Hydraulically driven joint for a force feedback manipulator

Sasaki, Tohru; Kokubo, Keisuke; Sakai, Hiromitsu

doi:10.1016/j.precisioneng.2016.09.019

Cited by 4 publications

(1 citation statement)

References 5 publications

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“…The development of many applications of interactive operation requires flexible haptic master to perform contact tasks. These tasks include interaction with computer-aided design models, telerobotic surgery, micro/nano-manipulation, undersea salvage, and space telerobotic exploration and maintenance, decontamination, and decommissioning of chemical and nuclear facilities [1,2].…”

Section: Introductionmentioning

confidence: 99%

Experiments and assessments of a 3-DOF haptic device for interactive operation

Song

et al. 2018

J Image Video Proc.

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Haptic devices have been applied in interactive operation to perform contact tasks. To explore the haptic perception characteristics of typical push-pull and rotation operation, an experimental system was built by incorporating a three degrees of freedom (3-DOF) haptic device and the virtual environment. In this system, the haptic device is used to provide motion commands to control the avatar in the virtual environment and to exert haptic feedback on the human operator generated by three motors. In order to evaluate the main influential factors of interactive system based on haptic devices, ergonomic assessments are designed and experimentally implemented. Preliminary studies on the factors including restoring force, guidance force, speed of the virtual avatar, and the arm length have been conducted. The results are of great significance for the design of a haptic device and haptic interaction system by analyzing the specific requirements of ergonomics.

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Section: Introductionmentioning

confidence: 99%

Experiments and assessments of a 3-DOF haptic device for interactive operation

Song

et al. 2018

J Image Video Proc.

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Force Measurement of Blood Vessel Gripping by Hydraulic-driven Forceps

et al. 2017

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Hydraulic Micro Device with Force Sensing for Measurement of Mechanical Characteristics

Sasaki

Fujiwara

Tachikawa

et al. 2020

IJAT

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The medical and bio-engineering fields have been increasingly using information and communication technology. To introduce robots into surgical procedures, data on surgical operations are required. Several studies have tried the creation of data on living tissues for mechanical actions, which makes determining the mechanical characteristics of living tissues vital, but few have been commonly used. Therefore, we previously developed a sensing system that uses a hydraulic-driven micro mechanism to measure the force applied to an object when it is touched. Micro force sensors are necessary for various manipulations requiring careful operation. Unfortunately, the measurement accuracy of sensors tends to reduce with the reduction in sensor size. The proportional output in conventional force sensors, such as piezoelectric sensors, also decreases when the size of the sensor is reduced. However, a micro force sensor using a hydraulic-driven micro mechanism can obtain a large output even when it is small. Our system uses Pascal’s principle to measure small forces acting on the end effector. We propose methods for identifying the mechanical characteristics of certain viscoelastic materials similar to those used in a living organ. A hydraulic-driven micro device pushes an object and measures the reaction force and its displacement. We have used two types of micro devices, micro cylinder and micro bellows. Its stiffness and viscosity coefficient are obtained through calculations using Kelvin-Voigt and Zenner models. Discrete displacement and load data are applied to the estimated model, and the mechanical characteristics of the materials are identified as a minimized value between the estimated value and experimental one. We conducted experiments using the proposed identification methods on viscoelastic materials, and the results indicate that the value provided from the Kelvin-Voigt model was near the truth value.

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Hydraulically driven joint for a force feedback manipulator

Cited by 4 publications

References 5 publications

Experiments and assessments of a 3-DOF haptic device for interactive operation

Experiments and assessments of a 3-DOF haptic device for interactive operation

Force Measurement of Blood Vessel Gripping by Hydraulic-driven Forceps

Hydraulic Micro Device with Force Sensing for Measurement of Mechanical Characteristics

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