This study proposes an exoskeleton haptic device using a powder brake and a constant torque spring. The powder brake can change the torque resistance in real time, and the constant torque spring can generate a constant torque. This device is of a wearable type, and is worn on the operator's hand. By combining the powder brake and the constant torque spring, it is possible to generate an arbitrary passive force on the fingertip. Because this device generates passive force alone, it has an advantage from the viewpoint of safety. The proposed device is applied to the master system to control the slave system in a virtual reality (VR) device. Consequently, the operator can perceive the contact force between the VR device and the VR object. VR object exists in VR space, and can provide the contact force with arbitrary plasticity and elasticity. The experimental results confirm the validity of the proposed system.

中文翻译：

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利用粉末制动器和恒转矩弹簧开发外骨骼触觉装置

这项研究提出了一种使用粉末制动器和恒定扭矩弹簧的外骨骼触觉设备。粉末制动器可以实时改变扭矩阻力，而恒定扭矩弹簧可以产生恒定扭矩。该装置是可穿戴类型，并且戴在操作者的手上。通过组合粉末制动器和恒转矩弹簧，可以在指尖上产生任意的被动力。由于该装置仅产生被动力，因此从安全性的角度来看具有优势。所提出的设备被应用于主系统以控制虚拟现实（VR）设备中的从系统。因此，操作者可以感知到VR设备和VR对象之间的接触力。VR对象存在于VR空间中，并且可以提供具有任意可塑性和弹性的接触力。