Scissors-Type Haptic Device Using Magnetorheological Fluid Containing Iron Nanoparticles
Round 1
Reviewer 1 Report
Section 2.1: What type of carrier fluid have you used for the MR fluid?
Section 3.1: You are using the voltage and unit of voltage (mV) when talking about the torque. You need to rewrite these paragraphs to eliminate any confusions for the readers. Also modify the abstract.
You defined three parts for toque: 0.007 ± 0.000–0.016 ± 0.000 N m. Which one is torque and which one is standard deviation? You need to explain each part separately.
Figure 1a and 1b: Please add the length scale to the picture and schematic.
Figure 1c: Are you using AC voltage? If so, please explain why you are using AC voltage instead of DC voltage to generate the magnetic field. If not, please remove the AC voltage sign. Also, you need to add arrows to show the direction of voltage/power/signals.
Equation 1: You need to rewrite the equation. You should put (R2=0.9955) in parentheses; otherwise, the reader may misunderstand it with T=0.9955 for all values of V.
Author Response
Point 1: Section 2.1: What type of carrier fluid have you used for the MR fluid?
Response 1: The iron nanoparticles are dispersed in silicone oil (in page 2 line 67–69).
Point 2: Section 3.1: You are using the voltage and unit of voltage (mV) when talking about the torque. You need to rewrite these paragraphs to eliminate any confusions for the readers. Also modify the abstract. You defined three parts for toque: 0.007 ± 0.000–0.016 ± 0.000 N m. Which one is torque and which one is standard deviation? You need to explain each part separately.
Response 2: In the revised paper, we changed “the torque showed a linear response in the range of 150–500 mV (0.007 ± 0.000–0.016 ± 0.000 N m)” to “When the magnetic field around the MR fluid was controlled by an electric voltage of 150–500 mV, the torque linearly increases from 0.007 ± 0.000 to 0.016 ± 0.000 N m” in page 1 line 18–20.
Also, we changed “There is no obvious change in the range of 0–140 mV. The torque increases linearly in the range of 150–500 mV” to “Torque remains almost unchanged when the applied voltage is within 0–140 mV: the torque is 0.006 ± 0.000 N m (torque ± standard deviation). The torque increases linearly from 0.007 ± 0.000 to 0.016 ± 0.000 N m when the applied voltage is within 150–500 mV.” in page 4 line 119–122.
Point 3: Figure 1a and 1b: Please add the length scale to the picture and schematic.
Response 3: In the revised paper, we added the length scale to the figure 1 (page 2). Since the size of the parts in the schematic is not exactly the same as the actual equipment, no scale was added.
Point 4: Figure 1c: Are you using AC voltage? If so, please explain why you are using AC voltage instead of DC voltage to generate the magnetic field. If not, please remove the AC voltage sign. Also, you need to add arrows to show the direction of voltage/power/signals.
Response 4: In the previous version, the AC voltage sign indicates a power source of amplifier and does not take part in generation of magnetic field. In the revised paper, we eliminated figure 1c to avoid confusions (page 2). As described in page 2 line 70–72, the coil voltage was controlled using a function generator (AFG3152C, Tektronix Inc., Tokyo, Japan) and monitored using an oscilloscope (DCS-9710, TEXIO Technology Co. Ltd, Kanagawa, Japan).
Point 5: Equation 1: You need to rewrite the equation. You should put (R2=0.9955) in parentheses; otherwise, the reader may misunderstand it with T=0.9955 for all values of V.
Response 5: In the revised paper, we put “R2=0.9955” in parentheses (equation (1) in page 4).
Reviewer 2 Report
Dear Authors,
Thanks for your effort on this work. It is really good work. However, you need to do some English language changes. Interesting work!!
Regards,
Author Response
Point 1: Thanks for your effort on this work. It is really good work. However, you need to do some English language changes. Interesting work!!
Response 1: The revised manuscript has been checked by two native English speakers to improve some descriptions. The major modifications are as follows: “Combination of a tactile display with a remote control or medical simulation systems contributes to the improvement of mechanical ability and usefulness of these systems.” was changed to “The mechanical ability and usefulness of simulation systems can be improved by combining a tactile display with a remote control or medical simulation systems” (in page 1 line 14–15).
“For these iron nanoparticles, silane treatment is employed to form hydrophobic layer.” was changed to “These iron nanoparticles are treated using a silane coupling agent to form hydrophobic layer on their surfaces and dispersed in silicone oil.” (in page 2 line 67–69).
“Using this system, we analyzed the amplitude and the response speed of the torque to evaluate the tactile display performance. In the second method, we used a mechanical evaluation system which can accurately measure the force and movement during the grasping/cutting process. We evaluated the force and movement when a subject operates the scissors-type device.” was changed to “This method was used to analyze the amplitude and response speed of the torque for determining the tactile display performance. In the second method, a mechanical evaluation system was used to accurately measure force and movement of the device during grasping/cutting when a subject operates the scissors-type device” (page 2 line 55–59).
“There is no obvious change in the range of 0–140 mV. The torque increases linearly in the range of 150–500 mV” was changed to “Torque remains almost unchanged when the applied voltage is within 0–140 mV: the torque is 0.006 ± 0.000 N m (torque ± standard deviation). The torque increases linearly from 0.007 ± 0.000 to 0.016 ± 0.000 N m when the applied voltage is within 150–500 mV” (page 4 line 119–122).
