A large number of various actuating mechanisms can present sensations of shapes and textures. Among them, pressure based tactile displays with pin-arrays utilizing selleck catalog piezoelectric actuators is one of the more popular mechanisms [2]. Shape memory alloys [3], piezoelectric ceramics [4], ionic conductive polymer gel films [5], polymer fabrics [6] and electric motors [7] Inhibitors,Modulators,Libraries have been adopted as actuating devices in tactile display techniques. The electro-rheological fluid technique, which provides an inexpensive alternative to the other technologies because of the simple and flexible designs, has also been developed [8].Similarly, as rheological properties of magneto-rheological (MR) fluid can change with magnetic Inhibitors,Modulators,Libraries field, a haptic display for surgical training in minimally invasive surgery applications has been realized based on a MR fluid [9].

The magneto-rheological fluid technique can represent the topography, compliance, and sliding feeling of flexible objects, such as tissues and tumors in biological Inhibitors,Modulators,Libraries applications. Since then, many investigations have continued to focus on the MR fluid applied in these applications. Scilingo et al. devised a haptic display able to mimic the compliance of biological tissues manipulated by surgical tools [10]. Then the authors established a simplified form of haptic black box based on the MR fluids technique [11]. Furthermore, they proposed two prototype of haptic displays for pinch-grasp and whole-hand exploration [12]. In another line of research, Liu et al.

investigated the surface force response of a MR fluid-based haptic display with different electro-magnets in single cells, and their work provided a preliminary basis for future developments of this area [13].A multi-cell haptic display using a magneto-rheological (MR) fluid is presented in this paper. In order to represent the sensations of Inhibitors,Modulators,Libraries contact such as the shape, compliance, and sliding Entinostat (frictional) resistance, different tribological perceptions of the MR fluid are investigated by monitoring the normal force as well as the shearing force responses under controlled magnetic fields and arrayed magnetic poles. Thus, this work provides a continuation of research to develop tactile displays in multi-cells and its tribological aspects with the minimum number of mechanical components.2.?MR FluidMR fluids are typically suspensions of conductive particles in suitable nonconductive carrier liquids.

When the fluid is subjected to an applied magnetic field, it will transform from a free-flowing liquid-like state into a solid-like state. At the same time, the rheological properties of the MR fluids will undergo instantaneous changes, such as an improvement Seliciclib Sigma of yield stress, shear viscosity and storage modulus with external magnetic field strength [14,15]. Interest in MR fluids derives from their ability to provide simple, quite rapid-response interfaces between electronic controls and mechanical systems [16].