Title: A novel 2-DOF haptic master device using bi-directional magneto-rheological brakes: modelling and experimental investigation

Authors: Phuong-Bac Nguyen; Jong-Seok Oh; Seung-Bok Choi

Addresses: Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University, Incheon 402-751, Korea. ' Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University, Incheon 402-751, Korea. ' Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University, Incheon 402-751, Korea

Abstract: In this study, configuration and modelling of haptic master device for minimally invasive surgery (MIS) using bi-directional magneto-rheological (BMR) brakes are proposed. This haptic device consists of two bi-directional magneto-rheological (BMR) brakes incorporated with a gimbal mechanism for realising a 2-DOF rotational motion. The total torque induced from the BMR brakes of the haptic device is computed based on Bingham model. A prototype for the design is then manufactured and several experiments on this prototype are undertaken to investigate the ability of compensating the undesired torque as well as sensing in hard and soft environments.

Keywords: haptic master device; MR fluids; minimally invasive surgery; MIS; bi-directional MR; BMR; magnetorheological brakes; modelling; gimbal mechanism; rotational motion; torque; haptics; magnetorheology; medical engineering.

DOI: 10.1504/IJMPT.2012.050191

International Journal of Materials and Product Technology, 2012 Vol.44 No.3/4, pp.216 - 226

Published online: 17 Sep 2014 *

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