@inproceedings{BoeseMonkmanFreimuthetal., author = {B{\"o}se, Holger and Monkman, Gareth J. and Freimuth, Herbert and Tunayar, A. and Ermert, Helmut and Khaled, W. and Baumann, Michael and Egersd{\"o}rfer, Stefan}, title = {A new ER fluid based haptic actuator system for virtual reality}, series = {Proceedings of the Ninth International Conference Electrorheological Fluids and Magnetorheological Suspensions (ERMR 2004) : Beijing, China, 29 August - 3 September 2004}, booktitle = {Proceedings of the Ninth International Conference Electrorheological Fluids and Magnetorheological Suspensions (ERMR 2004) : Beijing, China, 29 August - 3 September 2004}, publisher = {World Scientific}, address = {Singapore}, pages = {889 -- 895}, language = {en} } @inproceedings{TunayarKleinFreimuthetal., author = {Tunayar, A. and Klein, Dagmar and Freimuth, Herbert and B{\"o}se, Holger and Baumann, Michael and Monkman, Gareth J. and Egersd{\"o}rfer, Stefan and Ermert, Helmut and Khaled, W.}, title = {A tactile array based on electrorheological fluids}, series = {Actuator 2004 : 9th International Conference on New Actuators \& 3rd International Exhibition on Smart Actuators and Drive Systems, 14-16 June 2004, Bremen, Germany}, booktitle = {Actuator 2004 : 9th International Conference on New Actuators \& 3rd International Exhibition on Smart Actuators and Drive Systems, 14-16 June 2004, Bremen, Germany}, publisher = {HVG Hanseatische Veranstaltungs-GmbH}, address = {Bremen}, pages = {601 -- 604}, language = {en} } @inproceedings{BoeseErmertTunayaretal., author = {B{\"o}se, Holger and Ermert, Helmut and Tunayar, A. and Monkman, Gareth J. and Baumann, Michael and Kahled, W. and Reichling, S. and Bruhns, Otto T. and Freimuth, Herbert and Egersd{\"o}rfer, Stefan}, title = {A novel haptic sensor-actuator system for virtual reality}, series = {Eurohaptics 2004, Munich, Germany, June 5 - 7, 2004 Proceedings of the 4th International Conference EuroHaptics 2004 ; June 5 - 7, 2004, M{\"u}nchen, Germany}, booktitle = {Eurohaptics 2004, Munich, Germany, June 5 - 7, 2004 Proceedings of the 4th International Conference EuroHaptics 2004 ; June 5 - 7, 2004, M{\"u}nchen, Germany}, publisher = {Inst. of Automatic Control Engineering}, address = {M{\"u}nchen}, isbn = {3-9809614-0-0}, language = {en} } @inproceedings{BoeseErmertTunayaretal., author = {B{\"o}se, Holger and Ermert, Helmut and Tunayar, A. and Monkman, Gareth J. and Baumann, Michael and Kahled, W. and Reichling, S. and Bruhns, Otto T. and Freimuth, Herbert and Egersd{\"o}rfer, Stefan}, title = {A Novel Haptic Sensor-Actuator System for Applications in Virtual Reality}, series = {BMBF-Tagung, Leipzig 19.10 February 2004}, booktitle = {BMBF-Tagung, Leipzig 19.10 February 2004}, language = {en} } @inproceedings{BoeseMonkmanFreimuthetal., author = {B{\"o}se, Holger and Monkman, Gareth J. and Freimuth, Herbert and Klein, Dagmar and Ermert, Helmut and Baumann, Michael and Egersd{\"o}rfer, Stefan and Bruhns, Otto T.}, title = {ER Fluid Based Haptic System for Virtual Reality}, series = {Actuator 2002 : 8th International Conference on New Actuators \& 2nd International Exhibition on Smart Actuators and Drive Systems ; Bremen, Germany, 10 - 12 June 2002}, booktitle = {Actuator 2002 : 8th International Conference on New Actuators \& 2nd International Exhibition on Smart Actuators and Drive Systems ; Bremen, Germany, 10 - 12 June 2002}, edition = {CD-ROM}, pages = {351 -- 354}, language = {en} } @inproceedings{KhaledBruhnsReichlingetal., author = {Khaled, W. and Bruhns, Otto T. and Reichling, S. and B{\"o}se, Holger and Baumann, Michael and Monkman, Gareth J. and Egersd{\"o}rfer, Stefan and Meier, Alexander and Klein, Dagmar and Freimuth, Herbert and Ermert, Helmut}, title = {A haptic system for virtual reality applications based on ultrasound elastography and electrorheological fluids}, series = {Acoustical Imaging (ACIM)}, volume = {27}, booktitle = {Acoustical Imaging (ACIM)}, publisher = {Springer}, address = {Dordrecht}, isbn = {978-90-481-6652-7}, issn = {0270-5117}, doi = {10.1007/978-1-4020-2402-3_85}, pages = {667 -- 674}, abstract = {Mechanical properties of biological