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Kinematic Model and Performance Test of Haptic MR Fluid Device for Teleoperation Endoscopic Surgery System

We have developed the haptic MR ﬂuid device for teleoperation endoscopic surgery systems to provide high-ﬁdelity haptic feedback. We proposed an original mechanism that performs pivot motions and insertions of the forceps. This device used two sets of the MR ﬂuid actuator for rolling and pitching rotation and two MR ﬂuid brakes for insertion and grasping. In addition, the kinematic model and results of performance tests are described. According to the step response tests with an open-loop control method for the reaction force on the gripper, though the static force has at most 0.1 N error, it was remarkably stable.