KR100924087B1 - Haptic module using magnetic rheological fluid, control method thereof and haptic device therewith - Google Patents

Abstract

PURPOSE: A haptic module using magnetic rheological fluid, a control method thereof, and a haptic device are provided to minimize power consumption of a portable device by changing the magnetic rheological fluid using the incompressibility of the magnetic rheological fluid. CONSTITUTION: The magnetic rheological fluid(140) is accommodated in a case(110). At least, one side of the case is soft for tactility. A magnetic field applying unit applies a magnetic field to the magnetic rheological fluid. A flowing hole(125) discharges the magnetic rheological fluid outside of the case. A receiving unit connects with the flowing hole. The receiving unit returns the magnetic rheological fluid to the inside of the case or accommodates the ejected magnetic rheological fluid.

Description

Haptic module using magnetic rheological fluid, control method and haptic providing device having haptic module TECHNICAL FIELD

The present invention relates to a haptic module using a rheology fluid, and more particularly, a haptic module using a magnetorheological fluid capable of providing a tactile feel by controlling the viscosity of the magnetorheological fluid, a control method thereof, and a haptic providing device having a haptic module. It is about.

Haptic is a tactile sensation that can be felt by a human fingerer tip (fingertip or stylus pen) when touching an object. It is a concept encompassing kinesthetic force feedback felt when disturbed. As used herein, "haptic" is used in this generic concept.

Haptic devices using haptics have dynamic characteristics (such as touching a button on a window screen) that touch a real object (actual button) when a person touches it. It is ideal to be able to reproduce transmitted vibrations, tactile feelings, and operation sounds). To improve the performance of such haptic devices, until now, mechatronic equipment using a motor and a link mechanism has been used.

However, such a mechanical haptic device is very heavy, has a complicated link structure, is difficult to miniaturize, and it is difficult to realize a rapid response speed due to inertia.

Recently, research on smart materials such as rheological fluids has been actively conducted to overcome this problem. That is, a smart material such as a rheological fluid is a material in which the viscosity of the liquid itself is changed in response to an externally applied electric energy (eg electric field) or magnetic energy (eg magnetic field). In addition, such a rheological fluid is roughly classified into an electrorheological fluid reacting to an electric field and a magnetorheological fluid reacting to a magnetic field.

Using these rheological fluids, they provide haptic effects in mobile terminals (e.g. mobile phones, PDAs, laptops, PMPs, MP3 players, electronic dictionaries, etc.), as actuators for robots, as tactile transmitters, or as dampers. The application field is gradually expanding.

However, due to the disadvantage that the rheological fluid has a small area where viscosity increases in response to an electric or magnetic field, and a strong electric or magnetic field is required to change the viscosity of a large amount of the entire rheological fluid, power consumption is limited. There was this. In particular, when using it as a haptic providing device of a mobile terminal using a rheological fluid has a disadvantage that the power consumption is severe.

In addition, since the rheological fluid is incompressible, there should be a storage area that can accommodate it when pressed on one side. However, if the storage area is designed together, there is a technical limitation that it is difficult to miniaturize the product.

Accordingly, the present invention has been made to solve the above problems, an object of the present invention, a haptic module using a magnetorheological fluid that can change the hardness of the entire magnetorheological fluid even with a small power consumption, a control method thereof And it provides a haptic providing device having a haptic module.

An object of the present invention is to efficiently control the flow rate of the magnetorheological fluid to provide an appropriate haptic (e.g., a soft object or a hard object) with the user's finger at the moment of pressing the haptic module. A haptic module using a fluid, a control method thereof, and a haptic providing apparatus having a haptic module are provided.

Another object of the present invention, by measuring the strength of the pressed force by implementing the appropriate haptic according to the feedback by the haptic module using a magnetorheological fluid to feel a more realistic haptic in games, utilities, operating systems, etc. It is to provide a haptic providing apparatus having a control method and a haptic module.

