Delta-type four-DOF force-feedback device composed of pneumatic artificial muscles and magnetorheological clutch and its application to lid opening

Okui, Manabu; Kobayashi, Masatoshi; Yamada, Yasuyuki; Nakamura, Taro

doi:10.1088/1361-665x/ab192a

Cited by 18 publications

(10 citation statements)

References 22 publications

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“…The authors adopted two rotary brakes and one linear brake for independent three-axis force feedback to the operator. Okui et al [84] developed a force-feedback device actuated by pneumatic artificial muscles and a MR clutch. The authors manufactured a delta-type 4-DOF (one rotation and three translations) haptic master device and applied it to perform lid opening.…”

Section: Haptic Device Applicationmentioning

confidence: 99%

Applications of Magnetorheological Fluid Actuator to Multi-DOF Systems: State-of-the-Art from 2015 to 2021

Sohn

Choi

2022

Actuators

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This review article presents various multi-DOF application systems that utilize smart magnetorheological (MR) fluid. It is well known that MR fluid has been actively studied and applied in many practical systems such as vehicle suspension dampers. The design requirements for the effective applications of MR fluid include geometry optimization, working principles, and control schemes. The geometry optimization is mostly related to the size minimization with high damping force, while the working principles are classified into the shear mode, the flow mode, and the squeeze mode depending on the dominant dynamic motion of the application system. The control schemes are crucial to achieve final targets such as robust vibration control against disturbances. It should be addressed that advanced output performances of MR application systems heavily depends on these three requirements. This review article presents numerous application systems such as sandwich structures, dampers, mounts, brakes, and clutches, which have been developed considering the three design requirements. In addition, in this article some merits and demerits of each application system are discussed to enable potential researchers to develop more effective and practical MR application systems featuring the multi-DOF dynamic motions.

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Section: Haptic Device Applicationmentioning

confidence: 99%

Applications of Magnetorheological Fluid Actuator to Multi-DOF Systems: State-of-the-Art from 2015 to 2021

Sohn

Choi

2022

Actuators

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“…The joint introduced in [39] is particularly compact but at the price of a restricted angular range. The more evolved VSA we could find consists of a magnetorheological clutch and pneumatic artificial muscles [40]. This association permits smoothly varying the stiffness and viscosity of the actuator.…”

Section: Compliant Actuatorsmentioning

confidence: 99%

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

Senac

Lelevé

Moreau

et al. 2019

MTI

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Simulators have been traditionally used for centuries during medical gestures training. Nowadays, mechatronic technologies have opened the way to more evolved solutions enabling objective assessment and dedicated pedagogic scenarios. Trainees can now practice in virtual environments representing various kind of patient and body parts including physio-pathologies issues. Gestures, to be mastered, vary according to each medical specialty (e.g., ultrasound probe orientations, or forceps installation during assisted delivery). Hence, medical students need kinesthetic feedback in order to significantly improve their learning capabilities. Gesture simulators require haptic devices with variable stiffness actuators. Existing solutions do not always fit the requirements because of their significant size. Contrary to electric actuators, pneumatic technology is low-cost, available off-the-shelf and offers a better mass–power ratio. However, it presents two main drawbacks: nonlinear dynamics and need for a compressed air supply. During the last decade, we have developed several haptic solutions based on pneumatic actuation (e.g., birth simulator, epidural needle insertion simulator) and, recently, in a joint venture with Prisme laboratory, a pneumatic probe master device for remote ultrasonography. This paper recalls literature scientific approaches on pneumatic actuation developed in the medical context and illustrated with the aforementioned applications to highlight the benefits.

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“…In spite of the fact that unbending nature can be increased with decrease gears, they diminish backdrivability and limit the movement opportunity of the gadget. To address these problems, we fostered a coercively feeding gadget activated with a magnetorheological grip and pneumatic fake muscles that can awlessly uctuate its solidness and consistency [9]. An inundated limit limited contrast cross section Boltzmann is proposed to recreate liquid design association of viscoelastic liquids.…”

Section: Introductionmentioning

confidence: 99%

Multiphysics analysis for fluid-structure interaction of flexible baffle inside wavy cavity with slipping wall

Aljibory

Rahman

2022

Preprint

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The development of methods for making fluids in a state of turbulence to obtain better heat transfer and its strong effect on the elastic wall. One of the ways that we can obtain the turbulent state of the fluid is to make one of the surfaces of the solid slide at a certain speed. This slip leads to the surface tension in a state of turbulence, and this rotates the fluid flow in a way large and in order to obtain better turbulence, it is used to make the surfaces surrounding the fluid in a directional way to help rotate the fluid. The results proved the effectiveness of this stereotype, as the force of the effect of the fluid velocity on the elastic wall was in the case of the thickness of 0.5 mm and the sliding velocity of 0.9 m/s, where the deformation was 5.6 mm, which is the best strike condition was deduced either at 2 mm thickness and 0.1 m/s sliding velocity where the deformation was 0.272 mm which is the least deformation reached by the wall.

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Delta-type four-DOF force-feedback device composed of pneumatic artificial muscles and magnetorheological clutch and its application to lid opening

Cited by 18 publications

References 22 publications

Applications of Magnetorheological Fluid Actuator to Multi-DOF Systems: State-of-the-Art from 2015 to 2021

Applications of Magnetorheological Fluid Actuator to Multi-DOF Systems: State-of-the-Art from 2015 to 2021

A Review of Pneumatic Actuators Used for the Design of Medical Simulators and Medical Tools

Multiphysics analysis for fluid-structure interaction of flexible baffle inside wavy cavity with slipping wall

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