title: Design and development of magnetorheological fluid-based passive actuator.
abstract: We present the design and experimental validation of a magnetorheological (MR) fluid-based passive actuator for tele-robotic bone biopsy procedures. With Finite Element Method Magnet (FEMM) software, the required uniform magnetic field circuit design was simulated. An 1100 turn 24 AWG copper wire coil wrapped around a magnetic core was used to create a magnetic field. The field strength was measured with a Hall effect sensor, and compared to the simulation. The maximum magnetic field flux produced by a constant current of 1.4 A was 0.2 T, similar to the simulation results. A series of quasi-static experiments were conducted to characterize the forces generated by the MR fluid-based actuator under various currents up to 12 N. An analytical model was developed to validate the measurements from the passive actuator.
authors.forename: Elnaz
authors.initials: E
authors.lastname: Shokrollahi
authors.forename: Karl
authors.initials: K
authors.lastname: Price
authors.forename: James M
authors.initials: JM
authors.lastname: Drake
authors.forename: Andrew A
authors.initials: AA
authors.lastname: Goldenberg
mesh_terms: D001706:Biopsy / Q000295:instrumentation* / Q000379:methods*; D001842:Bone and Bones; D004867:Equipment Design; D020342:Finite Element Analysis; D006801:Humans; D060526:Magnetic Fields; D008962:Models, Theoretical; D015203:Reproducibility of Results; D012212:Rheology / Q000295:instrumentation / Q000379:methods; D012371:Robotics / Q000295:instrumentation / Q000379:methods