Design of a lightweight, cost effective thimble-like sensor for haptic applications based on contact force sensors.

PubMed

Ferre, Manuel; Galiana, Ignacio; Aracil, Rafael

2011-01-01

This paper describes the design and calibration of a thimble that measures the forces applied by a user during manipulation of virtual and real objects. Haptic devices benefit from force measurement capabilities at their end-point. However, the heavy weight and cost of force sensors prevent their widespread incorporation in these applications. The design of a lightweight, user-adaptable, and cost-effective thimble with four contact force sensors is described in this paper. The sensors are calibrated before being placed in the thimble to provide normal and tangential forces. Normal forces are exerted directly by the fingertip and thus can be properly measured. Tangential forces are estimated by sensors strategically placed in the thimble sides. Two applications are provided in order to facilitate an evaluation of sensorized thimble performance. These applications focus on: (i) force signal edge detection, which determines task segmentation of virtual object manipulation, and (ii) the development of complex object manipulation models, wherein the mechanical features of a real object are obtained and these features are then reproduced for training by means of virtual object manipulation.

Design of a Lightweight, Cost Effective Thimble-Like Sensor for Haptic Applications Based on Contact Force Sensors

PubMed Central

Ferre, Manuel; Galiana, Ignacio; Aracil, Rafael

2011-01-01

This paper describes the design and calibration of a thimble that measures the forces applied by a user during manipulation of virtual and real objects. Haptic devices benefit from force measurement capabilities at their end-point. However, the heavy weight and cost of force sensors prevent their widespread incorporation in these applications. The design of a lightweight, user-adaptable, and cost-effective thimble with four contact force sensors is described in this paper. The sensors are calibrated before being placed in the thimble to provide normal and tangential forces. Normal forces are exerted directly by the fingertip and thus can be properly measured. Tangential forces are estimated by sensors strategically placed in the thimble sides. Two applications are provided in order to facilitate an evaluation of sensorized thimble performance. These applications focus on: (i) force signal edge detection, which determines task segmentation of virtual object manipulation, and (ii) the development of complex object manipulation models, wherein the mechanical features of a real object are obtained and these features are then reproduced for training by means of virtual object manipulation. PMID:22247677

Hysteresis Compensation of Piezoresistive Carbon Nanotube/Polydimethylsiloxane Composite-Based Force Sensors

PubMed Central

Kim, Ji-Sik; Kim, Gi-Woo

2017-01-01

This paper provides a preliminary study on the hysteresis compensation of a piezoresistive silicon-based polymer composite, poly(dimethylsiloxane) dispersed with carbon nanotubes (CNTs), to demonstrate its feasibility as a conductive composite (i.e., a force-sensitive resistor) for force sensors. In this study, the potential use of the nanotube/polydimethylsiloxane (CNT/PDMS) as a force sensor is evaluated for the first time. The experimental results show that the electrical resistance of the CNT/PDMS composite changes in response to sinusoidal loading and static compressive load. The compensated output based on the Duhem hysteresis model shows a linear relationship. This simple hysteresis model can compensate for the nonlinear frequency-dependent hysteresis phenomenon when a dynamic sinusoidal force input is applied. PMID:28125046

Vehicle Lateral State Estimation Based on Measured Tyre Forces

PubMed Central

Tuononen, Ari J.

2009-01-01

Future active safety systems need more accurate information about the state of vehicles. This article proposes a method to evaluate the lateral state of a vehicle based on measured tyre forces. The tyre forces of two tyres are estimated from optically measured tyre carcass deflections and transmitted wirelessly to the vehicle body. The two remaining tyres are so-called virtual tyre sensors, the forces of which are calculated from the real tyre sensor estimates. The Kalman filter estimator for lateral vehicle state based on measured tyre forces is presented, together with a simple method to define adaptive measurement error covariance depending on the driving condition of the vehicle. The estimated yaw rate and lateral velocity are compared with the validation sensor measurements. PMID:22291535

Design and Characterization of a Three-Axis Hall Effect-Based Soft Skin Sensor

PubMed Central

Tomo, Tito Pradhono; Somlor, Sophon; Schmitz, Alexander; Jamone, Lorenzo; Huang, Weijie; Kristanto, Harris; Sugano, Shigeki

2016-01-01

This paper presents an easy means to produce a 3-axis Hall effect–based skin sensor for robotic applications. It uses an off-the-shelf chip and is physically small and provides digital output. Furthermore, the sensor has a soft exterior for safe interactions with the environment; in particular it uses soft silicone with about an 8 mm thickness. Tests were performed to evaluate the drift due to temperature changes, and a compensation using the integral temperature sensor was implemented. Furthermore, the hysteresis and the crosstalk between the 3-axis measurements were evaluated. The sensor is able to detect minimal forces of about 1 gf. The sensor was calibrated and results with total forces up to 1450 gf in the normal and tangential directions of the sensor are presented. The test revealed that the sensor is able to measure the different components of the force vector. PMID:27070604

Design and Characterization of a Three-Axis Hall Effect-Based Soft Skin Sensor.

