Virtual needle insertion with haptic feedback using a hybrid actuator with DC servomotor and MR-brake with Hall-effect sensor
B Gonenc, H Gurocak - Mechatronics, 2012 - Elsevier
In many haptics applications, fast and stable force response with high strength is highly
desired. While the existing active and passive actuators cannot fully satisfy these
requirements alone, their cooperation could provide better results. This study aimed at the
development of a hybrid actuator by combining a DC servomotor and a magnetorheological
(MR) brake. Serpentine flux path architecture was used to design a compact MR-brake. By
embedding a Hall-effect sensor in the brake, the hysteresis challenges and residual off-state …
desired. While the existing active and passive actuators cannot fully satisfy these
requirements alone, their cooperation could provide better results. This study aimed at the
development of a hybrid actuator by combining a DC servomotor and a magnetorheological
(MR) brake. Serpentine flux path architecture was used to design a compact MR-brake. By
embedding a Hall-effect sensor in the brake, the hysteresis challenges and residual off-state …
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