Design and Performance Evaluation of Haptic Master Device Using ER Spherical Joint

Han Jun Cho; Jong Seok Oh; Seung Bok Choi

doi:10.4028/www.scientific.net/AMR.317-319.577

Paper Titles

Investigations of Tool Wear with Water Vapor as Coolant and Lubricant in Green Cutting
p.556

Spectra Characterization of Mo(W)-S-Ag Cluster Compounds Films Modified Silver Electrodes and their Electrochemical Behavior
p.560

Study on Control System of Bearingless Induction Motor Based on Modified Internal Model Control
p.567

Vibration Control Performance of Active Mount System Featuring Inertial Piezostack Actuator
p.573

Design and Performance Evaluation of Haptic Master Device Using ER Spherical Joint
p.577

A New Magneto-Rheological Brake for Haptic Applications
p.581

Design on Plug Seedling Automatic Transplanter in Greenhouse
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Direct Slip Linear Control of Bearingless Induction Motor Based on Space Vector Modulation
p.590

Finite Element Analysis and Dynamics Charateristic Study for High-Speed Magnetic Suspension Motorized Spindle of CNC Machine Tools
p.595

HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 317-319Design and Performance Evaluation of Haptic Master...

Design and Performance Evaluation of Haptic Master Device Using ER Spherical Joint

Abstract:

This study presents the configuration and modeling of haptic mater device for minimally invasive surgery (MIS) using ER fluid. The haptic device has 3-DOF rotational motion which is realized by the ER spherical joint. The ER spherical joint is designed based on Bingham model. The haptic master device that consists of spherical joint as an inner electrode and sphere housing as an outer electrode is manufactured. Generated torque of the manufactured haptic master device is then experimentally evaluated with respect to applied electric field.