Torque Measurement of 3-DOF Haptic Master Operated by Controllable Electrorheological Fluid

Open access

Abstract

This work presents a torque measurement method of 3-degree-of-freedom (3-DOF) haptic master featuring controllable electrorheological (ER) fluid. In order to reflect the sense of an organ for a surgeon, the ER haptic master which can generate the repulsive torque of an organ is utilized as a remote controller for a surgery robot. Since accurate representation of organ feeling is essential for the success of the robot-assisted surgery, it is indispensable to develop a proper torque measurement method of 3-DOF ER haptic master. After describing the structural configuration of the haptic master, the torque models of ER spherical joint are mathematically derived based on the Bingham model of ER fluid. A new type of haptic device which has pitching, rolling, and yawing motions is then designed and manufactured using a spherical joint mechanism. Subsequently, the field-dependent parameters of the Bingham model are identified and generating repulsive torque according to applied electric field is measured. In addition, in order to verify the effectiveness of the proposed torque model, a comparative work between simulated and measured torques is undertaken.

If the inline PDF is not rendering correctly, you can download the PDF file here.

  • [1] Stanway R. Sporoson J.L. (1994). Electrorheological fluid: A systematic approach to classifying modes of operation. Journal of Dynamic Systems Measurement and Control 116 498-504.

  • [2] Lee H.G. Choi S.B. Han S.S. Kim J.H. Suh M.S. (2001). Bingham and response characteristics of ER fluids in shear and flow modes. Intelligent Journal of Modern Physics B 15 1017-1024.

  • [3] Sung K.G. Seong M.S. Choi S.B. (2012). Performance evaluation of electronic control suspension featuring vehicle ER dampers. Meccanica 48 (1) 121-134.

  • [4] Yamaguchi H. Zhang X.-R. Niu X.-D. (2010). Damping characteristics and flow behaviors of an ER fluid with a piston sine vibration in a viscous damper. Smart Materials & Structures 19 (10) 105032.

  • [5] Tan K.P. Stanway R. Bullough W.A. (2006). Robot arm control using an electro-rheological (ER) clutch-brake mechanism: Model validation. International Journal of Modern Physics B 20 (2) 181-216.

  • [6] Yook J.Y. Choi S.B. Yook W.S. (2012). Design and speed control of ER brake system using GER fluids. Transactions of the Korean Society for Noise and Vibration Engineering 22 (4) 365-371.

  • [7] Pierrot F. Dombre E. Dégoulange E. Urbain L. Caron P. Sylvie B. Gariépy J. Mégnien J. (1999). Hippocrate: A safe robot arm for medical applications with force feedback. Medical Image Analysis 3 (3) 285-300.

  • [8] Kikuchi T. Fukushima K. Furusho J. (2009). Development of Quasi-3DOF upper limb rehabilitation system using ER brake: PLEMO-P1. Journal of Physics: Conference series 149 (1) 012015.

  • [9] Furusho J. Sakaguchi M. Takesue N. (2002). Development of ER brake and its application to passive force display. Journal of Intelligent Material Systems and Structures 13 (7/8) 425-430.

  • [10] Choi S.B. Lee D.Y. (2005). Rotational motion control of a washing machine using electrorheological clutches and brakes. Proceedings of the Institution of Mechanical Engineers Part C: Mechanical Engineering Science 219 (7) 627-638.

  • [11] Han Y.M. Kim C.J. Choi S.B. (2009). A magnetorheological fluid-based multifunctional haptic device for vehicular instrument controls. Smart Materials & Structures 18 (1) 015002.

  • [12] Choi S.B. Han Y.M. Sohn J.W. Choi H.J. (2009). Bingham characteristics of polymer-based electrorheological fluids with different electrode gaps and materials. Journal of Applied Polymer Science 114 (6) 3636-3644.

  • [13] Estellé P. Lanos P. Perrot A. (2006). Processing the Couette viscometry using a Bingham approximation in shear rate calculation. Journal of Non-Newtonian Fluid Mechanics 154 (31-38) 31-3.

Search
Journal information
Impact Factor

IMPACT FACTOR 2018: 1.122
5-year IMPACT FACTOR: 1.157

CiteScore 2018: 1.39

SCImago Journal Rank (SJR) 2018: 0.325
Source Normalized Impact per Paper (SNIP) 2018: 0.881

Cited By
Metrics
All Time Past Year Past 30 Days
Abstract Views 0 0 0
Full Text Views 192 142 3
PDF Downloads 77 58 2