tissue represent important diagnostic information and are of histological and pathological relevance. Malignant tumors are significantly stiffer and more immobile than surrounding healthy tissue. Hard calcifications in vessels occur due to arteriosclerosis. The problem is, that such information is usually not available or can only be obtained by manual palpation, which is subjective and limited in sensitivity. It requires intuitive assessment and does not allow quantitative documentation. Unfortunately, none of the established medical imaging equipment such as magnetic resonance imaging (MRI) or X-ray computed tomography (CT) can provide direct measure of tissue elasticity. On the one hand a suitable sensor is required for quantitative measurement of mechanical tissue properties. On the other hand there is also some need for a realistic haptic display of such tissue properties. Suitable actuator arrays with high spatial resolution acting in real time are required. A haptic sensor actuator system is presented in this paper including a sensitive sensor part and an actuator array for different applications. The mechanical consistency of an object is to be locally specified using a sensor system and represented perceptibly in a remote position on an actuator system for the user. The sensor system uses ultrasound (US) elastography, whereas the actuator array is based on electrorheological (ER) fluids.}, language = {en} } @inproceedings{KhaledBruhnsReichlingetal., author = {Khaled, W. and Bruhns, Otto T. and Reichling, S. and B{\"o}se, Holger and Baumann, Michael and Monkman, Gareth J. and Egersd{\"o}rfer, Stefan and Meier, Alexander and Klein, Dagmar and Freimuth, Herbert and Ermert, Helmut}, title = {A haptic sensor-actuator-system based on ultrasound elastography and electrorheological fluids for virtual reality applications in medicine}, series = {CARS 2003 : computer assisted radiology and surgery ; proceedings of the 17th International Congress and Exhibition London, June 25 - 28, 2003}, booktitle = {CARS 2003 : computer assisted radiology and surgery ; proceedings of the 17th International Congress and Exhibition London, June 25 - 28, 2003}, publisher = {Elsevier}, address = {Amsterdam}, pages = {1354}, abstract = {Mechanical properties of biological tissue represent important diagnostic information and are of histological relevance (hard lesions, "nodes" in organs: tumors; calcifications in vessels: arteriosclerosis). The problem is, that such information is usually obtained by digital palpation only, which is limited with respect to sensitivity. It requires intuitive assessment and does not allow quantitative documentation. A suitable sensor is required for quantitative detection of mechanical tissue properties. On the other hand, there is also some need for a realistic mechanical display of those tissue properties. Suitable actuator arrays with high spatial resolution and real-time capabilities are required operating in a haptic sensor actuator system with different applications. The sensor system uses real time ultrasonic elastography whereas the tactile actuator is based on electrorheological fluids. Due to their small size the actuator array elements have to be manufactured by micro-mechanical production methods. In order to supply the actuator elements with individual high voltages a sophisticated switching and control concept have been designed. This haptic system has the potential of inducing real time substantial forces, using a compact lightweight mechanism which can be applied to numerous areas including intraoperative navigation, telemedicine, teaching, space and telecommunication.}, language = {en} } @inproceedings{KhaledReichlingBruhnsetal., author = {Khaled, W. and Reichling, S. and Bruhns, Otto T. and Monkman, Gareth J. and Egersd{\"o}rfer, Stefan and Baumann, Michael and B{\"o}se, Holger and Klein, Dagmar and Freimuth, Herbert and Tunayar, A. and Lorenz, A. and Pessavento, A. and Ermert, Helmut}, title = {Palpation imaging using a haptic system for virtual reality applications in medicine}, series = {Perspective in image-guided surgery : proceedings of the Scientific Workshop on Medical Robotics, Navigation, and Visualization : RheinAhrCampus Remagen, Germany, 11-12 March}, booktitle = {Perspective in image-guided surgery : proceedings of the Scientific Workshop on Medical Robotics, Navigation, and Visualization : RheinAhrCampus Remagen, Germany, 11-12 March}, publisher = {World Scientific Publ.