Please use this identifier to cite or link to this item: https://www.um.edu.mt/library/oar/handle/123456789/77513
Full metadata record
DC FieldValueLanguage
dc.date.accessioned2021-06-21T10:34:31Z-
dc.date.available2021-06-21T10:34:31Z-
dc.date.issued2010-
dc.identifier.citationCassar, D. J. (2010). Development of a haptic glove based on magnetorheological fluid (Master's dissertation).en_GB
dc.identifier.urihttps://www.um.edu.mt/library/oar/handle/123456789/77513-
dc.descriptionM.SC.ENG.en_GB
dc.description.abstractA data-input glove is a device which can allow simple and quick programming of versatile robot end effectors with similar form to human hands, known as anthropomorphic robot hands. Further sophistication to the glove, such as the capability to transmit a sense of feel to the user, can allow the programming to be even more accurate. Such a haptic glove can also be used in a number of applications when interfaced with either a virtual environment or a remote environment. These include training in the medical field as well as military training, tele-rehabilitation, design, aid to people with special needs, as well as use in hazardous environments. This work first provides an overview of haptic gloves found in the literature, with a focus on their applications and their requirements. This information is then used to justify an innovative actuator technology which makes use of Magnetorheological Fluid (MRF), a smart fluid which reversibly changes viscosity proportionally to an applied magnetic field, to alter the force feedback in a haptic glove. This is followed by the development of a linear damper to form part of the proposed glove, a report on the selection between MRFs with different iron content, all developed in-house, as well as different damper designs. These selections are based on the values achieved throughout several experiments. The development of a position sensing system for the glove, as well as of simulation software for the glove follows. A first prototype of the glove, with MR.F based force feedback and position sensing on the middle finger, was then constructed. Finally, this work reports on the testing and evaluation of this prototype.en_GB
dc.language.isoenen_GB
dc.rightsinfo:eu-repo/semantics/restrictedAccessen_GB
dc.subjectRobotics -- Human factorsen_GB
dc.subjectHuman-computer interactionen_GB
dc.subjectTouchen_GB
dc.titleDevelopment of a haptic glove based on magnetorheological fluiden_GB
dc.typemasterResearchThesisen_GB
dc.rights.holderThe copyright of this work belongs to the author(s)/publisher. The rights of this work are as defined by the appropriate Copyright Legislation or as modified by any successive legislation. Users may access this work and can make use of the information contained in accordance with the Copyright Legislation provided that the author must be properly acknowledged. Further distribution or reproduction in any format is prohibited without the prior permission of the copyright holder.en_GB
dc.publisher.institutionUniversity of Maltaen_GB
dc.publisher.departmentFaculty of Engineering. Department of Industrial and Manufacturing Engineeringen_GB
dc.description.reviewedN/Aen_GB
dc.contributor.creatorCassar, David J. (2010)-
Appears in Collections:Dissertations - FacEng - 1968-2014
Dissertations - FacEngIME - 2004-2015

Files in This Item:
File Description SizeFormat 
M.SC.ENG._Cassar_David J._2010.pdf
  Restricted Access
23.21 MBAdobe PDFView/Open Request a copy


Items in OAR@UM are protected by copyright, with all rights reserved, unless otherwise indicated.