Electromagnetic Modeling and Design of Haptic Interface Prototypes Based on Magnetorheological Fluids

Rizzo, Rocco; Sgambelluri, N.; Scilingo, Enzo Pasquale; Raugi, Marco; Bicchi, Antonio

doi:10.1109/tmag.2007.901351

Cited by 36 publications

(15 citation statements)

References 20 publications

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“…However, these fluids (still needing high-voltage sources or high-current bulky electromagnets, respectively) cannot provide actuation directly, and their use as variable compliance means exploits changes in the fluid's rheology, with a marked predominance of viscous components over elastic ones (as also assessed by previous investigations in our laboratory [15]). In comparison with them, DE-based systems seem to be particularly suitable (as shown in Section IV-B) to simulate viscoelastic properties of soft tissues (including possible alterations), due to a controllable balanced combination of elasticity and viscosity.…”

Section: Significance Of Proposed Technology In Comparison With Pomentioning

confidence: 69%

“…Some of these features are also shared with other types of so-called "smart materials" studied for haptic interfaces, such as electro-and magnetorheological fluids [14], [15]. However, these fluids (still needing high-voltage sources or high-current bulky electromagnets, respectively) cannot provide actuation directly, and their use as variable compliance means exploits changes in the fluid's rheology, with a marked predominance of viscous components over elastic ones (as also assessed by previous investigations in our laboratory [15]).…”

Section: Significance Of Proposed Technology In Comparison With Pomentioning

confidence: 88%

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Electroactive Elastomeric Haptic Displays of Organ Motility and Tissue Compliance for Medical Training and Surgical Force Feedback

Carpi

Frediani

Rossi

2009

IEEE Trans. Biomed. Eng.

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This paper presents a novel approach used to develop haptic displays of motility of organs and compliance of tissues, aimed at combining structural simplicity with realistic appearance and consistence. The dielectric elastomer actuation technology was used to mimic mechanical passive properties and electromechanical active functions of tissues by means of electroresponsive elastomeric devices. Proof-of-concept displays were conceived for medical training in cardiology and surgical force feedback in minimally invasive procedures. In particular, prototype displays of cardiac contractility, pulsatile blood pressure, and compliance of soft tissues were manufactured with silicone and acrylic elastomers. Preliminary physical and psychophysical tests suggested the feasibility of the considered approach, while emphasizing required improvements.

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Section: Significance Of Proposed Technology In Comparison With Pomentioning

confidence: 69%

Section: Significance Of Proposed Technology In Comparison With Pomentioning

confidence: 88%

Electroactive Elastomeric Haptic Displays of Organ Motility and Tissue Compliance for Medical Training and Surgical Force Feedback

Carpi

Frediani

Rossi

2009

IEEE Trans. Biomed. Eng.

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“…Some relative researches have been done in this field. Such as an encountered-type haptic interface using MR fluid for surgical simulators has been proposed by Tsujita T. et al at Tohoku University [23], and two and five DOF MR fluid-based telerobotic haptic system was designed by Farzad A. et al at the Ohio State University [24], and the Haptic Black Box ((HBB-I) and (HBB-II)) was designed to build shapes that can be directly felt and explored by the hand at University of Pisa by Rocco Rizzo et al [25].…”

Section: A the Haptic Interface Based On Magnetorheological Fluidsmentioning

confidence: 99%

A haptic catheter operating system using magnetorheological fluids

Yin

Guo

Yue

et al. 2014

2014 IEEE International Conference on Mechatronics and Automation

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Minimally invasive surgery and Therapy (MIST) is popular used both for diagnosis and for surgery. Teleoperation, a new kind of surgery, is used to protect the surgeon from X-ray radiation. However, some safety problem should be considered because the surgeon was separated from the patient remotely. A most effective address method is design of a haptic interface as a master console, which can provide the 'immersive' operation to the surgeon. In this paper, a new haptic interface is design for catheter operation surgery through controlling smart materialmagnetorheological fluids. Magnetic field, haptic interface and haptic performance calibration mechanism have been designed and fabricated. Some experiments have been done to verify the efficiency of haptic interface, which can be used as master console as well as training simulator for non-experience surgeon.

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“…Over the past few decades, MR fluid with unique advantages has drawn significant attention in research and applications [9]- [15]. However, the two key factors of traditional MR fluid dampers to limit much wider application are the relatively high cost and short lifetime.…”

Section: Introductionmentioning

confidence: 99%

Shear Performance of a Metal Foam Magnetorheological Fluid Damper

Liu

Gao

et al. 2015

IEEE Trans. Magn.

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This paper mainly investigates the shear performance of a metal foam magnetorheological (MR) fluid damper. As for the damper, MR fluids are stored in metal foam in the action of magnetic field, MR fluids are drawn out from the metal foam, and then fill the shear gap, thus producing the MR effect. Based on previous research, as a sample, the metal foam nickel (Ni) is applied to store MR fluids, and the metal foam Ni MR fluid damper is designed and manufactured. A test rig, including the metal foam MR fluid damper, dc motor with speed controller, force sensor with amplifier, and DAQ card and PC with LabVIEW software, is built to study the shear performance. The effects of excitation current and shear rate on damping force are analyzed. Besides, considering the influence of different currents on magnetic field, a series of magnetic field simulations on the damper are carried out in ANSYS FEM software. The results show that the excitation current is the key factor to damping force of the damper; with the increasing of the current, the damping force will increase. However, once the current is above 1.5 A, the increment is no longer obvious. Besides, damping force will decrease with the share rate increasing.Index Terms-Magnetorheological (MR) fluid damper, metal foam, shear performance.

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Electromagnetic Modeling and Design of Haptic Interface Prototypes Based on Magnetorheological Fluids

Cited by 36 publications

References 20 publications

Electroactive Elastomeric Haptic Displays of Organ Motility and Tissue Compliance for Medical Training and Surgical Force Feedback

Electroactive Elastomeric Haptic Displays of Organ Motility and Tissue Compliance for Medical Training and Surgical Force Feedback

A haptic catheter operating system using magnetorheological fluids

Shear Performance of a Metal Foam Magnetorheological Fluid Damper

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