Other objects, specific advantages and novel features of the invention will become more apparent from the following detailed description and the preferred embodiments described in conjunction with the accompanying drawings.

An object of the present invention as described above, the magnetorheological fluid 140 is accommodated therein, at least one surface of the case 110 is formed to be flexible for the touch; And

Magnetic field applying means for applying a magnetic field to the magnetorheological fluid 140;

A flow hole 125 for discharging the magnetorheological fluid 140 to the outside of the case 110; And

Including; a receiving means for communicating with the flow hole 125 and receiving the discharged magnetorheological fluid 140 or return to the inside of the case 110;

It is achieved by the haptic module using a magnetorheological fluid, characterized in that the stiffness of the case 110 is changed by changing the viscosity of the magnetorheological fluid 140 in the flow hole 125 according to the strength of the magnetic field. Can be.

And, the case 110 is preferably formed at least the upper surface is flexible.

In addition, the case 110 may be relatively thinner than the thickness of the upper surface.

In addition, the case 110 may be a polymer, silicon, a synthetic resin material, a rubber material or a metal material.

In addition, the case 110 may be a cube or a cylindrical shape.

The magnetic field applying means includes: a bobbin 127 in which a flow hole 125 is formed; And

The coil 130 wound around the bobbin 127; may be configured and may be housed in the case 110.

In addition, the cross section of the flow hole 125 may be a partial annular.

The accommodating means is an operation membrane 150 fixed around the flow hole 125 while covering one end of the flow hole 125, and the operation membrane 150 is swelled or restored by the magnetorheological fluid 140. It is elastic to help.

The case 110 may further include a support plate 160 on which a surface on which the flow hole 125 is formed is opened and installed on the open surface.

In addition, an accommodating part 165 may be formed in an area corresponding to the flow hole 125 of the support plate 160 to accommodate the swelling of the working membrane 150.

The support plate 160 may further include a terminal 180 electrically connected to the magnetic field applying unit.

In addition, the haptic module 100 using the magnetorheological fluid described above is provided with a plurality,

It may include; multi-support plate 190 is installed a plurality of haptic module 100 on one surface.

An accommodating part 165 is formed in an area corresponding to the flow hole 125 of each haptic module 100 of the multiple support plate 190.

An object of the present invention as described above, as another category of the present invention, as the case 110 of the haptic module 100 is pressed, the magnetorheological fluid 140 inside is pressed to pass through the flow hole 125. Step (S100);

Magnetic field applying means around the flow hole 125 applying a magnetic field to the flow hole 125 (S200);

Changing the viscosity of the magnetorheological fluid 140 in the flow hole 125 by the applied magnetic field (S300);

Changing the flow resistance by the viscosity of the changed magnetorheological fluid 140, thereby changing the flow rate of the magnetorheological fluid 140 passing through the flow hole 125 (S400);

Reaction force against the pressing of the case 110 is generated due to the flow rate change of the magnetorheological fluid 140 (S500) to be achieved by the control method of the haptic module using a magnetorheological fluid comprising a Can be. .

In addition, accommodating the magnetorheological fluid 140 that has passed through the flow hole 125 in the flexible working membrane 150 (S600) and the magnetorheological fluid 140 in the working membrane 150 may be formed by the elasticity of the flow hole. The method may further include returning to the inside of the case 110 after passing 125 (S700).

In addition, the viscosity change step (S300) by changing the intensity of the magnetic field to change the viscosity of the magnetorheological fluid 140 in the flow hole 125,

The flow resistance of the flow rate change step S400 may be caused by the shear force between the flow hole 125 and the magnetorheological fluid 140.

And, the magnetic field applying step (S200), the step of detecting the strength of the force pressed from the force sensor 500 (S210); And

The method may further include controlling the intensity of the magnetic field applied based on the detection signal of the force sensor 500 (S220).

