Design and Experimental Test of ER Fluid Based 3-DOF Haptic Master System for MIS

Abstract:

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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.

Info:

Periodical:

Advanced Materials Research (Volumes 317-319)

Edited by:

Xin Chen

Pages:

600-603

DOI:

10.4028/www.scientific.net/AMR.317-319.600

Citation:

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

Online since:

August 2011

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Price:

$35.00

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