Haptic Interface with Twin-Driven MR Fluid Actuator for Teleoperation Endoscopic Surgery System

Kikuchi, Takehito; Takano, Tetsumasa; Yamaguchi, Ayane; Ikeda, Asaka; Abe, Isao

doi:10.3390/act10100245

Cited by 13 publications

(4 citation statements)

References 18 publications

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“…Because of their desirable properties, MR clutches have been used in other high-performance devices such as haptic systems, rehabilitation equipment, vibration isolation, etc. [35][36][37][38][39]. In most studies, irrespective of the specific application, the mechanical design and manufacturing issues of MR fluid-based devices have been the main focus of research.…”

Section: Antagonistic Configuration and Compliancementioning

confidence: 99%

Antagonistic Magneto-Rheological Actuators with Inherent Output Boundedness: An Ideal Solution for High-Performance and Human-Safe Actuation

Kermani,

Pisetskiy,

Polushin

et al. 2023

Actuators

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This paper studies the working principles of antagonistic magneto-rheological (MR) actuators, i.e., a combination of an electric motor and a pair of MR clutches in an antagonistic configuration, for compliant actuation in robotics. The study focuses on the unique boundedness property exhibited by MR actuators, which limits the output torques delivered to the load, independent of the received input torque and/or control commands. This inherent property is of significant importance for ensuring human safety in human–robot interaction applications. Through a comprehensive analysis, we provide analytical proof of the inherent output boundedness of antagonistic MR actuators and validate our findings through experimental results. Our research demonstrates that these actuators are well-suited for safe operations in robotic applications, eliminating the need for additional sensor measurements or complex control strategies. This promising capability enables the avoidance of trade-offs between actuator performance, complexity, and cost. The insights gained from this study contribute to advancing compliant actuation technology, paving the way for high-performance and human-safe robotic systems.

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Section: Antagonistic Configuration and Compliancementioning

confidence: 99%

Antagonistic Magneto-Rheological Actuators with Inherent Output Boundedness: An Ideal Solution for High-Performance and Human-Safe Actuation

Kermani,

Pisetskiy,

Polushin

et al. 2023

Actuators

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show abstract

“…However, in the case of pneumatic pressure, there is a lack of expression of the state of tissues with incompressible characteristics because compressible gas is entered. To supplement these points, many tactile devices using magnetorheological materials have been recently proposed in RMIS (Robot-assisted Minimally Invasive Surgery) [ 30 , 31 , 32 , 33 , 34 , 35 , 36 , 37 ]. A lot of research has been carried out on the development of Haptic Master using MR materials [ 30 , 38 ].…”

Section: Introductionmentioning

confidence: 99%

A Cylindrical Grip Type of Tactile Device Using Magneto-Responsive Materials Integrated with Surgical Robot Console: Design and Analysis

Park

Lee

Choi

2022

Sensors

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This paper proposes a cylindrical grip type of tactile device that is effectively integrated to a surgical robot console so that a surgeon can easily touch and feel the same stiffness as the operating organs. This is possible since the yield stress (or stiffness) of magnetic-responsive materials can be tuned or controlled by the magnetic field intensity. The proposed tactile device consists of two main parts: a magnetorheological elastomer (MRE) layer and a magnetorheological fluid (MRF) core. The grip shape of the device to be positioned on the handle part of the master of the surgical robot is configured and its operating principle is discussed. Then, a couple of equations to calculate the stiffness from the gripping force and the field-dependent yield stress of MRF are derived and integrated using the finite element analysis (FEA) model. After simulating the stiffness of the proposed tactile device as a function of the magnetic field intensity (or current), the stiffnesses of various human organs, including the liver and heart, are calculated from known data of an elastic modulus. It is demonstrated from comparative data between calculated stiffness from human tissues and simulated stiffness from FEA that the proposed tactile device can generate sufficient stiffness with a low current level to recognize various human organs which are significantly required in the surgical robot system.

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“…With the continuous development of bionic and intelligent materials, ionic polymer metal composites (IPMC) have attracted the attention of researchers because of their special features, and bionic IPMC artifcial muscles are gradually formed, and fexible materials gradually enter people's lives [1][2][3][4]. IPMC is a type of lightweight, high-fexibility electroactive material (EM).…”

Section: Introductionmentioning

confidence: 99%

Preparation and Electrochemical Performance Analysis of Flexible Ionic Polymers by Freeze-Drying Technology

Zhao

Shao

Zhang

et al. 2022

Advances in Materials Science and Engineering

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With the development of bionics and marine science, a new artificial muscle material, IPMC (ion-exchange polymer metal composite), has attracted significant attention. However, the performance issues, as well as problems associated with the preparation of IPMC, have limited its development. In this study, we use the freeze-drying technique, successfully creating a new type of enhanced carbon nanotube IPMC material. Moreover, we also use the method of cyclic voltammetry, ac impedance, and the constant current charge and discharge method to analyze and evaluate the multiwalled carbon nanotube (MWCNT)-reinforced IPMC produced by freeze-drying technology. Freeze-dried IPMC has a higher moisture content, which is 1.58 times higher than that of ordinary IPMC. The pore and multiwalled carbon nanotube (MWCNT) in the ion exchange membrane are distributed more homogeneously. The technology prepared by IPMC has superior electrical performance. Under a 2 v scanning interval and a scanning speed of 50 mV/s, its specific capacitance can reach 247.5335 mF/cm−2, which is 24 times that of normal IPMC. Under the same conditions, its conductivity can reach 0.29391 mS/cm, far higher than that of ordinary IPMC. Furthermore, the preparation process is also safer. This method provides a new strategy for the future preparation and usage of IPMC.

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Haptic Interface with Twin-Driven MR Fluid Actuator for Teleoperation Endoscopic Surgery System

Cited by 13 publications

References 18 publications

Antagonistic Magneto-Rheological Actuators with Inherent Output Boundedness: An Ideal Solution for High-Performance and Human-Safe Actuation

Antagonistic Magneto-Rheological Actuators with Inherent Output Boundedness: An Ideal Solution for High-Performance and Human-Safe Actuation

A Cylindrical Grip Type of Tactile Device Using Magneto-Responsive Materials Integrated with Surgical Robot Console: Design and Analysis

Preparation and Electrochemical Performance Analysis of Flexible Ionic Polymers by Freeze-Drying Technology

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