PubMed

Tomo, Tito Pradhono; Somlor, Sophon; Schmitz, Alexander; Jamone, Lorenzo; Huang, Weijie; Kristanto, Harris; Sugano, Shigeki

2016-04-07

This paper presents an easy means to produce a 3-axis Hall effect-based skin sensor for robotic applications. It uses an off-the-shelf chip and is physically small and provides digital output. Furthermore, the sensor has a soft exterior for safe interactions with the environment; in particular it uses soft silicone with about an 8 mm thickness. Tests were performed to evaluate the drift due to temperature changes, and a compensation using the integral temperature sensor was implemented. Furthermore, the hysteresis and the crosstalk between the 3-axis measurements were evaluated. The sensor is able to detect minimal forces of about 1 gf. The sensor was calibrated and results with total forces up to 1450 gf in the normal and tangential directions of the sensor are presented. The test revealed that the sensor is able to measure the different components of the force vector.

Fiber Fabry-Perot Force Sensor with Small Volume and High Performance for Assessing Fretting Damage of Steam Generator Tubes

PubMed Central

Huang, Peijian; Wang, Ning; Li, Junying; Zhu, Yong; Zhang, Jie

2017-01-01

Measuring the radial collision force between the steam generator tube (SGT) and the tube support plate (TSP) is essential to assess the fretting damage of the SGT. In order to measure the radial collision force, a novel miniaturized force sensor based on fiber Fabry-Perot (F-P) was designed, and the principle and characteristics of the sensor were analyzed in detail. Then, the F-P force sensor was successfully fabricated and calibrated, and the overall dimensions of the encapsulated fiber F-P sensor were 17 mm × 5 mm × 3 mm (L × W × H). The sensor works well in humid, high pressure (10 MPa), high temperature (350 °C), and vibration (40 kHz) environments. Finally, the F-P force sensors were installed in a 1:1 steam generator test loop, and the radial collision force signals between the SGT and the TSP were obtained. The experiments indicated that the F-P sensor with small volume and high performance could help in assessing the fretting damage of the steam generator tubes. PMID:29236087

Research on the parallel load sharing principle of a novel self-decoupled piezoelectric six-dimensional force sensor.

PubMed

Li, Ying-Jun; Yang, Cong; Wang, Gui-Cong; Zhang, Hui; Cui, Huan-Yong; Zhang, Yong-Liang

2017-09-01

This paper presents a novel integrated piezoelectric six-dimensional force sensor which can realize dynamic measurement of multi-dimensional space load. Firstly, the composition of the sensor, the spatial layout of force-sensitive components, and measurement principle are analyzed and designed. There is no interference of piezoelectric six-dimensional force sensor in theoretical analysis. Based on the principle of actual work and deformation compatibility coherence, this paper deduces the parallel load sharing principle of the piezoelectric six-dimensional force sensor. The main effect factors which affect the load sharing ratio are obtained. The finite element model of the piezoelectric six-dimensional force sensor is established. In order to verify the load sharing principle of the sensor, a load sharing test device of piezoelectric force sensor is designed and fabricated. The load sharing experimental platform is set up. The experimental results are in accordance with the theoretical analysis and simulation results. The experiments show that the multi-dimensional and heavy force measurement can be realized by the parallel arrangement of the load sharing ring and the force sensitive element in the novel integrated piezoelectric six-dimensional force sensor. The ideal load sharing effect of the sensor can be achieved by appropriate size parameters. This paper has an important guide for the design of the force measuring device according to the load sharing mode. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

MEMS-Based Flexible Force Sensor for Tri-Axial Catheter Contact Force Measurement

PubMed Central

Sheng, Jun; Desai, Jaydev P.

