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Force Feedback Control of a Medical Haptic Master using an Electrorheological Fluid

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

Pil-Soon Kang

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

Kum-Gil Sung

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

Seung-Bok Choi

Department of Mechanical Engineering, Smart Structures and Systems Laboratory Inha University, Incheon 402-751, Korea, seungbok{at}inha.ac.kr

This study presents force feedback control performance of a spherical haptic device featuring an electrorheological (ER) fluid that can be used for minimally invasive surgery (MIS). As a first step, a spherical ER joint composed of rotational and stationary electrodes is designed and optimized based on mathematical torque modeling. The active force produced in MIS is generally small, even though the passive force is large. In order to meet this agreement, both clutch and brake mechanism are adopted for the ER joint. In this operation, the active (small) force feedback by the rotational electrodes and/or semi-active (large) force feedback are achieved by the stationary electrode. Subsequently, the master device is manufactured by integration of the spherical ER joint with AC motor. In order to achieve desired force trajectories, a sliding mode controller, which is robust to uncertainty, is formulated by considering mechanical friction and hysteretic behavior of the ER fluid as uncertainty. The controller is then experimentally realized. Tracking control performances for various force trajectories are presented in time domain.

Key Words: haptic device • electrorheological fluid • sliding mode control • minimally invasive surgery (MIS).

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Journal of Intelligent Material Systems and Structures, Vol. 18, No. 12, 1149-1154 (2007)
DOI: 10.1177/1045389X07083132


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This Article Abstract Free Full Text (Free PDF) Free Alert me when this article is cited Alert me if a correction is posted Services Email this article to a friend Similar articles in this journal Similar articles in Web of Science Alert me to new issues of the journal Add to Saved Citations Download to citation manager Request Permissions Request Reprints Add to My Marked Citations Citing Articles Citing Articles via Google Scholar Citing Articles via Scopus Google Scholar Articles by Han, Y.-M. Articles by Choi, S.-B. Search for Related Content Social Bookmarking                         What's this?