}, address = {Singapore}, pages = {407 -- 414}, language = {en} } @inproceedings{KhaledReichlingBruhnsetal., author = {Khaled, W. and Reichling, S. and Bruhns, Otto T. and Monkman, Gareth J. and Egersd{\"o}rfer, Stefan and Baumann, Michael and B{\"o}se, Holger and Klein, Dagmar and Freimuth, Herbert and Tunayar, A. and Lorenz, A. and Pessavento, A. and Ermert, Helmut}, title = {Palpation Imaging using a Haptic System for Virtual Reality Applications in Medicine}, series = {Proceedings of the 12th Annual Medicine Meets Virtual Reality Conference: - Building a Better You: The Next Tools for Medical Education, Diagnosis, and Care. - Medicine Meets Virtual Reality (MMVR) - Newport Beach (California, USA). 2004}, booktitle = {Proceedings of the 12th Annual Medicine Meets Virtual Reality Conference: - Building a Better You: The Next Tools for Medical Education, Diagnosis, and Care. - Medicine Meets Virtual Reality (MMVR) - Newport Beach (California, USA). 2004}, language = {en} } @inproceedings{KhaledBruhnsReichlingetal., author = {Khaled, W. and Bruhns, Otto T. and Reichling, S. and B{\"o}se, Holger and Baumann, Michael and Monkman, Gareth J. and Egersd{\"o}rfer, Stefan and Meier, Alexander and Freimuth, Herbert and Tunayar, A. and Ermert, Helmut}, title = {A New Haptic Sensor Actuator System for Virtual Reality Applications in Medicine}, series = {Medical Image Computing and Computer-Assisted Intervention - MICCAI 2003: 6th International Conference, Montr{\´e}al, Canada, November 15-18, 2003, Proceedings}, booktitle = {Medical Image Computing and Computer-Assisted Intervention - MICCAI 2003: 6th International Conference, Montr{\´e}al, Canada, November 15-18, 2003, Proceedings}, publisher = {Springer}, isbn = {978-3540204626}, pages = {132 -- 140}, language = {en} } @inproceedings{KhaledReichlingBruhnsetal., author = {Khaled, W. and Reichling, S. and Bruhns, Otto T. and Ermert, Helmut and Monkman, Gareth J. and Egersd{\"o}rfer, Stefan and Baumann, Michael and B{\"o}se, Holger and Freimuth, Herbert and Tunayar, A.}, title = {Palpation imaging using a haptic sensor actuator system for medical applications}, series = {Actuator 2004 : 9th International Conference on New Actuators \& 3rd International Exhibition on Smart Actuators and Drive Systems, 14-16 June 2004, Bremen, Germany}, booktitle = {Actuator 2004 : 9th International Conference on New Actuators \& 3rd International Exhibition on Smart Actuators and Drive Systems, 14-16 June 2004, Bremen, Germany}, publisher = {HVG Hanseatische Veranstaltungs-GmbH}, address = {Bremen}, pages = {379 -- 382}, language = {en} } @inproceedings{DiermeierSindersbergerMonkman, author = {Diermeier, Andreas and Sindersberger, Dirk and Monkman, Gareth J.}, title = {Magneto-Active Polymer Actuator}, series = {Actuator 16 : 15th International Conference on New Actuators \& 9th International Exhibition on Smart Actuators and Drive Systems : conference proceedings}, booktitle = {Actuator 16 : 15th International Conference on New Actuators \& 9th International Exhibition on Smart Actuators and Drive Systems : conference proceedings}, publisher = {WFB}, address = {Bremen}, isbn = {978-3-933339-26-3}, pages = {286 -- 289}, abstract = {Magneto-active Polymers (MAP) are closely related to magneto-rheological fluids in that they contain magnetic micro-particles. However, instead of being freely suspended in a carrier fluid they are physically bound within a highly elastic polymer-matrix. The application of an external magnetic field allows changes in the mechanical properties, such as elastic and shear moduli, of the composite material to be achieved. The colossal magneto-rheological effect has been shown to demonstrate changes in Young's modulus by over 1E6 \%. Current research concentrates on controllable compliance and the resulting shape memory properties of MAP. This paper deals with recent advancements in this respect, including tubular magneto-active devices with potential applications in medical and other technology.