Suitability of Small-Scale Magnetorheological Fluid-Based Clutches in Haptic Interfaces for Improved Performance

Najmaei, Nima; Kermani, Mehrdad R.; Patel, Rajni V.

doi:10.1109/tmech.2014.2357447

Cited by 33 publications

(23 citation statements)

References 36 publications

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“…The results of these experiments demonstrated the desirable performance of such actuators when used in a haptic device. Subsequently, a new design for a small-scale MRF-based clutch, called an armature-based design, which is suitable for a medical haptic interface was proposed in [1]. Our preliminary studies on the small-scale armature-based clutch supported the claim that such actuators are well suited for haptic devices.…”

Section: Introductionmentioning

confidence: 62%

“…By taking advantage of this feature, several passive and semi-active actuators have been developed. It is demonstrated that the superior characteristics of MRFbased actuators in comparison with active actuators enables the design of a more transparent and stable haptic interface, as shown in [1]. This claim was experimentally validated on a prototype haptic system, by taking advantage of the virtual wall benchmark.…”

Section: Introductionmentioning

confidence: 86%

“…In our previous work [1], a new "armature-based" design was proposed in order to improve the performance of smallscale MRF-based clutches by increasing the effective MRF volume and the area of contact as well as improving the efficiency of magnetic field usage. In this design, the MRF fills the gap between a cylindrical casing and an armature, made of ferromagnetic materials.…”

Section: Development Of An Armature-based Clutchmentioning

confidence: 99%

“…Using the armature coil and varying the magnetic field in the MRF gap, the share of input torque that is transferred to the output shaft is controlled. For more information on this design, please refer to [1].…”

Section: Development Of An Armature-based Clutchmentioning

confidence: 99%

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mentioning

confidence: 99%

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Magneto-Rheological actuators for haptic devices: Design, modeling, control, and validation of a prototype clutch

Najmaei

Asadian

Kermani

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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In our previous work [1], the potential benefits of Magneto-Rheological Fluid based actuators to the field of haptics were studied. Our results showed that the superior mechanical attributes of such actuators contribute to improvement of stability and transparency in haptic devices. To this end, a novel design of a small-scale MRF-based clutch, was proposed in [1]. This paper reports on the development and validation of the proposed MRF-based clutch. In addition, a closed-loop torque control strategy is presented. The feedback signal used in this control scheme comes from the magnetic field measurement and is used to compensate for the nonlinear behavior using an estimated model, based on Artificial Neural Networks (ANNs). Such a control strategy eliminates the need for torque sensors for providing feedback signals. The performance of the developed design and the effectiveness of the proposed modeling and control techniques are experimentally validated. The results clearly demonstrate that the clutch shows great potential for use in a multiple degrees-of-freedom (DOF) haptic interface for a class of medical applications.The authors are with the

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Section: Introductionmentioning

confidence: 62%

Section: Introductionmentioning

confidence: 86%

Section: Development Of An Armature-based Clutchmentioning

confidence: 99%

Section: Development Of An Armature-based Clutchmentioning

confidence: 99%

“…

…”

mentioning

confidence: 99%

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Magneto-Rheological actuators for haptic devices: Design, modeling, control, and validation of a prototype clutch

Najmaei

Asadian

Kermani

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Design and performance evaluation of a haptic interface based on MR fluids for endovascular tele-surgery

et al. 2017

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Performance evaluation of a robot-assisted catheter operating system with haptic feedback

Song

Guo

Yin

et al. 2018

Biomed Microdevices

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In this paper, a novel robot-assisted catheter operating system (RCOS) has been proposed as a method to reduce physical stress and X-ray exposure time to physicians during endovascular procedures. The unique design of this system allows the physician to apply conventional bedside catheterization skills (advance, retreat and rotate) to an input catheter, which is placed at the master side to control another patient catheter placed at the slave side. For this purpose, a magnetorheological (MR) fluids-based master haptic interface has been developed to measure the axial and radial motions of an input catheter, as well as to provide the haptic feedback to the physician during the operation. In order to achieve a quick response of the haptic force in the master haptic interface, a hall sensor-based closed-loop control strategy is employed. In slave side, a catheter manipulator is presented to deliver the patient catheter, according to position commands received from the master haptic interface. The contact forces between the patient catheter and blood vessel system can be measured by designed force sensor unit of catheter manipulator. Four levels of haptic force are provided to make the operator aware of the resistance encountered by the patient catheter during the insertion procedure. The catheter manipulator was evaluated for precision positioning. The time lag from the sensed motion to replicated motion is tested. To verify the efficacy of the proposed haptic feedback method, the evaluation experiments in vitro are carried out. The results demonstrate that the proposed system has the ability to enable decreasing the contact forces between the catheter and vasculature.

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Suitability of Small-Scale Magnetorheological Fluid-Based Clutches in Haptic Interfaces for Improved Performance

Cited by 33 publications

References 36 publications

Magneto-Rheological actuators for haptic devices: Design, modeling, control, and validation of a prototype clutch

Magneto-Rheological actuators for haptic devices: Design, modeling, control, and validation of a prototype clutch

Design and performance evaluation of a haptic interface based on MR fluids for endovascular tele-surgery

Performance evaluation of a robot-assisted catheter operating system with haptic feedback

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