Transactions of the Korean Society for Noise and Vibration Engineering (한국소음진동공학회논문집)

The Korean Society for Noise and Vibration Engineering (한국소음진동공학회)
권호 표지
DOI QR코드

DOI QR Code

Design and Performance Evaluation of Tactile Device Using MR Fluid

MR 유체를 이용한 촉감구현장치의 설계 및 성능 평가

  • Received : 2012.09.11
  • Accepted : 2012.09.18
  • Published : 2012.12.20
Download PDF
⟨ Previous Next ⟩

Abstract

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.

Keywords

References

  1. Computer Motion, http://www.computermotion.com
  2. Intuitive Surgical, http://www.intuitivesurgical.com
  3. Scilingo, E. P., Sgambelluri, N., De Rossi, D. and Bicchi, A., 2003, Haptic Displays based on Magnetorheological Fluids: Design, Realization and Psychophysical Validation, Haptic Interfaces for Virtual Environment and Teleoperator System, HAPTICS 2003, Proceedings 11th Symposiumon, pp. 10-15.
  4. Yang, T. H., Kwon, H. J., An, J., Koo, J. H., Kim, S. Y. and Kwon, D. S., 2010, Development of a Miniature Tunable Stiffness Display Using MR Fluids for Haptic Application, Sensor and Actuators, Vol. 163, No. 1, pp. 180-190. https://doi.org/10.1016/j.sna.2010.07.004
  5. Velazquez, R., Pissaloux, E. E., Hafez, M. and Szewczyk, J., 2008, Tactile Rendering with Shape Memory Alloy Pin Matrix, IEEE Transactions on Instrumentation and Measurement, Vol. 57, No. 5, pp. 1051-1057. https://doi.org/10.1109/TIM.2007.913768
  6. Seong, M. S., Lim, S. G., Choi, S. B. and Kim, C. H., 2010, Design and Performance Evaluation of MR Damper for Integrated Isolation Mount, Transactions of the Korean Society for Noise and Vibration Engineering, Vol. 20, No. 11, pp. 1046-1051. https://doi.org/10.5050/KSNVE.2010.20.11.1046
  7. Nguyen, S. D. and Choi, S. B., 2012, A New Neuro-Fuzzy Training Algorithm for Identifying Dynamic Characteristics of Smart Damper, Smart Materials and Structures, Vol. 21, No. 8, pp. 1-14.