A tactile sensor utilizing magnetorheoparlogical fluid immersed sponges

초록

In this research, three different magnetorheological (MR) fluids are used to fabricate a tactile sensor which can be applicable to robot-assisted minimally invasive surgery (RMIS). As a first step, MR sponge cell is prepared by flowing the fluids into the pores of the sponge. Secondly, MR sponge cell is wrapped to avoid the leakage and also provide an appropriate softness. Then, the field-dependent compressive force of MR sponge cell is experimentally measured using a tension and compression testing machine. In addition, in order to validate the generation of the desired tactile force from the proposed MR sponge cell, the force tracking control is performed within the force range required for the RMIS operation © Proceedings of the 26th International Congress on Sound and Vibration, ICSV 2019. All rights reserved.

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