HapticV1, PascalFrancis, Corpus, bibRecord, 000199

A 4-DOF haptic master using ER fluid for minimally invasive surgery system application

Identifieur interne : 000199 ( PascalFrancis/Corpus ); précédent : 000198; suivant : 000200

A 4-DOF haptic master using ER fluid for minimally invasive surgery system application

Auteurs : Jong-Seok Oh ; Young-Min Han ; Sang-Rock Lee ; Seung-Bok Choi

Source :

Smart materials and structures [ 0964-1726 ] ; 2013.

RBID : Pascal:13-0185333

Descripteurs français

Pascal (Inist)
- Robotique, Commande force, Actionneur, Modèle mathématique, Mode glissant, Système 4 degré liberté, Fluide Bingham, Couple mécanique, Piston, Interface haptique, Fluide électrorhéologique.

English descriptors

KwdEn :
- Actuators, Bingham plastic, Electrorheological fluid, Force control, Haptic interfaces, Mathematical models, Mechanical torque, Pistons, Robotics, Sliding mode, System with four degrees of freedom.

Abstract

This paper presents a novel 4-degrees-of-freedom (4-DOF) haptic master using a electrorheological (ER) fluid which is applicable to minimally invasive surgery (MIS) systems. By adopting a controllable ER fluid, the master can easily generate 4-DOF repulsive forces with the advantages of a simple mechanism and continuous force control capability. The proposed master consists of two actuators: an ER spherical joint for 3-DOF rotational motion and an ER piston device for 1-DOF translational motion. The generated torque/force models are mathematically derived by analyzing the mechanism geometry and using the Bingham characteristics of an ER Fluid. The haptic master is optimally designed and manufactured based on the mathematical torque/force models. The repulsive torque/force responses are experimentally evaluated and expressed by the first-order and second-order dynamic equations for each motion. A sliding mode controller (SMC), which is known to be robust to uncertainties, is then designed and empirically implemented to achieve the desired torque/force trajectories. It is demonstrated by presenting torque/force tracking results of both rotational and translational motions that the proposed 4-DOF ER haptic master integrated with the SMC can provide an effective haptic control performance for MIS applications.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A01	`01`	`1`		`@0 0964-1726`
A03		`1`		`@0 Smart mater. struc.`
A05				`@2 22`
A06				`@2 4`
A08	`01`	`1`	`ENG`	`@1 A 4-DOF haptic master using ER fluid for minimally invasive surgery system application`
A11	`01`	`1`		`@1 OH (Jong-Seok)`
A11	`02`	`1`		`@1 HAN (Young-Min)`
A11	`03`	`1`		`@1 LEE (Sang-Rock)`
A11	`04`	`1`		`@1 CHOI (Seung-Bok)`
A14	`01`			`@1 Department of Mechanical Engineering, Inha University @2 Incheon 402-751 @3 KOR @Z 1 aut. @Z 3 aut. @Z 4 aut.`
A14	`02`			`@1 Division of Automotive Engineering, Ajou Motor College @2 Chungnam 355-769 @3 KOR @Z 2 aut.`
A20				`@2 045004.1-045004.15`
A21				`@1 2013`
A23	`01`			`@0 ENG`
A43	`01`			`@1 INIST @2 26248 @5 354000505137880050`
A44				`@0 0000 @1 © 2013 INIST-CNRS. All rights reserved.`
A45				`@0 21 ref.`
A47	`01`	`1`		`@0 13-0185333`
A60				`@1 P`
A61				`@0 A`
A64	`01`	`1`		`@0 Smart materials and structures`
A66	`01`			`@0 GBR`
C01	`01`		`ENG`	@0 This paper presents a novel 4-degrees-of-freedom (4-DOF) haptic master using a electrorheological (ER) fluid which is applicable to minimally invasive surgery (MIS) systems. By adopting a controllable ER fluid, the master can easily generate 4-DOF repulsive forces with the advantages of a simple mechanism and continuous force control capability. The proposed master consists of two actuators: an ER spherical joint for 3-DOF rotational motion and an ER piston device for 1-DOF translational motion. The generated torque/force models are mathematically derived by analyzing the mechanism geometry and using the Bingham characteristics of an ER Fluid. The haptic master is optimally designed and manufactured based on the mathematical torque/force models. The repulsive torque/force responses are experimentally evaluated and expressed by the first-order and second-order dynamic equations for each motion. A sliding mode controller (SMC), which is known to be robust to uncertainties, is then designed and empirically implemented to achieve the desired torque/force trajectories. It is demonstrated by presenting torque/force tracking results of both rotational and translational motions that the proposed 4-DOF ER haptic master integrated with the SMC can provide an effective haptic control performance for MIS applications.
C02	`01`	`3`		`@0 001B00G07T`
C02	`02`	`3`		`@0 001B00G07M`
C03	`01`	`X`	`FRE`	`@0 Robotique @5 02`
C03	`01`	`X`	`ENG`	`@0 Robotics @5 02`
C03	`01`	`X`	`SPA`	`@0 Robótica @5 02`
C03	`02`	`3`	`FRE`	`@0 Commande force @5 03`
C03	`02`	`3`	`ENG`	`@0 Force control @5 03`
C03	`03`	`3`	`FRE`	`@0 Actionneur @5 04`
C03	`03`	`3`	`ENG`	`@0 Actuators @5 04`
C03	`04`	`3`	`FRE`	`@0 Modèle mathématique @5 06`
C03	`04`	`3`	`ENG`	`@0 Mathematical models @5 06`
C03	`05`	`X`	`FRE`	`@0 Mode glissant @5 07`
C03	`05`	`X`	`ENG`	`@0 Sliding mode @5 07`
C03	`05`	`X`	`SPA`	`@0 Modo deslizante @5 07`
C03	`06`	`X`	`FRE`	`@0 Système 4 degré liberté @5 11`
C03	`06`	`X`	`ENG`	`@0 System with four degrees of freedom @5 11`
C03	`06`	`X`	`SPA`	`@0 Sistema 4 grados libertad @5 11`
C03	`07`	`X`	`FRE`	`@0 Fluide Bingham @5 12`
C03	`07`	`X`	`ENG`	`@0 Bingham plastic @5 12`
C03	`07`	`X`	`SPA`	`@0 Fluido Bingham @5 12`
C03	`08`	`X`	`FRE`	`@0 Couple mécanique @5 13`
C03	`08`	`X`	`ENG`	`@0 Mechanical torque @5 13`
C03	`08`	`X`	`SPA`	`@0 Cupla mecánica @5 13`
C03	`09`	`3`	`FRE`	`@0 Piston @5 14`
C03	`09`	`3`	`ENG`	`@0 Pistons @5 14`
C03	`10`	`3`	`FRE`	`@0 Interface haptique @5 15`
C03	`10`	`3`	`ENG`	`@0 Haptic interfaces @5 15`
C03	`11`	`X`	`FRE`	`@0 Fluide électrorhéologique @5 16`
C03	`11`	`X`	`ENG`	`@0 Electrorheological fluid @5 16`
C03	`11`	`X`	`SPA`	`@0 Fluido electroreologico @5 16`
N21				`@1 168`

