubber and a new composite material based on this MCF fluid. We then explain the production method for MCF conductive rubber and its conductive algorithm. Finally, we report our results regarding the MCF sensitivity when the MCF rubber was pulled. These experiments show an improvement in the sensitivity of the MCF rubber in the extended state.

Research on new float polishing technique with the magnetic compound fluid

This paper is a continuation of a previous paper. The report demonstrates the various possibilities of float polishing utilising the present improved Magnetic Compound Fluid (MCF). The MCF developed by K. Shimada, in 2001, was improved by the addition of α-cellulose, thereby achieving a clearance as great as 8 mm as given in another paper. This paper describes the possibility of the application of the MCF float polishing technique with α-cellulose. Firstly, the results obtained under various polishing conditions of the MCF float polishing technique are described. Secondly, many applications of proposed MCF float polishing technique are described. Finally, through experiments, we confirm that the proposed technique is very useful in the polishing field, especially, to polish some three-dimensional complex shapes. [Received 18 April 2007; Accepted 28 June 2007]