Therefore, according to one embodiment of the present invention as described above, it is possible to obtain the effect of changing the minimum amount of magnetorheological fluid viscosity with little power, but the hardness or softness of the entire magnetorheological fluid due to the incompressibility of the magnetorheological fluid. . Therefore, power consumption of the portable device can be minimized.

In particular, when the present invention is applied to a mobile terminal (eg, a mobile phone, a PMP, an MP3 player, an electronic dictionary, etc.) or a touch pad, a digitizer, or the like of a notebook, it can be used as a passive haptic feedback providing device. In this case, whenever the user presses the mobile terminal, the user may receive a hard feeling (haptic feedback) or a soft feeling (haptic feedback) by the execution of the application program.

Although the present invention has been described in connection with the above-mentioned preferred embodiments, it will be readily apparent to those skilled in the art that various other modifications and variations can be made without departing from the spirit and scope of the invention. It is obvious that all modifications fall within the scope of the appended claims.

(Configuration of the Haptic Module)

Hereinafter, with reference to the accompanying drawings will be described with respect to the configuration of the haptic module using a magnetorheological fluid according to an embodiment of the present invention. First, FIG. 1 is a perspective view of a haptic module using a magnetorheological fluid according to the present invention, FIG. 2 is an exploded perspective view of the haptic module shown in FIG. 1, and FIG. As shown in Figures 1 to 3, the haptic module according to the present invention is composed of a case 110, a magnetic field applying means, a support plate 160.

The case 110 is made of synthetic resin, silicone, or polymer, and is configured such that the user's finger or stylus pen contacts the upper surface. The case 110 is elastic in the vertical direction and is compressed when pressed with a finger and restored to its original shape when the finger is released. The case 110 has a hexagonal surface structure with a lower surface open and an empty interior. The case 110 may be deformed into a cylindrical or other polyhedron shape, or may be made of a thin metal material or rubber. One example of such a case 110 may be manufactured in a size of 10 mm × 10 mm × 3 mm.

In particular, as shown in Figure 3, the thickness of the upper surface of the case 110 is relatively thinner than the thickness of the side (or sidewall). This is for the upper surface of the case 110 to sag down sufficiently when the upper surface is pressed by the finger 10. More preferably, the thickness of the upper surface of the case 110 is less than half the thickness of the side surface (or sidewall).

The magnetorheological fluid 140 is filled in the case 110. Magneto-Rheological Fluid (MRF) 140 is a fluid whose viscosity changes according to a magnetic field. That is, the magnetorheological fluid 140 is in a low viscous state such as water when there is no magnetic field, but is changed to a high viscous state such as hardened when the magnetic field is applied. That is, when the magnetorheological fluid becomes a high viscosity state, the flow resistance increases. Magnetorheological fluids are rapidly increasing in viscosity because particles are arranged in a chain-like structure in the direction of the magnetic field under the influence of an applied magnetic field. The magnetorheological fluid 140 is to increase the viscosity in proportion to the intensity of the magnetic field applied. The magnetorheological fluid 140 has advantages such as high tensile strength, low viscosity, stiffness, stability and wide temperature variation, and quick response (within 10 ms), and has the property of incompressibility.

The magnetic field applying unit is accommodated in the case 110 and is locked to the magnetic rheological fluid 140. Two flow holes 125 are formed at the center of the magnetic field applying means so that the magnetic rheological fluid 140 can pass therethrough, and a coil 130 for forming a magnetic field is wound around the inside thereof. The detailed configuration of the magnetic field applying means will be described in the description of FIG. 4.

The operation membrane 150 is provided between the support plate 160 and the magnetic field applying means. That is, the case 110, the magnetic field applying unit and the magnetorheological fluid 140 are in contact with one surface of the working membrane 150, and the support plate 160 is in contact with the other surface. The actuation membrane 150 may swell up like a balloon or may be restored to a plane again. To this end, the operation membrane 150 may be made of a thin and tough polymer or rubber. The operation membrane 150 may cover the lower surface of the case 110 or may be configured to cover the peripheral film of the flow hole 125.