Format Inist (serveur)

NO :	PASCAL 13-0185333 INIST
ET :	A 4-DOF haptic master using ER fluid for minimally invasive surgery system application
AU :	OH (Jong-Seok); HAN (Young-Min); LEE (Sang-Rock); CHOI (Seung-Bok)
AF :	Department of Mechanical Engineering, Inha University/Incheon 402-751/Corée, République de (1 aut., 3 aut., 4 aut.); Division of Automotive Engineering, Ajou Motor College/Chungnam 355-769/Corée, République de (2 aut.)
DT :	Publication en série; Niveau analytique
SO :	Smart materials and structures; ISSN 0964-1726; Royaume-Uni; Da. 2013; Vol. 22; No. 4; 045004.1-045004.15; Bibl. 21 ref.
LA :	Anglais
EA :	This paper presents a novel 4-degrees-of-freedom (4-DOF) haptic master using a electrorheological (ER) fluid which is applicable to minimally invasive surgery (MIS) systems. By adopting a controllable ER fluid, the master can easily generate 4-DOF repulsive forces with the advantages of a simple mechanism and continuous force control capability. The proposed master consists of two actuators: an ER spherical joint for 3-DOF rotational motion and an ER piston device for 1-DOF translational motion. The generated torque/force models are mathematically derived by analyzing the mechanism geometry and using the Bingham characteristics of an ER Fluid. The haptic master is optimally designed and manufactured based on the mathematical torque/force models. The repulsive torque/force responses are experimentally evaluated and expressed by the first-order and second-order dynamic equations for each motion. A sliding mode controller (SMC), which is known to be robust to uncertainties, is then designed and empirically implemented to achieve the desired torque/force trajectories. It is demonstrated by presenting torque/force tracking results of both rotational and translational motions that the proposed 4-DOF ER haptic master integrated with the SMC can provide an effective haptic control performance for MIS applications.
CC :	001B00G07T; 001B00G07M
FD :	Robotique; Commande force; Actionneur; Modèle mathématique; Mode glissant; Système 4 degré liberté; Fluide Bingham; Couple mécanique; Piston; Interface haptique; Fluide électrorhéologique
ED :	Robotics; Force control; Actuators; Mathematical models; Sliding mode; System with four degrees of freedom; Bingham plastic; Mechanical torque; Pistons; Haptic interfaces; Electrorheological fluid
SD :	Robótica; Modo deslizante; Sistema 4 grados libertad; Fluido Bingham; Cupla mecánica; Fluido electroreologico
LO :	INIST-26248.354000505137880050
ID :	13-0185333

