Virtual needle insertion with haptic feedback using a hybrid actuator with DC servomotor and MR-brake with Hall-effect sensor

Gonenc, Berk; Gürocak, Hakan

doi:10.1016/j.mechatronics.2012.09.009

Cited by 33 publications

(20 citation statements)

References 19 publications

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“…[16][17][18][19]. Besides established commercial use of MR fluids in automotive industry, developments might be expected in field of civil and aerospace engineering especially [20,21].…”

Section: Introductionmentioning

confidence: 99%

Novel synthesis of core–shell urchin-like ZnO coated carbonyl iron microparticles and their magnetorheological activity

et al. 2014

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An international journal to further the chemical sciencesRSC Advances is an international, peer-reviewed, online journal covering all of the chemical sciences, including interdisciplinary fields.The criteria for publication are that the experimental and/ or theoretical work must be high quality, well conducted adding to the development of the field.Thank you for your assistance in evaluating this manuscript. Guidelines to the refereesReferees have the responsibility to treat the manuscript as confidential. Please be aware of our Ethical Guidelines, which contain full information on the responsibilities of referees and authors, and our Refereeing Procedure and Policy.It is essential that all research work reported in RSC Advances is well-carried out and wellcharacterised. There should be enough supporting evidence for the claims made in the manuscript. When preparing your report, please:• comment on the originality and scientific reliability of the work • state clearly whether you would like to see the article accepted or rejected and give detailed comments (with references, as appropriate) that will both help the Editor to make a decision on the article and the authors to improve it Please inform the Editor if:• there is a conflict of interest • there is a significant part of the work which you are not able to referee with confidence • the work, or a significant part of the work, has previously been published • you believe the work, or a significant part of the work, is currently submitted elsewhere • the work represents part of an unduly fragmented investigationFor further information about RSC Advances, please visit: www.rsc.org/advances or contact us by email: advances@rsc.org. Enclosed please find the manuscript entitled "Novel synthesis of core-shell urchin-like ZnO coated carbonyl iron microparticles with enhanced magnetorheological activity". The paper is intended for publication in RSC advances if you consider it suitable. We believe that this article describing novel synthesis of inorganic-inorganic core-shell particles with unique urchin-like morphology having extraordinary rheological properties under applied magnetic field and further, exhibiting considerably enhanced sedimentation and thermo-oxidation stability with great potential in wide areas of industrial applications. We also hope that article is matching with the scope of your journal categories "Inorganic" and "Rheology and colloids" and is attractive enough in the same time. Sincerely yours Miroslav Mrlík et al. (Corresponding author)E-mail: mrlik@ft.utb.cz tel: +420 57 603 8128, fax: +420 576 031 444 ABSTRACTThe overall stability (thermo-oxidation, sedimentation) of the MR suspensions is a crucial problem decreasing their potential applicability in the real life. In this study the unique functional coating of carbonyl iron (CI) particles with ZnO structures was presented in order to develop new MR suspension based on the core-shell ZnO/CI urchin-like dispersed particles. The two-step synthesis provides the suitable core-shell particles wit...

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“…[16][17][18][19]. Besides established commercial use of MR fluids in automotive industry, developments might be expected in field of civil and aerospace engineering especially [20,21].…”

Section: Introductionmentioning

confidence: 99%

Novel synthesis of core–shell urchin-like ZnO coated carbonyl iron microparticles and their magnetorheological activity

et al. 2014

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“…The off-state and maximum torque were found to be 0.08 and 10.9 N m, respectively, which give the dynamic range of 43 dB and the torque–volume ratio of 38.389 kN/m 2 . The time constant of this brake was measured to be 60 ms. Gonenc and Gurocak (2012) developed a drum-rotor MR actuator for haptic needle insertion simulation. The actuator has the outer diameter of 50.2 mm and width of 40.5 mm.…”

Section: Introductionmentioning

confidence: 99%

Design and evaluation of a small-scale multi-drum magnetorheological brake

Qin

Song

Zeng

et al. 2018

Journal of Intelligent Material Systems and Structures

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Magnetorheological fluid, whose rheological properties can be continuously and reversely changed, is a new-type smart material. Based on magnetorheological fluid, magnetorheological brake is a potential actuation method in haptics due to its desirable features, such as inherent passiveness and high compactness. Most of the existing magnetorheological brakes are powerful enough, but they are too bulky and heavy. If they were smaller and lighter, they would be more favourable for haptics. In this article, a small-scale yet powerful magnetorheological brake was designed, modelled and evaluated. We adopted a novel multi-drum architecture to activate more shearing areas within a limited volume. To obtain an ideal sealing effect and reduce the off-state friction, the ferro-fluidic sealing technique was used. The ferro-fluidic sealing assemblies can be assembled from both sides of the shaft. The current–torque model of this brake was derived to predict the torque output based on the current input. The optimal design has the diameter of 28 mm and the width of 23.5 mm. It can provide the maximum and minimum torque of 403 and 4 N mm, respectively, giving the torque–volume ratio of 27.864 kN/m2 and the dynamic range of about 40 dB with the 54 ms time constant.

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“…The third study presented in this work describes the development of a feedback control strategy. Previous studies used the force feedback sensor and magnetic induction measurement imbedded in their system to eliminate and reduce off-state force of the MRF-based device [30]. In this study, we are using the H-W model as an estimator.…”

Section: Introductionmentioning

confidence: 99%

Application of a Nonlinear Hammerstein-Wiener Estimator in the Development and Control of a Magnetorheological Fluid Haptic Device for Robotic Bone Biopsy

et al. 2018

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A force generator module (FGM) based on magnetorheological fluid (MRF) was developed to provide force-feedback information for applications in tele-robotic bone biopsy procedures. The FGM is capable of rapidly re-producing a wide range of forces that are common in bone biopsy applications. As a result of the nonlinear nature of MRF, developing robust controllers for these mechanisms can be challenging. In this paper, we present a case study motivated by robotic bone biopsy. We use a non-linear Hammerstein-Wiener (H-W) estimator to address this challenge. The case is presented through three studies. First, an experiment to develop design constraints is presented and describes biopsy force measurements for various animal tissues. Required output forces were found to range between <1 N and <50 N. A second study outlines the design of the FGM and presents the experimental characterization of the hysteretic behavior of the MRF. This data is then used as estimators and validators to develop the nonlinear Hammerstein-Wiener (H-W) model of the MRF. Validation experiments found that the H-W model is capable of predicting the behavior of the MRF device with 95% accuracy and can eliminate hysteresis in a closed-loop control system. The third study demonstrates the FGM used in a 1-DOF haptic controller in a simulated robotic bone-biopsy. The H-W control tracked the input signal while compensating for magnetic hysteresis to achieve optimal performance. In conclusion, the MRF-based device can be used in surgical robotic operations that require a high range of force measurements.

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Virtual needle insertion with haptic feedback using a hybrid actuator with DC servomotor and MR-brake with Hall-effect sensor

Cited by 33 publications

References 19 publications

Novel synthesis of core–shell urchin-like ZnO coated carbonyl iron microparticles and their magnetorheological activity

Novel synthesis of core–shell urchin-like ZnO coated carbonyl iron microparticles and their magnetorheological activity

Design and evaluation of a small-scale multi-drum magnetorheological brake

Application of a Nonlinear Hammerstein-Wiener Estimator in the Development and Control of a Magnetorheological Fluid Haptic Device for Robotic Bone Biopsy

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