Torque Measurement of 3-DOF Haptic Master Operated by Controllable Electrorheological Fluid
Abstract This work presents a torque measurement method of 3-degree-of-freedom (3-DOF) haptic master featuring controllable electrorheological (ER) fluid. In order to reflect the sense of an organ for a surgeon, the ER haptic master which can generate the repulsive torque of an organ is utilized as a remote controller for a surgery robot. Since accurate representation of organ feeling is essential for the success of the robot-assisted surgery, it is indispensable to develop a proper torque measurement method of 3-DOF ER haptic master. After describing the structural configuration of the haptic master, the torque models of ER spherical joint are mathematically derived based on the Bingham model of ER fluid. A new type of haptic device which has pitching, rolling, and yawing motions is then designed and manufactured using a spherical joint mechanism. Subsequently, the field-dependent parameters of the Bingham model are identified and generating repulsive torque according to applied electric field is measured. In addition, in order to verify the effectiveness of the proposed torque model, a comparative work between simulated and measured torques is undertaken.
Development of Quasi-3DOF upper limb rehabilitation system using ER brake: PLEMO-P1
In recent years, many researchers have studied the potential of using robotics technology to assist and quantify the motor functions for neuron-rehabilitation. Some kinds of haptic devices have been developed and evaluated its efficiency with clinical tests, for example, upper limb training for patients with spasticity after stroke. However, almost all the devices are active-type (motor-driven) haptic devices and they basically require high-cost safety system compared to passive-type (brake-based) devices. In this study, we developed a new practical haptic device 'PLEMO-P1'; this system adopted ER brakes as its force generators. In this paper, the mechanism of PLEMO-P1 and its software for a reaching rehabilitation are described.
Characterization of ceramic composite membrane filters for hot gas cleaning
Abstract Novel composite ceramic membrane filters suitable for hot gas cleaning operations have been prepared from fly ash and titania particles on stainless steel woven mesh substrates. Both membranes had a structure like a solid packed bed with a thickness of less than 100 μm. In the domain of laminar flow, significant differences in the pressure drop between experimental results and those predicted from the Kozeny-Carman relationship were found, particularly for flow through the titania membrane. Membrane filters with extremely small pores such as the titania membrane are greatly affected by slip up to 80% in permeability at elevated temperatures. Efficiencies of filtration of typical coal fired power station exhaust fly ashes were found to be greater than 909% for both titania and ash membranes, whilst there was greater variation in the pressure drops in the ash membrane than in the titania at typical gas flows.