Force Feedback Based on Magnetorheological Fluid

摘要

Surgical robots stand out from medical surgery with the advantages of precise surgery and small incision, but it is difficult for doctors to perform precise control operations on the surgical site only through vision and hearing. Therefore, the application of force feedback in medical operation has become the focus of research in recent years. At present, the problem of force feedback is that the force in the changing collection is not accurate enough. The output of the force feedback structure is unstable and the volume is too large. This paper discusses the feasibility of using magnetorheological fluid (MRF) to realize force feedback, and designs the device structure of force feedback. A solution is proposed for the precise collection of mechanical arm force, and the mean algorithm is used to realize the de-jittered process and improve the collection precision. The performance is improved by more than four times, and the simulation is performed to verify the feasibility.