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Open AccessArticle

Scissors-Type Haptic Device Using Magnetorheological Fluid Containing Iron Nanoparticles

Department of Biochemical Engineering, Graduate School of Science and Engineering, Yamagata University, 4-3-16 Jonan, Yonezawa 992-8510, Japan
Kurimoto Ltd., 2-8-45 Shibatani, Suminoe, Osaka 559-0021, Japan
Faculty of Science and Technology, Oita University, 700 Dannoharu, Oita 870-1192, Japan
Author to whom correspondence should be addressed.
Technologies 2019, 7(1), 26;
Received: 18 January 2019 / Revised: 22 February 2019 / Accepted: 24 February 2019 / Published: 27 February 2019
(This article belongs to the Special Issue Smart Systems (SmaSys2018))
PDF [3377 KB, uploaded 27 February 2019]
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The mechanical ability and usefulness of simulation systems can be improved by combining a tactile display with a remote control or medical simulation systems. In this study, a scissors-type haptic device containing magnetorheological fluid (MR fluid) in its fulcrum is developed. We evaluate the mechanical response to the applied voltage and realize the presence of mechanical stimuli when a subject grasps or cuts the corresponding objects. When the magnetic field around the MR fluid is controlled by an electric voltage of 150–500 mV, the torque linearly increases from 0.007 ± 0.000 to 0.016 ± 0.000 N m. The device can provide tactile stimuli with 0.1 s of resolution. We also determined the voltage profiles based on typical force profiles obtained during grasping/cutting processes and evaluated the torque using a mechanical evaluation system. Features of the force profiles related to the soft and sticky feels were reconstructed well. View Full-Text
Keywords: haptic device; magnetorheological fluid; surgical robots; torque evaluation haptic device; magnetorheological fluid; surgical robots; torque evaluation

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Waga, M.; Aita, Y.; Noma, J.; Kikuchi, T.; Nonomura, Y. Scissors-Type Haptic Device Using Magnetorheological Fluid Containing Iron Nanoparticles. Technologies 2019, 7, 26.

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