The support plate 160 is supported and fixed to the other surface of the working membrane 150. The support plate 160 may be made of a hard and light synthetic resin material. The support plate 160 supports the force to press the case 110 and performs a function of appropriately dispersing. The receiving portion 165 is formed in the central region of the support plate 160. Receiving portion 165 is to provide a space whether the working membrane 150 can swell. Therefore, the receiving part 165 may be implemented by forming a through hole or a concave groove in the support plate 160. However, the spatial size provided by the accommodating part 165 may be an empty space sufficient to allow the operation membrane 150 to be inflated to the maximum.

As shown in FIG. 3, a terminal 180 is formed at one side of the support plate 160. The terminal 180 is formed on the support plate 160, and is wired to apply power to the coil 130 of the magnetic field applying means.

4 is an exploded perspective view of the magnetic field applying unit of FIG. 1. As shown in FIG. 4, the magnetic field applying unit has a cylindrical disk shape and is composed of a housing 120, a coil 130, and a housing plate 135.

The housing 120 has a round shape, and a space is formed in the inner circumference so that the coil 130 is wound and accommodated. In particular, the housing 120 may be made of a metal material (eg, steel) to prevent leakage of the magnetic field. Two flow holes 125 are formed at the center of the bobbin 127. The flow hole 125 is a through hole through which the magnetorheological fluid 140 can pass, the cross section is partially annular, and two are symmetrically formed. Since the flow hole 125 is a place where shear force is generated between the magnetorheological fluid, the flow hole 125 is preferably long enough in the longitudinal direction, and is formed to be very narrow in width (or very small in cross-sectional area of the flow hole).

The coil 130 is wound several times to several tens of times and is accommodated around the inside of the housing 120, and a bobbin 127 is positioned at the center thereof, and generates a magnetic field using electric energy applied from the terminal 180.

The housing plate 135 is combined with the housing 120 and the bobbin 127 to form one surface of the magnetic field applying unit.

(Control method of haptic module)

Hereinafter, a control method of a haptic module using a magnetorheological fluid having the above configuration will be described in detail with reference to the accompanying drawings. First, FIG. 5 is a cross-sectional view illustrating an operation state when a haptic module shown in FIG. 1 is pressed with a finger, and FIG. 7 is a flowchart illustrating a control method of a haptic module using a magnetorheological fluid according to the present invention. As shown in FIGS. 5 and 7, first, when the finger 10 presses the upper surface of the case 110, the upper surface of the case 110 is thin so that the finger 10 is easily deformed by the pressing force 20. Accordingly, while the space inside the case 110 is reduced, the internal pressure of the magnetorheological fluid 140 increases. At this time, the magnetorheological fluid 140 exits through the narrow flow hole 125. In addition, the magnetorheological fluid 140 exiting the flow hole 125 occupies a space of the accommodating part 165 while expanding the working membrane 150. That is, the magnetorheological fluid 140 collects in the swollen working membrane 150.

In addition, when the finger 10 is removed from the case 110, the magnetorheological fluid 140 in the receiving portion 165 is reflowed by the elastic restoring force of the case 110 and the elastic restoring force of the working membrane 150. After passing through 125, the case 110 is returned to the inside.

Hereinafter, a method of providing a passive haptic by the magnetic field applying means will be described. When power is applied through the terminal 180 formed on the support plate 160, a magnetic field is formed by the coil 130. This magnetic field is strongly acted on the flow hole 125 formed in the central region. Therefore, the whole magnetorheological fluid 140 in the case 110 increases in viscosity due to the magnetic field, but in particular, the magnetorheological fluid in the flow hole 125 increases in viscosity due to the strong magnetic field. Becomes clear.

