The performance of teleoperation systems can be improved if force feedback is employed. When the operator controlling the master has the feeling of direct interaction with the remote environment, the system is called "transparent". The goal of this paper is to combine novel magnetorheological (MR) fluid-based haptic systems with microstructural analysis and modern control techniques to design and develop a transparent haptic system. For this purpose, a MR fluid-based joystick is designed. The work in this paper overcomes the sticky wall phenomena, adds restoring force feeling to the user by using a variable compliance, and increases the overall transparency of the system.
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