Design and control of 4 DOF ER haptic master for medical application

Jong-Seok Oh; Han-Jun Cho; Young-Min Han; Seung-Bok Choi

doi:10.1117/12.915049

29 March 2012 Design and control of 4 DOF ER haptic master for medical application

Jong-Seok Oh, Han-Jun Cho, Young-Min Han, Seung-Bok Choi

Proceedings Volume 8343, Industrial and Commercial Applications of Smart Structures Technologies 2012; 83430G (2012) https://doi.org/10.1117/12.915049
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2012, San Diego, California, United States

Abstract

In this research, a new type of haptic master device using electrorheological (ER) fluid for minimally invasive surgery (MIS) is proposed. The proposed haptic master consists of an ER spherical joint for 3-DOF rotational motion (X, Y, Z) and an ER brake for 1-DOF translational motion (Z). Principal design parameters of the haptic master are determined based on Bingham characteristic of ER fluid and geometrical constraints. In order to demonstrate the effectiveness of the proposed haptic master, control performance is evaluated. In order to achieve desired force trajectories, a sliding mode controller (SMC) is designed and implemented. Both torque and force tracking control performances show that the proposed haptic master can be effectively applied to surgical robot system.

Citation Download Citation

Jong-Seok Oh, Han-Jun Cho, Young-Min Han, and Seung-Bok Choi "Design and control of 4 DOF ER haptic master for medical application", Proc. SPIE 8343, Industrial and Commercial Applications of Smart Structures Technologies 2012, 83430G (29 March 2012); https://doi.org/10.1117/12.915049

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