When the magnetic field is applied, the viscosity of the magnetorheological fluid 140 inside the case 110 is also slightly increased, but the viscosity is greatly increased by the strong magnetic field of the magnetorheological fluid 140 in the flow hole 125. Accordingly, the magnetorheological fluid 140 in the flow hole 125 may increase or even become hard due to high viscosity, thereby preventing the flow. Therefore, if the voltage or current applied to the coil 130 is properly controlled, the flow resistance in the flow hole 125 can be controlled proportionally (or linearly).

In addition, in order to effectively induce flow resistance, the flow hole 125 has a small cross-sectional area, and the larger the contact area between the fluid and the wall surface is, the more advantageous it is. The increase in viscosity in the flow hole 125 causes an effect such that the magnetorheological fluid 140 of the entire inside of the case 110 becomes hard due to the incompressibility of the magnetorheological fluid 140. That is, the entire magnetorheological fluid 140 flows in the same viscosity even when the magnetic field is concentrated and applied only to the flow hole 125 without the need to control the viscosity by applying the magnetic field to the entire magnetorheological fluid 140. The same effect can be obtained.

Therefore, when a weak magnetic field is generated in the coil 130, the magnetorheological fluid 140 becomes a viscous state such as water, so that a large reaction force or resistance is not felt at the finger 10, and the deformation of the case 110 is also large and rapid. do. This gives the user a soft touch (for example, a feeling of pressing a balloon).

On the contrary, when a strong magnetic field is generated in the coil 130, the magnetorheological fluid 140 in the flow hole 125 becomes a viscous state such as a hard solid to further narrow the flow cross-sectional area of the flow hole 125. Therefore, a greater shear force acts on the magnetorheological fluid 140 passing through the flow hole 125, which in turn leads to greater flow resistance. Therefore, a large reaction force or resistance is felt by the finger 10 and the deformation of the case 110 is also small. This gives the user a hard, hardly pressed touch (e.g. touching the stone).

Through such a process and control, the user can feel various touches at the fingertips.

( Haptic  Provision device)

FIG. 6A is a perspective view illustrating a haptic providing apparatus by arranging a plurality of haptic modules illustrated in FIG. 1. As shown in FIG. 6A, a plurality of haptic modules 100 are arranged in a matrix form, and a plurality of support plates 190 are provided on a lower surface thereof. Although not shown in FIG. 6A, the receiving part 165 is formed at a position corresponding to the flow hole 125 of each haptic module 100 in the multi-support plate 190. In addition, the multi-support plate 190 of FIG. 6A is provided with a terminal 180 and a corresponding wiring for controlling each haptic module 100.

In the haptic providing device as shown in FIG. 6A, the haptic may be provided for a larger area (eg, a palm) than the finger, and the haptic module 100 may be individually controlled to change the distribution of tactile feeling ( Examples: Hard and soft places can be changed over time (eg vibration), and various touches and haptics can be provided.

( Variant )

FIG. 6B is a perspective view illustrating a first embodiment in which a flexible LCD 300 is provided at one side of the haptic providing apparatus 200 shown in FIG. 6A. As illustrated in FIG. 6B, a haptic may be provided in conjunction with graphics displayed on the LCD 300 by installing a flexible LCD (liquid crystal display) 300 on an upper surface of the haptic providing apparatus 200. That is, the LCD 300 displays a balloon, and the haptic providing device 200 of the corresponding balloon area provides a soft touch like a balloon. In this case, when the user touches the balloon area while looking at the balloon of the LCD 300, the user may feel a touch like a balloon more realistically. The LCD 300 may be replaced with a flexible OLED (organic light emitting display device).

FIG. 6C is a perspective view illustrating a second embodiment in which a flexible touch pad 400 is provided at one side of the haptic providing apparatus 200 illustrated in FIG. 6A. As illustrated in FIG. 6C, by providing a flexible touch pad 400 on an upper surface of the haptic providing apparatus 200, the position data of the touch pad 400 and the haptic provision may be linked. That is, the touch of the corresponding area may be changed by detecting the area touched by the user.