Links to Exploration step

Pascal:13-0185333

Le document en format XML

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<front><div type="abstract" xml:lang="en">This paper presents a novel 4-degrees-of-freedom (4-DOF) haptic master using a electrorheological (ER) fluid which is applicable to minimally invasive surgery (MIS) systems. By adopting a controllable ER fluid, the master can easily generate 4-DOF repulsive forces with the advantages of a simple mechanism and continuous force control capability. The proposed master consists of two actuators: an ER spherical joint for 3-DOF rotational motion and an ER piston device for 1-DOF translational motion. The generated torque/force models are mathematically derived by analyzing the mechanism geometry and using the Bingham characteristics of an ER Fluid. The haptic master is optimally designed and manufactured based on the mathematical torque/force models. The repulsive torque/force responses are experimentally evaluated and expressed by the first-order and second-order dynamic equations for each motion. A sliding mode controller (SMC), which is known to be robust to uncertainties, is then designed and empirically implemented to achieve the desired torque/force trajectories. It is demonstrated by presenting torque/force tracking results of both rotational and translational motions that the proposed 4-DOF ER haptic master integrated with the SMC can provide an effective haptic control performance for MIS applications.</div>
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<fC01 i1="01" l="ENG"><s0>This paper presents a novel 4-degrees-of-freedom (4-DOF) haptic master using a electrorheological (ER) fluid which is applicable to minimally invasive surgery (MIS) systems. By adopting a controllable ER fluid, the master can easily generate 4-DOF repulsive forces with the advantages of a simple mechanism and continuous force control capability. The proposed master consists of two actuators: an ER spherical joint for 3-DOF rotational motion and an ER piston device for 1-DOF translational motion. The generated torque/force models are mathematically derived by analyzing the mechanism geometry and using the Bingham characteristics of an ER Fluid. The haptic master is optimally designed and manufactured based on the mathematical torque/force models. The repulsive torque/force responses are experimentally evaluated and expressed by the first-order and second-order dynamic equations for each motion. A sliding mode controller (SMC), which is known to be robust to uncertainties, is then designed and empirically implemented to achieve the desired torque/force trajectories. It is demonstrated by presenting torque/force tracking results of both rotational and translational motions that the proposed 4-DOF ER haptic master integrated with the SMC can provide an effective haptic control performance for MIS applications.</s0>
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<server><NO>PASCAL 13-0185333 INIST</NO>
<ET>A 4-DOF haptic master using ER fluid for minimally invasive surgery system application</ET>
<AU>OH (Jong-Seok); HAN (Young-Min); LEE (Sang-Rock); CHOI (Seung-Bok)</AU>
<AF>Department of Mechanical Engineering, Inha University/Incheon 402-751/Corée, République de (1 aut., 3 aut., 4 aut.); Division of Automotive Engineering, Ajou Motor College/Chungnam 355-769/Corée, République de (2 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>Smart materials and structures; ISSN 0964-1726; Royaume-Uni; Da. 2013; Vol. 22; No. 4; 045004.1-045004.15; Bibl. 21 ref.</SO>
<LA>Anglais</LA>
<EA>This paper presents a novel 4-degrees-of-freedom (4-DOF) haptic master using a electrorheological (ER) fluid which is applicable to minimally invasive surgery (MIS) systems. By adopting a controllable ER fluid, the master can easily generate 4-DOF repulsive forces with the advantages of a simple mechanism and continuous force control capability. The proposed master consists of two actuators: an ER spherical joint for 3-DOF rotational motion and an ER piston device for 1-DOF translational motion. The generated torque/force models are mathematically derived by analyzing the mechanism geometry and using the Bingham characteristics of an ER Fluid. The haptic master is optimally designed and manufactured based on the mathematical torque/force models. The repulsive torque/force responses are experimentally evaluated and expressed by the first-order and second-order dynamic equations for each motion. A sliding mode controller (SMC), which is known to be robust to uncertainties, is then designed and empirically implemented to achieve the desired torque/force trajectories. It is demonstrated by presenting torque/force tracking results of both rotational and translational motions that the proposed 4-DOF ER haptic master integrated with the SMC can provide an effective haptic control performance for MIS applications.</EA>
<CC>001B00G07T; 001B00G07M</CC>
<FD>Robotique; Commande force; Actionneur; Modèle mathématique; Mode glissant; Système 4 degré liberté; Fluide Bingham; Couple mécanique; Piston; Interface haptique; Fluide électrorhéologique</FD>
<ED>Robotics; Force control; Actuators; Mathematical models; Sliding mode; System with four degrees of freedom; Bingham plastic; Mechanical torque; Pistons; Haptic interfaces; Electrorheological fluid</ED>
<SD>Robótica; Modo deslizante; Sistema 4 grados libertad; Fluido Bingham; Cupla mecánica; Fluido electroreologico</SD>
<LO>INIST-26248.354000505137880050</LO>
<ID>13-0185333</ID>
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A 4-DOF haptic master using ER fluid for minimally invasive surgery system application

A 4-DOF haptic master using ER fluid for minimally invasive surgery system application

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