<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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.</p></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.

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

Department of Mechanical Engineering, Inha University, Incheon 402-751, Korea

Faculty of Mechanical and Automotive Engineering, Keimyung University, Daegu, 704-701, Korea

Measurement Science Review

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

This work presents a torque measurement method of 3-degree-of-freedom (3-DOF) haptic master featuring controllable electrorheological (ER) fluid. In order to...

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

Published Online: Mar 11, 2015

Page range: 13 - 18

Received: May 15, 2014

Accepted: Jan 14, 2015

DOI: https://doi.org/10.1515/msr-2015-0003

Keywords
Torque measurement, haptic master, repulsive torque, Bingham model, torque model

© Jong-Seok Oh, Seung-Bok Choi and Yang-Sub Lee

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

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

Published Online: Mar 11, 2015

Page range: 13 - 18

Received: May 15, 2014

Accepted: Jan 14, 2015

DOI: https://doi.org/10.1515/msr-2015-0003

KeywordsTorque measurement, haptic master, repulsive torque, Bingham model, torque model

© Jong-Seok Oh, Seung-Bok Choi and Yang-Sub Lee

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
Torque measurement, haptic master, repulsive torque, Bingham model, torque model