FIG. 6D is a perspective view illustrating a third embodiment in which a flexible touch pad 400 and a flexible LCD 300 are provided at one side of the haptic providing apparatus 200 shown in FIG. 6A. As illustrated in FIG. 6D, the LCD 300 and the touch pad 400 of the first and second embodiments described above may be installed on the upper surface of the haptic providing apparatus 200. In this case, the haptic providing apparatus 200 may provide various haptics while interlocking graphics on the LCD 300 according to the position information of the touch pad 400. If necessary, the interlayer positions of the touch pad 400 and the LCD 300 may be reversed.

FIG. 6E is a perspective view illustrating a fourth embodiment in which a force sensor 500 is provided below the haptic providing apparatus 200 illustrated in FIG. 6A. As shown in FIG. 6E, the force sensor 500 is provided below the haptic providing apparatus 200. The force sensor 500 may detect the strength of the force, and a plurality of force sensors 500 are arranged in a matrix form so as to correspond to each haptic module 100. Therefore, the strength and the touch position of the force touched by the user may be determined based on the output signal of the force sensor 500. The force sensor 500 may be located above the haptic providing apparatus 200. The intensity of the magnetic field applied to the haptic module 100 may be controlled based on the output signal of the force sensor 500. In other words, if it is sensed as a strong force, a large magnetic field is applied to give a hard feeling, and if it is detected as a small force, a small magnetic field is applied to give a soft feeling (aka, implementation of passive haptic feedback).

1 is a perspective view of a haptic module using a magnetorheological fluid according to the present invention,

2 is an exploded perspective view of the haptic module shown in FIG.

3 is a shear cross-sectional view taken along the direction A-A of FIG.

4 is an exploded perspective view of the magnetic field applying unit of FIG. 1;

5 is an operation state sectional view showing when the haptic module shown in FIG. 1 is pressed with a finger;

FIG. 6A is a perspective view illustrating a haptic providing apparatus by arranging a plurality of haptic modules illustrated in FIG. 1;

FIG. 6B is a perspective view illustrating a first embodiment in which a flexible LCD 300 is provided at one side of the haptic providing device shown in FIG. 6A.

6C is a perspective view illustrating a second embodiment in which a flexible touch pad 400 is provided at one side of the haptic providing device shown in FIG. 6A.

FIG. 6D is a perspective view illustrating a third embodiment in which a flexible touch pad 400 and a flexible LCD 300 are provided together at one side of the haptic providing device shown in FIG. 6A.

FIG. 6E is a perspective view illustrating a fourth embodiment in which a force sensor 500 is provided below the haptic providing device shown in FIG. 6A.

7 is a flowchart illustrating a control method of a haptic module using a magnetorheological fluid according to the present invention.

<Description of the symbols for the main parts of the drawings>

10: finger,

20: pressing force,

100: haptic module,

110: case,

120: housing,

125: floating hole,

127: bobbin,

130: coil,

135: housing plate,

140: magnetorheological fluid,

150: working membrane,

160: support plate,

165: receptacle,

180: terminal,

190: multiple support plate,

200: haptic providing device,

300: LCD,

400: touch pad.

500: force sensor.

Claims (20)

