Tribological Perception of magneto-rheological Fluid for Haptic Display

초록

Haptic perception takes a very integral part of teleoperation in medical surgery. It enables the surgeon to feel the organic tissue compliance, tissue properties, and the size of tumor during teleoperation. The realistic perception allows the surgeon to control the appropriate action force for the safe tissue or tumor manipulations. In this research, tribological perception in medical haptic interface is investigated to characterize the feeling of contact between the finger skin and the organic tissue when a finger is dragged over tissue. In order to represent the tribological perception, a prototype tactile display incorporating Magneto-Rheological (MR) fluid has been developed. In order to investigate the compliance feeling of human finger’s touch, surface force responses of the tactile display under the various magnetic fields have been assessed while a probe moves down to the surface. Also, friction force responses of the tactile display are investigated to simulate the action of finger’s dragging. Moreover, surface profile changes are also examined under the different magnetic filed strengths. From the results, different tribological perceptions are observed as the applied magnetic field is varied. This research provides a smart technology of tactile displaying with the minimum mechanical components.