Scissors-Type Haptic Device Using Magnetorheological Fluid Containing Iron Nanoparticles

Waga, Mioto; Aita, Yuuki; Noma, Junichi; Kikuchi, Takehito; Nonomura, Yoshimune

doi:10.3390/technologies7010026

Volume 7, Issue 1

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Scissors-Type Haptic Device Using Magnetorheological Fluid Containing Iron Nanoparticles

Mioto Waga¹, Yuuki Aita¹, Junichi Noma², Takehito Kikuchi³ and Yoshimune Nonomura^1,*

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; https://doi.org/10.3390/technologies7010026

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))

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Abstract

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

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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.