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Current techniques of stress measurement to assess comfort for prosthetic limbs focus on resolving different forces as well as the directions for each force. The sophistication introduced by spatially scaling these techniques for the entire interface with the difficulty of integration in the current prosthetic limbs call for a more intelligent design. In this work, we introduce the design and experimental...
This paper proposes intrinsic contact sensing using a particle filter. Intrinsic contact sensing is a method, which detects the contact position without any sensors on the outer shell. Force sensors are attached on the supporting point of outer shell instead. This method has been expanded to estimate contact information even without shape information. However, previous methods assume that contact...
Flexible force sensor for rapid prototyping is designed and suggested with a suitable process for molding. A physical mixing of both CNT and PDMS shows lower percolation limit which shows proper electrical and mechanical properties. For 1% of CNT/PDMS composite, the mechanical and electrical properties were investigated up to 120kg and kilo-Ohm range of sensor resistance. By comparing with commercial...
The need of designing tactile sensors for machines and robotic systems has become crucial with the increase of the tasks related to human. This work proposes a silicone embedded, low profile piezoelectric sensor array that is suitable for applications where tactile sensing and force localization is needed. The developed sensor has 3 piezoelectric ceramics (PZT) placed in 1×3 array and consists of...
As people age, they become more fragile and exhibit changes in their gait and balance. This state of fragility increases their vulnerability to fall incidents. Gait and balance assessment is usually performed in a clinical setting primarily after a fall. However, daily monitoring has become essential in order to evaluate the quality of gait and alert the patient in case of a risky situation. In this...
Humans modify their movement characteristics according to the requirement of the movement accuracy. The relations between the required accuracy and muscle activities were previously determined by varying the size of the targets to be reached in isotonic contraction tasks. However, in isometric contraction tasks, such relations have not been studied yet. In this study, we examined whether there was...
This paper presents a capacitive Micro ElectroMechanical System (MEMS) force sensor coupled with a properly-designed interface circuit based on Direct Digital Synthesizer (DDS) that allows tunable sensitivity exploiting an electrical servo-assisted position-feedback mechanism. The position of the probe tip is kept fixed exploiting a feedback loop that includes a variable-gap capacitive position sensor...
ZnO nanowires offer nanometer resolution with high piezoelectric coefficient as force sensors. There is, however, much room to improve the sensitivity with addition of substitutional impurities. Here, the effect of p-type Li doping on vertically-aligned crystalline piezoelectric ZnO nanowires (NWs) is investigated. The NWs are used as an elementary material to fabricate micro-Newton force sensors...
A novel optical-based fingertip force sensor, which is integrated into a bio-mimetic finger for robotic and prosthetic manipulation is presented. This is used to obtain tactile information during grasping and manipulation of objects. Unlike most devices the proposed force sensor is free of any electrical and metal components and as such is immune to electromagnetic fields. The sensor is simple and...
When controlling the electromagnetic Suspension system, generally used the displacement sensor. But the Electromagnetic Suspension System using a displacement sensor accuracy of velocity calculation cause problems. This research theme is to solve this issue instead of using force sensor.
This paper presents the design, implementation, and control of a novel microelectromechanical system (MEMS) force sensor. The device features bidirectional electrostatic actuators and on-chip piezoresistive displacement sensors. For the fabrication, a standard silicon-on-insulator process is used. Due to the bidirectional geometry, the probe is able to perform force measurement in both push and pull...
The continuing drive for better rehabilitative healthcare hinges on the availability of sensor data which can be shared and analysed. This leverages on the widespread communications network to provide an integrated health management environment. For this paper, we delineate our current work in sensorizing rehabilitative tests of upper limb movements. Where previously we applied data driven analysis,...
This paper describes a force sensor using metallic piezoresistive transducer for measuring the force originated by the physical interaction of the rigid body or arm incorporated autonomous vehicles in x, y and z co-ordinates [Fx, Fy and Fz]. It explains a theory, design and construction of single axis and multi-axis force/torque sensor. Here presents a novel idea for design a three degree of freedom...
This paper deals with force control and co-manipulation. From a classical control scheme using three closed loops with an external force control, we derive two new control schemes: the first is implemented in order to control the effort applied in a rigid environment and the second focuses on a co-manipulation control in an unknown environment. The proposed control law takes into account the stiffness...
Hemiplegia patients have complete paralysis of half their body, and encounter many challenges in living an independent life. Rehabilitation of the lower body is more important than that of the upper body for independent living; thus, recovering upper body functions of their paralyzed side is not enough. Rehabilitation robots may be used to assist training without therapists. In this study, a small...
This paper describes a soft three-axis tactile sensor composed of a soft-rigid multi-material structure embedded with microfluidic pressure sensitive channels. The sensor contains two types of microchannels filled with a liquid conductor for different sensing purposes: one for detecting normal forces and the other for detecting shear forces. While normal forces are measured by a single microchannel,...
This study proposes a high dynamic range measurement method for a six-axis force sensor. The sensor used in this method is composed of high-rigidity and low-rigidity flexure elements. The low-rigidity flexure element is combined with an overload protection mechanism to prevent an overload in the measurement range of the high-rigidity flexure element. A high dynamic range measurement is achieved by...
Main purpose of this paper is to describe a propose and compile a dynamometric measurement system which would measure the isometric force of a handgrip. Although, in the practice, there have already been the mechanic hand dynamometers which could evaluate only a limited amount of information, precisely the maximum strength of a handgrip, our aim is to compile the full electronic hand dynamometer....
Recanalization of chronic total occlusions (CTO) of coronary vessels is a catheter intervention with proven benefit for the patient. However, it incorporates a risk of penetrating the vessel as well as increasing patients exposure to radiation and contrast agent. The physicians expertise is a key to successful interventions. In this work, we present a system to assess haptic interaction of medical...
In this paper, the authors to demonstrate a novel and simple method to enable two finger grasping with one force sensor. 6-DOF haptic interface and a force sensor were used to implement this technique. The haptic device controls the position and orientation of two haptic avatars inside the virtual environment (VE), while the user can control the distance between the avatars by applying force on the...
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