Force feedback control of a medical haptic master using an electrorheological fluid
Force feedback control of a medical haptic master using an electrorheological fluid
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DOI：
10.1177/1045389x07083132
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发表时间：
2007-12-01
影响因子：
2.7
通讯作者：
Choi, Seung-Bok
中科院分区：
文献类型：
--
作者：
Han, Young-Min;Kang, Pil-Soon;Choi, Seung-Bok
这项研究提出了力反馈控制性能的球形触觉装置具有电流变（ER）流体，可用于微创手术（MIS）。作为第一步，球电流变关节的旋转和固定电极组成的数学扭矩建模的基础上设计和优化。MIS中产生的主动力通常很小，尽管被动力很大。为了满足这一协议，ER接头采用了离合器和制动机构。在该操作中，通过旋转电极的主动（小）力反馈和/或通过固定电极的半主动（大）力反馈被实现。随后，通过将球形电流变关节与交流电机集成来制造主设备。为了实现所需的力轨迹，滑模控制器，这是强大的不确定性，制定考虑机械摩擦和滞后行为的电流变液的不确定性。然后，控制器的实验实现。在时域中给出了各种力轨迹的跟踪控制性能。
This study presents force feedback control performance of a spherical haptic device featuring an electrorheological (ER) fluid that can be used for minimally invasive surgery (MIS). As a first step, a spherical ER joint composed of rotational and stationary electrodes is designed and optimized based on mathematical torque modeling. The active force produced in MIS is generally small, even though the passive force is large. In order to meet this agreement, both clutch and brake mechanism are adopted for the ER joint. In this operation, the active (small) force feedback by the rotational electrodes and/or semi-active (large) force feedback are achieved by the stationary electrode. Subsequently, the master device is manufactured by integration of the spherical ER joint with AC motor. In order to achieve desired force trajectories, a sliding mode controller, which is robust to uncertainty, is formulated by considering mechanical friction and hysteretic behavior of the ER fluid as uncertainty. The controller is then experimentally realized. Tracking control performances for various force trajectories are presented in time domain.