Design of 3 DOF Haptic Master Mechanisms Featuring Bi-Directional Clutch/Brake for MIS
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.
Brendan Gan, Yu Gan and Y. Yu
J. S. Oh et al., "Design of 3 DOF Haptic Master Mechanisms Featuring Bi-Directional Clutch/Brake for MIS", Advanced Materials Research, Vols. 378-379, pp. 692-696, 2012