Torque tracking control of a haptic master featuring controllable magnetorheological fluid
Control, Automation and Systems（2014）
关键词
actuators,clutches,gears,haptic interfaces,magnetorheology,medical robotics,non-newtonian fluids,surgery,torque control,4-00f haptic master,4-degrees-of-freedom haptic master,bingham model,mr actuators,mr bi-directional clutch,mr clutch,mr fluid,mr haptic master,rmis,bevel gear system,bi-directional repulsive torque,haptic device,haptic interface,kinesthetic,kinetic information,magnetorheological fluid,planetary gear system,robot-assisted minimally invasive surgery,torque tracking control,haptic master,haptic rendering,robot-assisted minimally invasive surgery (rmis),virtual environment
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