Medical applications of magnetorheological fluid: a systematic review

Magnetorheological (MR) fluid, whose rheological properties can be changed reversibly by applied magnetic field, offers superior capabilities and opportunities since its invention. The most crucial feature of MR fluid is its controllable and continuous yield stress. Taking this advantage, MR fluid is gaining popularity in various medical applications to meet their force/torque requirements. In this review article, progress of medical applications of MR fluid in the last two decades are systematically reviewed, mainly focused on six categories: lower limb prosthesis, exoskeleton, orthosis, rehabilitation device, haptic master, and tactile display. With MR fluid, natural and stable limb motions in lower limb prostheses, exoskeletons, and orthoses, flexible muscle trainings in rehabilitation devices, and high transparency and resolution haptic feedback can be realized. Relevant discussions and future perspectives are also provided.