A magnetorheological fluid 140 is accommodated therein and at least one surface of the case 110 is formed to be flexible for a touch; And Magnetic field applying means for applying a magnetic field to the magnetorheological fluid 140; A flow hole 125 for discharging the magnetorheological fluid 140 to the outside of the case 110; And It includes; receiving means for communicating with the flow hole 125 and the discharged magnetorheological fluid 140 or return to the inside of the case 110; Haptic module using a magnetorheological fluid, characterized in that the stiffness of the case 110 is changed by changing the viscosity of the magnetorheological fluid 140 in the flow hole 125 according to the strength of the magnetic field . The method of claim 1, The case 110 is a haptic module using a magnetorheological fluid, characterized in that the upper surface is formed flexibly. The method of claim 2, The case 110 is a haptic module using a magnetorheological fluid, characterized in that the thickness of the upper surface is relatively thinner than the side thickness. The method of claim 1, The case 110 is a haptic module using a magnetorheological fluid, characterized in that the polymer, silicon, synthetic resin, rubber or metal. The method of claim 1, The case 110 is a haptic module using a magnetorheological fluid, characterized in that the hexahedron or cylindrical shape. The method of claim 1, The magnetic field applying means, A bobbin 127 in which the flow hole 125 is formed; And Haptic module using a magnetorheological fluid, characterized in that consisting of; coil 130 wound around the bobbin (127). The method of claim 1, The magnetic field applying means is a haptic module using a magnetorheological fluid, characterized in that stored in the case (110). The method of claim 1, Haptic module using a magnetorheological fluid, characterized in that the cross section of the flow hole 125 is a partial annular. The method of claim 1, The accommodation means, Haptic module using a magnetorheological fluid, characterized in that the operating membrane 150 is fixed to the periphery of the flow hole 125 while covering one end of the flow hole (125). The method of claim 9, The actuation membrane 150 is a haptic module using a magnetorheological fluid, characterized in that it is elastic to be swollen or restored by the magnetorheological fluid 140. The method of claim 9, The case 110 has a surface on which the flow hole 125 is formed is opened, Haptic module using a magnetorheological fluid, characterized in that it further comprises a support plate 160 installed on the open surface. The method of claim 11, Haptic module using a magnetorheological fluid, characterized in that the receiving portion 165 is formed in the region corresponding to the flow hole 125 of the support plate 160 to accommodate the swelling of the working membrane 150 . The method of claim 11, The support plate 160 is a haptic module using a magnetorheological fluid, characterized in that the terminal 180 is further formed to be electrically connected to the magnetic field applying means. A plurality of haptic module 100 using the magnetorheological fluid according to any one of claims 1 to 10 is provided, Haptic providing apparatus having a haptic module comprising a; multiple support plate 190 is installed on the surface the plurality of haptic module (100). The method of claim 14, Haptic device having a haptic module, characterized in that the receiving portion 165 is formed in the region corresponding to the flow hole 125 of each of the haptic module 100 of the multiple support plate (190). As the case 110 of the haptic module 100 is pressed, the magnetorheological fluid 140 inside is pressed to pass through the flow hole 125 (S100); Magnetic field applying means around the flow hole (125) applying a magnetic field to the flow hole (125); Changing the viscosity of the magnetorheological fluid 140 in the flow hole 125 by an applied magnetic field (S300); Changing the flow resistance of the magnetorheological fluid by the viscosity of the magnetorheological fluid 140, and thus changing the flow rate of the magnetorheological fluid 140 passing through the flow hole 125 (S400); Control reaction of the haptic module using a magnetorheological fluid, comprising the step (S500) generating a reaction force for the pressing of the case 110 due to the change in the flow rate of the magnetorheological fluid (140). The method of claim 16, The control method of the haptic module using a magnetorheological fluid, characterized in that it further comprises the step (S600) of receiving the magnetorheological fluid (140) passing through the flow hole 125 in the elastic working membrane (150). The method of claim 17, The magnetorheological fluid 140 in the working membrane 150 further includes a step (S700) of returning to the inside of the case 110 through the flow hole 125 by the elasticity. Control method of haptic module using a fluid. The method of claim 16, In the viscosity change step (S300), the viscosity of the magnetorheological fluid 140 in the flow hole 125 is changed by changing the intensity of the magnetic field, The flow resistance of the flow change step (S400) is a control method of a haptic module using a magnetorheological fluid, characterized in that caused by the shear force between the flow hole (125) and the magnetorheological fluid (140). The method of claim 16, The magnetic field applying step (S200), Detecting the strength of the force pressed from the force sensor 500 (S210); And Controlling the intensity of the magnetic field applied based on the detection signal of the force sensor (S220); Control method of a haptic module using a magnetorheological fluid further comprising.

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