Design and Experimental Test of ER Fluid Based 3-DOF Haptic Master System for MIS
This paper presents a new design of an electro-rheological (ER) fluid-based haptic master device that is used for a minimally invasive surgery (MIS). This device consists of a bi-directional ER clutch/brake and an ER brake from which a repulsive force is realized. First, the modeling of these clutches/brakes is conducted. In addition, to transmit a complex rotation from the handle of the device to three independently rotary movements, a gimbal mechanism is adopted. At last, in order to evaluate the repulsive forces generated from the device, an experimental test is undertaken.
S. G. Lim et al., "Design and Experimental Test of ER Fluid Based 3-DOF Haptic Master System for MIS", Advanced Materials Research, Vols. 317-319, pp. 600-603, 2011