Haptic Interface with Twin-Driven MR Fluid Actuator for Teleoperation Endoscopic Surgery System
| Autor: | Asaka Ikeda, Tetsumasa Takano, Takehito Kikuchi, Isao Abe, Akinori Yamaguchi |
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| Rok vydání: | 2021 |
| Předmět: |
magnetorheological fluid
haptic device TK1001-1841 Control and Optimization Computer science Forceps Endoscopic surgery behavioral disciplines and activities MRF actuator body regions endoscopic surgery Task (computing) Production of electric energy or power. Powerplants. Central stations Control and Systems Engineering Magnetorheological fluid Teleoperation TA401-492 teleoperation Robot Actuator Materials of engineering and construction. Mechanics of materials psychological phenomena and processes Simulation Haptic technology |
| Zdroj: | Actuators Volume 10 Issue 10 Actuators, Vol 10, Iss 245, p 245 (2021) |
| ISSN: | 2076-0825 |
| DOI: | 10.3390/act10100245 |
| Popis: | Magnetorheological fluids (MRFs) are composite materials made of ferromagnetic particles, medium oils, and several types of additives. We have developed an actuation system for the fine haptic control of leader-follower robots. In this study, we developed a haptic interface with two link-type twin-driven MR fluid actuators and two MR fluid brakes for a teleoperation endoscopic surgery system and conducted evaluation tests for a remote operational task with a leader-follower robot system. For evaluations, we adopted the NASA-TLX questionnaire as a subjective assessment method. According to the experimental results, the total success rates were 0.462, 0.333, and 0.591, for the first haptic, middle no-haptic, and second haptic phases, respectively. The force information of the haptic forceps helped users to perceive grasping sensation on their fingers. Statistical analyses on the answers to the questionnaire indicate no significant differences. However, a decreasing tendency in the mental stress in the complicated manipulation tasks for fragile objects is observed. |
| Databáze: | OpenAIRE |
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