In this study, a soft structure with its stiffness tunable by an external field is proposed. The proposed soft beam structure consists of a skin structure with channels filled with a magnetorheological fluid (MRF). Two specimens of the soft structure are fabricated by three-dimensional printing and fused deposition modeling. In the fabrication, a nozzle is used to obtain channels in the skin of the thermoplastic polyurethane, while another nozzle is used to fill MRF in the channels. The specimens are tested by using a universal tensile machine to evaluate the relationships between the load and deflection under two different conditions, without and with permanent magnets. It is empirically shown that the stiffness of the proposed soft structure can be altered by activating the magnetic field.

In this study, a controllable tactile device capable of realizing repulsive forces from soft human tissues was proposed, and its effectiveness was verified through experimental tests. The device was fabricated using both porous polyurethane foam (PPF) and smart magnetorheological fluid (MRF). As a first step, the microstructural behavior of MRF particle chains that depended on the magnetic field was examined via scanning electron microscopy (SEM). The test samples were then fabricated after analyzing the magnetic field distribution, which was crucial for the formation of the particle chains under the squeeze mode operation. In the fabrication of the samples, MRF was immersed into the porous polyurethane foam and encapsulated by adhesive tape to avoid leakage. To verify the effectiveness of the proposed tactile device for appropriate stiffness of soft human tissues such as liver, the repulsive force and relaxation stress were measured and discussed as a function of the magnetic field intensity. In addition, the effectiveness and practical applicability of the proposed tactile device have been validated through the psychophysical test.

A very flexible structure with a tunable stiffness controlled by an external magnetic stimulus is presented. The proposed structure is fabricated using two magnetic-responsive materials, namely a magnetorheological elastomer (MRE) as a skin layer and a magnetorheological fluid (MRF) as a core to fill the void channels of the skin layer. After briefly describing the field-dependent material characteristics of the MRE and MRF, the fabrication procedures of the structure are provided in detail. The MRE skin layer is produced using a precise mold with rectangular void channels to hold the MRF. Two samples are produced, namely with and without MRF, to evaluate the stiffness change attributed to the MRF. A magnetic field is generated using two permanent magnets attached to a specialized jig in a universal tensile machine. The force-displacement relationship of the two samples are measured as a function of magnetic flux density. Stiffness change is analyzed at two different regions, namely a small and large deformation region. The sample with MRF exhibits much higher stiffness increases in the small deformation region than the sample without MRF. Furthermore, the stiffness of the sample with MRF also increases in the large deformation region, while the stiffness of the sample without MRF remains constant. The inherent and advantageous characteristics of the proposed structure are demonstrated through two conceptual applications, namely a haptic rollable keyboard and a smart braille watch.

This study experimentally investigates the field-dependent Young’s moduli of soft composites, which are fabricated from two different magnetic-responsive materials; magnetorheological elastomer (MRE) and magnetorheological fluid (MRF). Four factors are selected as the main factors affecting Young’s modulus of soft composites: the amount of MRF, the channel pattern, shore hardness and carbonyl iron particle (CIP) concentration of the MRE layer. Five specimens are manufactured to meet the investigation of four factors. Prior to testing, the scanning electron microscopy (SEM) image is taken to check the uniform dispersion of the carbonyl iron particle (CIP) concentration of the MRE layer, and a magnetic circuit is constructed to generate the effective magnetic field to the specimen fixed at the universal tensile test machine. The force–displacement curve is directly measured from the machine and converted to the stress–strain relationship. Thereafter, the Young’s modulus is determined from this curve by performing linear regression analysis with respect to the considered factors. The tunability of the Young’s moduli of the specimens is calculated based on the experimental results in terms of two performance indicators: the relative percentage difference of Young’s modulus according to the magnetic field, and the normalized index independent of the zero-field modulus. In the case of the relative percentage difference, the specimens without MRF are the smallest, and the ones with the highest CIP concentration are the largest. As a result of comparing the normalized index of each factor, the change in shore hardness and channel pattern have little effect on the tunability of Young’s moduli, and the amount of MRF injected and CIP concentration of MRE have a large effect. The results of this study are expected to provide basic guidelines for fabricating soft composites whose field-dependent Young’s moduli can be tuned by several factors with different effects.