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Design and Experimental Verification of a 3-DOF Spherical Electromagnetic Brake for Haptic Interface

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  • Robot and Applications
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Electromagnetic brake is an efficient device that provides damping to stop the undesired motion of the manipulator. A spherical design of electromagnetic brake is presented with a simple and compact alternative for haptic application. The model exploits coulomb friction to generate fully controllable braking in 3-DOF rotational motion. For miniaturized applications, the design can provide significant torques while rejecting unwanted heat generated in the actuator. In this paper, the analytical models of magnetic force and friction moment are derived, and the brake design is optimized for maximizing the force to input power ratio. The spherical electromagnetic brake is applied for haptic interface and its performance is justified by the experimental results in the virtual reality environment.

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Correspondence to Byung-Ju Yi.

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Recommended by Associate Editor Ning Sun under the direction of Editor Doo Yong Lee. This work was supported by the Technology Innovation Program (or Industrial Strategic Technology Development Program-Artificial intelligence bio-robot medical convergence project) (20001257, Artificial intelligence algorithm based vascular intervention robot system for reducing radiation exposure and achieving 0.5 mm accuracy) funded by the Ministry of Trade, Industry & Energy(MOTIE, Korea), the Ministry of Health & Welfare(MOHW), Ministry of Science and ICT(MSIT), Korea Evaluation Institute of Industrial Technology (KEIT), the Technology Innovation Program(10052980, Development of micro-robotic system for surgical treatment of chronic total occlusion) funded By the Ministry of Trade, Industry & Energy(MI, Korea) and supported by WC300 R&D Program(S2482672) funded by the Small and Medium Business Administration(SMBA, KOREA).

Hashim Iqbal received his B.Sc. degree in mechatronics & control engineering from the University of Engineering & Technology Lahore, Pakistan, and his M.S. degree in mechanical engineering from Korea Advanced Institute of Science & Technology, South Korea, in 2007 and 2011, respectively. He is currently working towards a Ph.D. degree in mechatronics engineering with the Hanyang University, South Korea. He has been an Assistant Professor in the Department of Mechatronics Engineering at University of Engineering & Technology Faisalabad Campus, Pakistan. His research interests include haptic devices, medical robotics and tele-manipulation systems.

Byung-Ju Yi received his B.S. degree from Hanyang University, Seoul, Korea, in 1984, and his M.S. and Ph.D. degrees from The University of Texas at Austin (UT), TX, USA, in 1986 and 1991, respectively, in mechanical engineering. He served as a Postdoctoral Fellow in the Robotics Group at UT and worked for the Department of Mechanical and Control Engineering, Korea Institute of Technology and Education, Chungnam, Korea. Since 1995, he has been a Professor at the Department of Electronic Systems Engineering, Hanyang University, Ansan, Korea. His research interests include robot mechanics with application to surgical robotic systems, and robotic hand with application to object recognition, grasping, and manipulation.

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Iqbal, H., Yi, BJ. Design and Experimental Verification of a 3-DOF Spherical Electromagnetic Brake for Haptic Interface. Int. J. Control Autom. Syst. 18, 1299–1309 (2020).

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