In mobile devices, the screen size limits conveyance of immersive experiences; haptic feedback coupled with visual feedback is expected to have a better effect to maximize the level of immersion. Therefore, this paper presents a miniature tunable haptic stylus based on magnetorheological (MR) fluids to provide kinesthetic information to users. The designed stylus has a force generation, force transmission, and housing part; moreover, in the stylus, all three operating modes of MR fluids contribute to the haptic actuation to produce a wide range of resistive force generated by MR fluids in a limited size, thereby providing a variety of pressing sensations to users. A universal testing machine was constructed to evaluate haptic performance of the proposed haptic stylus, whose resistive force was measured with the constructed setup as a function of pressed depth and input current, and by varying the pressed depth and pressing speed. Under maximum input voltage, the stylus generates a wide range of resistive force from 2.33 N to 27.47 N, whereas under maximum pressed depth it varied from 1.08 N to 27.47 N with a corresponding change in voltage input from 0 V to 3.3 V. Therefore, the proposed haptic stylus can create varied haptic sensations.
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