A novel 2-DOF haptic master device using bi-directional magneto-rheological brakes: modelling and experimental investigation

In this study, configuration and modelling of haptic master device for minimally invasive surgery (MIS) using bi-directional magneto-rheological (BMR) brakes are proposed. This haptic device consists of two bi-directional magneto-rheological (BMR) brakes incorporated with a gimbal mechanism for realising a 2-DOF rotational motion. The total torque induced from the BMR brakes of the haptic device is computed based on Bingham model. A prototype for the design is then manufactured and several experiments on this prototype are undertaken to investigate the ability of compensating the undesired torque as well as sensing in hard and soft environments.