Design of 3 DOF Haptic Master Mechanisms Featuring Bi-Directional Clutch/Brake for MIS

Abstract:

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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.

Info:

Periodical:

Advanced Materials Research (Volumes 378-379)

Edited by:

Brendan Gan, Yu Gan and Y. Yu

Pages:

692-696

DOI:

10.4028/www.scientific.net/AMR.378-379.692

Citation:

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

Online since:

October 2011

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Price:

$35.00

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