MR haptic joystick in control of virtual servo drive

Bachman, P.; Milecki, Andrzej

doi:10.1088/1742-6596/149/1/012034

Cited by 10 publications

(3 citation statements)

References 1 publication

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“…It is widely used to precisely control the damping parameters of smart dampers [ 16 ]. This fluid can also be used for brakes and haptic devices [ 17 , 18 ]. The ability to control braking torque using only electrical signals helps create haptic feedback.…”

Section: Introductionmentioning

confidence: 99%

A Cost-Effective, Integrated Haptic Device for an Exoskeletal System

Recko

Dzierzek

Grądzki

et al. 2022

Sensors

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The paper presents an innovative integrated sensor-effector designed for use in exoskeletal haptic devices. The research efforts aimed to achieve high cost-effectiveness for a design assuring proper monitoring of joint rotations and providing passive force feedback. A review of market products revealed that there is space for new designs of haptic devices with such features. To determine the feasibility of the proposed solution, a series of simulations and experiments were conducted to verify the adopted design concept. The focus was set on an investigation of the force of attraction between one and two magnets interacting with a steel plate. Further, a physical model of an integrated joint was fabricated, and its performance was evaluated and compared to a similar commercially available device. The proposed solution is cost-effective due to the use of standard parts and inexpensive components. However, it is light and assures a 19 Nm braking torque adequate for the intended use as a haptic device for upper limbs.

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Section: Introductionmentioning

confidence: 99%

A Cost-Effective, Integrated Haptic Device for an Exoskeletal System

Recko

Dzierzek

Grądzki

et al. 2022

Sensors

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“…An and Kwon modeled MR actuators by considering magnetic hysteresis to determine the nonlinear torque-current relationship [5]. MR brake mechanisms have also been proposed by several researchers: Bachman and Milecki proposed a haptic joystick [6], Nguyen and Choi proposed the optimal design of an MR brake [7], and Blake and Gurocak developed a haptic glove that obstructs finger movement [8]. Scilingo et al reported the possibility of using MR fluids to mimic the compressional characteristics of biological tissues [9], and Bicchi et al presented a device for characterizing MR fluids applied to haptic interfaces [10].…”

Section: Introductionmentioning

confidence: 99%

A new visual feedback-based magnetorheological haptic master for robot-assisted minimally invasive surgery

Choi

Kim

et al. 2015

Smart Mater. Struct.

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In this study, we developed a novel four-degrees-of-freedom haptic master using controllable magnetorheological (MR) fluid. We also integrated the haptic master with a vision device with image processing for robot-assisted minimally invasive surgery (RMIS). The proposed master can be used in RMIS as a haptic interface to provide the surgeon with a sense of touch by using both kinetic and kinesthetic information. The slave robot, which is manipulated with a proportional-integrative-derivative controller, uses a force sensor to obtain the desired forces from tissue contact, and these desired repulsive forces are then embodied through the MR haptic master. To verify the effectiveness of the haptic master, the desired force and actual force are compared in the time domain. In addition, a visual feedback system is implemented in the RMIS experiment to distinguish between the tumor and organ more clearly and provide better visibility to the operator. The hue-saturation-value color space is adopted for the image processing since it is often more intuitive than other color spaces. The image processing and haptic feedback are realized on surgery performance. In this work, tumor-cutting experiments are conducted under four different operating conditions: haptic feedback on, haptic feedback off, image processing on, and image processing off. The experimental realization shows that the performance index, which is a function of pixels, is different in the four operating conditions.

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“…The cylindrical MRB can effectively transduce the MR effect to its braking torque because this type uses only outside surfaces of the cylinder and it have potential to make MRBs with a high torque, a low inertia, and a simpler structure than the multi-plate disc-type MRBs. There are some researches on the development of the cylindrical MRBs (6)(7)(8) , however, almost all of them utilized a single coil as a magnetic field generator (left hand of Fig.3). However, when we enlarge the braking torque of it and cannot enlarge the diameter of the cylinder, we should prolong the length of the cylinder.…”

Section: Introductionmentioning

confidence: 99%

Design and Development of Cylindrical MR Fluid Brake with Multi-Coil Structure

Kikuchi

Kobayashi

2011

JSDD

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Magnetorheological fluids (MRF) are functional fluids which respond to an applied magnetic field with a change in rheological behavior. The objective of this study is to clarify an effective design method to develop the cylindrical MR fluid brake (cylindrical MRB). Before getting into the design, a testing cell to evaluate rheological properties of the MRF was developed. The experimental result was modeled as a characteristic curve which is independent of the shear rate. This model was utilized as fundamental data for design. A cylindrical MRB whose maximum torque is 10 Nm was also designed, and its braking torque was compared with the estimated torque with finite elemental method software for a magnetostatic analysis and proposed mathematical model of the MRF. Although the results show errors at off-state of the brake that come from a friction of an oil seal, the cylindrical MRB whose maximum torque is about 10 Nm was developed.

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MR haptic joystick in control of virtual servo drive

Cited by 10 publications

References 1 publication

A Cost-Effective, Integrated Haptic Device for an Exoskeletal System

A Cost-Effective, Integrated Haptic Device for an Exoskeletal System

A new visual feedback-based magnetorheological haptic master for robot-assisted minimally invasive surgery

Design and Development of Cylindrical MR Fluid Brake with Multi-Coil Structure

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