Paper Title:
Design of 3 DOF Haptic Master Mechanisms Featuring Bi-Directional Clutch/Brake for MIS
  Abstract

This study presents the configuration and modeling of an electro-rheological (ER) fluid-based haptic master device for minimally invasive surgery (MIS). The haptic master device can produce a 3-DOF rotational motion which is realized by ER bi-directional clutch/brake for X and Y axes and ER brake for Z axis. In order to transmit a complex rotation from the handle of the device to three rotary movements, a gimbal structure is adopted. Before manufacturing the proposed haptic master, two case of design parameters are detemined from the viewpoint of compact size and extensive workspace, respectively.

  Info
Periodical
Advanced Materials Research (Volumes 378-379)
Chapter
Chapter 6: New Materials and Composites Materials
Edited by
Brendan Gan, Yu Gan and Y. Yu
Pages
692-696
DOI
10.4028/www.scientific.net/AMR.378-379.692
Citation
J. S. Oh, S. G. Lim, P. B. Nguyen, S. B. Choi, "Design of 3 DOF Haptic Master Mechanisms Featuring Bi-Directional Clutch/Brake for MIS", Advanced Materials Research, Vols. 378-379, pp. 692-696, 2012
Online since
October 2011
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Price
$32.00
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