We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
Development of Novel Hydraulic 3D Printed Actuator Using Electrorheological Fluid for Robotic Endoscopy.
- Authors
Sadi, Fabian; Holthausen, Jan; Stallkamp, Jan; Siegfarth, Marius
- Abstract
Endoscopy has made a significant and noteworthy contribution to the field of medical science and technology. Nevertheless, its potential remains constrained due to the limited availability of rigid or flexible endoscopes. This paper introduces a novel hydraulic actuator based on electrorheological fluid (ERF) as a pivotal advancement in bridging the existing gap within the realm of endoscopy. Following a comprehensive introduction that briefly outlines the electrorheological effect, the subsequent section is dedicated to the elucidation of the actuator's development process. Challenges arise, particularly in terms of miniaturization and the realization of a hydraulically sealed system with integrated valve electrodes. An internal electrorheological valve system consisting of four valves that are controlled using a pulse-width modulated high voltage was suitable for position control of the antagonistic hydraulic actuators. High-precision stereolithography (SLA) printing has proven practical for manufacturing actuator components. For functional testing, a test bench was set up in which the actuator follows a setpoint through a PI control loop. The control deviation ranged from 0.6 to 1 degree, with a response time between 6 and 8 s. The experiments have demonstrated that through the use of ERF and integrated valve electrodes, a miniaturized functional actuator can be constructed.
- Subjects
ELECTRORHEOLOGICAL fluids; ACTUATORS; ROBOTICS; HYDRAULIC control systems; MEDICAL sciences
- Publication
Actuators, 2024, Vol 13, Issue 4, p119
- ISSN
2076-0825
- Publication type
Article
- DOI
10.3390/act13040119