ACTIVE LINER DRIVING HAPTIC APPARATUS USING SMA ACTUATOR

摘要

PURPOSE: An active linear haptic device with a shape memory alloy actuator is provided to effectively control the reaction force to translational force by being inserted into a MIS(Minimally Invasive Surgery) master robot system. CONSTITUTION: An active linear haptic device with a shape memory alloy actuator comprises a rod(4), a force sensor(3), first and second housing, first and second springs, and a control unit(9). The force sensor is formed on the rod, and outputs a sensing signal corresponding to users' power. The first housing wraps the rod, and second housing is formed in the first housing. The first and second springs are coupled in the first housing, and repetitively relaxed and contracted. The shape memory alloy actuator generates a reaction to the relaxation and contraction of the first and second springs. The control unit outputs the signal for controlling the relaxation and contraction of the springs by receiving the sensing signal.