Скачать или смотреть Performance Evaluation of a Magneto-Rheological Based Haptic Device

This video shows a few experiments performed on a novel 2-DOF haptic interface designed based on Magneto-Rheological Fluid Based Actuation system. The performance of the device is evaluated and compared with those of Phantom Omni and Quanser Haptic Wand. Virtual Wall experiment is first performed and Z-Widths of the systems are derived. Also, test in a bilateral teleoperated needle insertion and tissue palpation setup is also performed.

Nima Najmaei is the main researcher behind this project responsible for design, construction, and evaluation of the proposed device.

Nima Najmaei's Website: http://www.nimanajmaei.com
Email Address: nima (dot) najmaei [at] gmail (dot) com

For more information refer to our publications:
http://www.nimanajmaei.com/haptics-pr...
Najmaei N., Yadmellat P., Kermani M.R., Patel R.V., Application of Magneto-Rheological Fluid Based Clutches for Improved Performance in Haptic Interfaces, IEEE International Conference on Robotics and Automation (ICRA14), Hong Kong, June 1-4, 2014.
Najmaei N., Kermani M.R., Patel R.V., Suitability of Small-Scale Magneto-Rheological Fluid Based Clutches in Haptic Interfaces for Improved Performance, IEEE/ASME Transactions on Mechatronics (T-MECH), in Press, 2014.
Najmaei N., Asadian A., Kermani M.R., Patel R.V., Magneto-Rheological Actuators for Haptic Devices: Design, Modeling, Control, and Validation of a Prototype Clutch, Submitted to IEEE International Conference on Robotics and Automation (ICRA15), Seattle WA, May 26-30, 2015.
Najmaei N., Asadian A., Kermani M.R., Patel R.V., Design and Evaluation of a Prototype Two-DOF Haptic Interface for Medical Applications based on Magneto-Rheological Actuation, Submitted to IEEE International Conference on Robotics and Automation (ICRA15), Seattle WA, May 26-30, 2015.
Najmaei N., Asadian A., Kermani M.R., Patel R.V., Design of a Haptic Interface for Medical Applications using MRF-based Actuators, Submitted to IEEE/ASME Transactions on Mechatronics (T-Mech), 2014.

Credits:
Dr. Rajni V. Patel (Joint Supervisor; PI for Haptic Interface Project)
Dr. Mehrdad R. Kermani (Joint Supervisor)
Dr. Ali Asadian (Assistance in Integration with Needle-Insertion Setup)
Dr. Peyman Yadmellat (Assistance in Experiments with 1-DOF MR Setup)
Alex Shafer, M.E.Sc. (Designer of 1-DOF MR Clutch Setup)
Dr. Mahdi Azizian (Assistance in Development of the Initial Idea)
Dr. Harman Bassan (Designer of the Needle-Insertion Robot)
Christopher Ward (3D Printing of Parts)
Abelardo Escoto (3D Printing and Machining of Parts)
Dan Sweiger (UMS) (Machining of Parts)
Dr. Michael Naish (Donation of MRF)
CSTAR Team (Dr. Patel’s Group)
pHRI Team (Dr. Kermani’s Group)