Design and control of a multi-functional electrorheological haptic knob for a vehicular instrument

• Published in: Proceedings of the Institution of Mechanical Engineers. Part D, Journal of automobile engineering Vol. 223; no. 7; pp. 877 - 890
• Main Authors: Han, Y M, Noh, K W, Choi, S B
• Format: Journal Article
• Language: English
• Published: London, England SAGE Publications 01.07.2009; Sage Publications; SAGE PUBLICATIONS, INC
• Subjects: Applied sciences; Automobiles; Automotive parts; Comfort; Computer science; control theory; systems; Computer systems and distributed systems. User interface; Control equipment; Control systems; Design analysis; Electrorheological fluids; Exact sciences and technology; Functions (mathematics); In vehicle; Inspections; Mathematical analysis; Mechanical engineering; Mechanical engineering. Machine design; Reflection; Software; Systems design; Torque; Tracking; Trajectories; Virtual environments; open-loop control; vehicular instrument; electrorheological fluid; virtual environment; electrorheological haptic knob; Motor car; Mechanical torque; Rheology; Experimental study; Modeling; Open feedback; Tactile sensitivity; Comfort; Virtual reality; Electrorheological fluid; Visual attention; Motion control
• ISSN: 0954-4070; 2041-2991
• DOI: 10.1243/09544070JAUTO1061

Abstract This paper presents torque and force control performances of an electrorheological fluid-based haptic knob for use in a vehicle. The proposed haptic device is a potential candidate for multi-functional controls for a vehicular instrument that can transmit various reflection torques and forces for the in-vehicle comfort functions to a driver without requiring the driver's visual attention. In order to emulate various comfort functions, a haptic mechanism is devised so as to be capable of both rotary and push motions. The haptic mechanism is established within a single knob and the torque and force produced are mathematically modelled and experimentally verified. In-vehicle comfort functions are then constructed in a virtual environment which communicates with the manufactured haptic device. Subsequently, an open-loop controller based on the torque and force models is formulated to track the desired trajectory from the torque or force map. Control performances such as reflection torque or force of the haptic device are experimentally evaluated and demonstrated with the visual results of the virtual in-vehicle comfort functions.