A Force Feedback Exoskeleton for Teleoperation Using Magnetorheological Clutches

TL;DR

This paper introduces a semi-active exoskeleton teleoperation system using magnetorheological clutches that offers high-fidelity force feedback with improved efficiency and safety for lunar sampling tasks.

Contribution

It presents a novel MR clutch-based force feedback strategy that enhances performance metrics and safety over traditional active force feedback systems.

Findings

Achieved a torque-to-mass ratio of 93.6 Nm/kg.

Demonstrated high-resolution force feedback in experiments.

Improved torque-to-mass ratio by approximately 246% over prior designs.

Abstract

This paper proposes an upper-limb exoskeleton teleoperation system based on magnetorheological (MR) clutches, aiming to improve operational accuracy and enhance the immersive experience during lunar sampling tasks. Conventional exoskeleton teleoperation systems commonly employ active force feedback solutions, such as servo motors, which typically suffer from high system complexity and increased energy consumption. Furthermore, force feedback devices utilizing motors and gear reducers generally compromise backdrivability and pose safety risks to operators due to active force output. To address these limitations, we propose a semi-active force feedback strategy based on MR clutches. Dynamic magnetic field control enables precise adjustment of joint stiffness and damping, thereby providing smooth and high-resolution force feedback. The designed MR clutch exhibits outstanding performance across key metrics, achieving a torque-to-mass ratio (TMR) of 93.6 Nm/kg, a torque-to-volume ratio (TVR) of 4.05 x 10^5 Nm/m^3, and a torque-to-power ratio (TPR) of 4.15 Nm/W. Notably, the TMR represents an improvement of approximately 246% over a representative design in prior work. Experimental results validate the system's capability to deliver high-fidelity force feedback. Overall, the proposed system presents a promising solution for deep-space teleoperation with strong potential for real-world deployment in future missions.