Design and Performance Evaluation of Haptic Master Device Using ER Spherical Joint
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.
H. J. Cho et al., "Design and Performance Evaluation of Haptic Master Device Using ER Spherical Joint", Advanced Materials Research, Vols. 317-319, pp. 577-580, 2011