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http://dx.doi.org/10.5050/KSNVE.2012.22.12.1220

Design and Performance Evaluation of Tactile Device Using MR Fluid  

Kim, Jin-Kyu (Mechanical Engineering, Inha University)
Oh, Jong-Seok (Mechanical Engineering, Inha University)
Lee, Snag-Rock (Mechanical Engineering, Inha University)
Han, Young-Min (Motor Control & Diagnosis technology, Ajou Motor College)
Choi, Seung-Bok (Mechanical Engineering, Inha University)
Publication Information
Transactions of the Korean Society for Noise and Vibration Engineering / v.22, no.12, 2012 , pp. 1220-1226 More about this Journal
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
Tactile Device; MR Fluid; Neuro-fuzzy Algorithm; Minimally Invasive Surgery;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
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