한국소음진동공학회:학술대회논문집 (Proceedings of the Korean Society for Noise and Vibration Engineering Conference)
- 한국소음진동공학회 2012년도 추계학술대회 논문집
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- Pages.415-420
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- 2012
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- 1598-2548(pISSN)
MR 유체를 이용한 촉감구현장치의 설계 및 성능 평가
Design and Performance Evaluation of Tactile Device Using MR Fluid
- 발행 : 2012.10.27
초록
This paper proposes a novel type of tactile device utilizing magnetorheological (MR) fluid which can be applicable for haptic master of minimally invasive surgery (MIS) robotic system. The salient feature of the controllability of rheological properties by the intensity of the magnetic field (or current) makes this potential candidate of the tactile device. As a first step, an appropriate size of the tactile device is designed and manufactured via magnetic analysis. Secondly, in order to determine proper input magnetic field the repulsive forces of the real body parts such as hand and neck are measured. Subsequently, the repulsive forces of the tactile device are measured by dividing 5 areas. The final step of this work is to obtain desired force in real implementation. Thus, in order to demonstrate this goal a neuro-fuzzy logic is applied to get the desired repulsive force and the error between the desired and actual force is evaluated.
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