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http://dx.doi.org/10.5050/KSNVN.2006.16.12.1286

Force-feedback Control of an Electrorheological Haptic Device in MIS Virtual Environment  

Kang, Pil-Soon (인하대학교 대학원 기계공학과)
Han, Young-Min (인하대학교 기계공학부)
Choi, Seung-Bok (인하대학교 기계공학과)
Publication Information
Transactions of the Korean Society for Noise and Vibration Engineering / v.16, no.12, 2006 , pp. 1286-1293 More about this Journal
Abstract
This paper presents force-feedback control performance of a haptic device in virtual environment of minimally invasive surgery(MIS). As a first step, based on an electrorheological (ER) fluid and spherical geometry, a new type of master device is developed and integrated with a virtual environment of MIS such as a surgical tool and human organ. The virtual object is then mathematically formulated by adopting the shape retaining chain linked(S-chain) model. After evaluating reflection force, computational time, and compatibility with real time control, the virtual environment of MIS is formulated by interactivity with the ER haptic device in real space. Tracking control performances for virtual force trajectory are presented in time domain.
Keywords
Haptic Device; Haptic Rendering; Electrorheological Fluid; Shape Retaining Chain Linked Model; Sliding Mode Controller;
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