Work

Mod2Hap: Two Level Modular Haptic System for Body- and Hand- Interactions using Magnetorheological Fluid

Year: 2025

Type: conference-paper

Abstract: We present Mod2Hap, a two-level modular haptic system that enables both body-scale and hand-scale interactions using magnetorheological (MR) fluid. The system comprises (1) configurable frame modules for constructing spatial interaction structures, which can be flexibly assembled to suit various body postures and environments, and (2) haptic modules—rotary (e.g., for dials or pedals) and linear (e.g., for sliders or handles)—that provide customizable hand-scale feedback interfaces. Each haptic module utilizes MR fluid, whose viscosity varies with applied magnetic fields, to generate tunable resistive feedback. Our design achieves a wide feedback range (0.12–0.52 N·m torque, 41–212 N force) by optimizing the solenoid coil for power efficiency and validating magnetic field distribution via simulation. We demonstrate Mod2Hap through three interactive scenarios—cycling, kayaking, and fishing—and evaluate its performance in a user study with 12 participants. Results show high perceived realism and engagement, supporting the system's versatility, scalability, and effectiveness as an immersive haptic interaction platform.

Source: ACM Symposium on User Interface Software and Technology (UIST)

DOI: 10.1145/3746059.3747712

Authors: Yong Hae Heo, Seok Hun Lee, Hongmin Yoon, Jaeyeon Lee, Sang-Youn Kim

Institutions: Korea University of Technology and Education, Ulsan National Institute of Science and Technology

Language: English

Topic: Teleoperation and Haptic Systems

Subfield: Mechanical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Funders: National Research Foundation, Ministry of Trade, Industry and Energy, National Research Foundation of Korea, Ministry of Science and ICT, South Korea

Awards: G224905240, G2811504531, G392102924