}, language = {en} } @inproceedings{SeflProchazkaHalleretal., author = {Sefl, Ondrej and Prochazka, Radek and Haller, Rainer and Monkman, Gareth J.}, title = {Alternative Approach to Optical Detection of Partial Discharges in Air}, series = {2021 IEEE Conference on Electrical Insulation and Dielectric Phenomena (CEIDP): 12-15 Dec. 2021, Vancouver, BC, Canada}, booktitle = {2021 IEEE Conference on Electrical Insulation and Dielectric Phenomena (CEIDP): 12-15 Dec. 2021, Vancouver, BC, Canada}, publisher = {IEEE}, isbn = {978-1-6654-1907-9}, issn = {2576-2397}, doi = {10.1109/CEIDP50766.2021.9705350}, pages = {324 -- 327}, abstract = {This article compares the standard electrical method of partial discharge detection with a novel optical detection method based on silicon photomultipliers. A third, complementary, single-loop antenna method is added to represent the ultra-high frequency method commonly used in gas-insulated switchgear/lines. A trio of air-insulated electrode designs that simulate the fundamental fault/discharge types in gaseous insulation (protrusion - corona discharge, floating conductive particle, surface discharges) are employed. Phase-resolved partial discharge activity patterns are compiled for each electrode design. The patterns are analyzed using spatial statistics and the interpretation of the obtained data trends explained by means of an example. Ultimately, the consistency and reliability of discharge detection by the optical methods for each fault/discharge type are evaluated, and suggestions for improvement are made.}, language = {en} } @inproceedings{SindersbergerPremMonkmanetal.2021, author = {Sindersberger, Dirk and Prem, Nina and Monkman, Gareth J. and Zimmermann, Klaus}, title = {Self-Sensing Electroadhesive Polymer Gripper with Magnetically Controllable Surface Geometry}, series = {Actuator 2021, International Conference and Exhibition on New Actuator Systems and Applications: GMM conference, February 17-19, 2021, online event}, booktitle = {Actuator 2021, International Conference and Exhibition on New Actuator Systems and Applications: GMM conference, February 17-19, 2021, online event}, editor = {Schlaak, Helmut}, publisher = {VDE VERLAG}, address = {Berlin; Offenbach}, isbn = {9783800754540}, doi = {10.1002/macp.201800222}, pages = {318 -- 320}, year = {2021}, abstract = {Compared to conventional end effectors, electro-adhesive grippers enable the handling of sensitive, soft or air-permeable materials [1]. The prehension force is based on a strong electric field generated by electrodes resulting in a polarisation of the dielectric and the generation of mirror charges in the workpiece. When the electrode supply voltage is deactivated, the electric field drops,but an electrostatic field remains due to remanent polarisation of the dielectric. The residual charge on the gripper surface reduces only slowly and in combination with other influencing factors can prevent the workpieces from being ejected temporarily or completely. In this work a solution to this problem is presented by means of gripper surface deforming caused by the applicat ion of a magnetic field to a magneto- active polymer (MAP) actuator. The in-creased distance between the workpiece and the dielectric enables precise and controlled ejection. In addition to compliance and deformability, the employment of soft smart materials enables the integration of self-sens-ing mechanisms for the measurement of surface deformation. The embedding of electrically conductive flexible electrodes within the soft silicone dielectric sup port such movements and serves as the n ecessary electrodes for electroadhesion. Since the implementation of the end effectoris based entirely on soft materials, the self-sensing magnetically controllable electroadhesive gripper (SMEG) can be produced in a shape deposition manufacturing (SDM) process [2], [3] and is highly applicable to the field of soft robotics.}, language = {de} }