2016-01-01

Atrial fibrillation (AFib) is a significant healthcare problem caused by the uneven and rapid discharge of electrical signals from pulmonary veins (PVs). The technique of radiofrequency (RF) ablation can block these abnormal electrical signals by ablating myocardial sleeves inside PVs. Catheter contact force measurement during RF ablation can reduce the rate of AFib recurrence, since it helps to determine effective contact of the catheter with the tissue, thereby resulting in effective power delivery for ablation. This paper presents the development of a three-dimensional (3D) force sensor to provide the real-time measurement of tri-axial catheter contact force. The 3D force sensor consists of a plastic cubic bead and five flexible force sensors. Each flexible force sensor was made of a PEDOT:PSS strain gauge and a PDMS bump on a flexible PDMS substrate. Calibration results show that the fabricated sensor has a linear response in the force range required for RF ablation. To evaluate its working performance, the fabricated sensor was pressed against gelatin tissue by a micromanipulator and also integrated on a catheter tip to test it within deionized water flow. Both experiments simulated the ventricular environment and proved the validity of applying the 3D force sensor in RF ablation. PMID:28190945

An Experimental Optical Three-axis Tactile Sensor Featured with Hemispherical Surface

NASA Astrophysics Data System (ADS)

Ohka, Masahiro; Kobayashi, Hiroaki; Takata, Jumpei; Mitsuya, Yasunaga

We are developing an optical three-axis tactile sensor capable of acquiring normal and shearing force to mount on a robotic finger. The tactile sensor is based on the principle of an optical waveguide-type tactile sensor, which is composed of an acrylic hemispherical dome, a light source, an array of rubber sensing elements, and a CCD camera. The sensing element of the silicone rubber comprises one columnar feeler and eight conical feelers. The contact areas of the conical feelers, which maintain contact with the acrylic dome, detect the three-axis force applied to the tip of the sensing element. Normal and shearing forces are then calculated from integration and centroid displacement of the grayscale value derived from the conical feeler's contacts. To evaluate the present tactile sensor, we conducted a series of experiments using an x-z stage, a rotational stage, and a force gauge. Although we discovered that the relationship between the integrated grayscale value and normal force depends on the sensor's latitude on the hemispherical surface, it is easy to modify the sensitivity based on the latitude to make the centroid displacement of the grayscale value proportional to the shearing force. When we examined the repeatability of the present tactile sensor with 1,000 load/unload cycles, the error was 2%.

Scientific and Technological Achievements, 1946-2011, of the AFRL Electromagnetics Technology Division (AFRL/RYH) and Its Progenitors

DTIC Science & Technology

2012-07-01

AFRL /RYH) Sensors Directorate Air Force Research Laboratory Wright-Patterson Air Force ...Lossless Acoustic Monopoles, Electric Dipoles, and Magnetodielectric Spheres, Air Force Research Laboratory in-house report AFRL -SN-HS-TR-2006-0039... FORCE RESEARCH LABORATORY SENSORS DIRECTORATE WRIGHT-PATTERSON AIR FORCE BASE, OH 45433-7320 AIR FORCE MATERIEL COMMAND UNITED

Quantum Field Energy Sensor based on the Casimir Effect

NASA Astrophysics Data System (ADS)

Ludwig, Thorsten

The Casimir effect converts vacuum fluctuations into a measurable force. Some new energy technologies aim to utilize these vacuum fluctuations in commonly used forms of energy like electricity or mechanical motion. In order to study these energy technologies it is helpful to have sensors for the energy density of vacuum fluctuations. In today's scientific instrumentation and scanning microscope technologies there are several common methods to measure sub-nano Newton forces. While the commercial atomic force microscopes (AFM) mostly work with silicon cantilevers, there are a large number of reports on the use of quartz tuning forks to get high-resolution force measurements or to create new force sensors. Both methods have certain advantages and disadvantages over the other. In this report the two methods are described and compared towards their usability for Casimir force measurements. Furthermore a design for a quantum field energy sensor based on the Casimir force measurement will be described. In addition some general considerations on extracting energy from vacuum fluctuations will be given.

Flexible Piezoresistive Sensors Embedded in 3D Printed Tires

PubMed Central

Emon, Md Omar Faruk; Choi, Jae-Won

2017-01-01

In this article, we report the development of a flexible, 3D printable piezoresistive pressure sensor capable of measuring force and detecting the location of the force. The multilayer sensor comprises of an ionic liquid-based piezoresistive intermediate layer in between carbon nanotube (CNT)-based stretchable electrodes. A sensor containing an array of different sensing units was embedded on the inner liner surface of a 3D printed tire to provide with force information at different points of contact between the tire and road. Four scaled tires, as well as wheels, were 3D printed using a flexible and a rigid material, respectively, which were later assembled with a 3D-printed chassis. Only one tire was equipped with a sensor and the chassis was driven through a motorized linear stage at different speeds and load conditions to evaluate the sensor performance. The sensor was fabricated via molding and screen printing processes using a commercially available 3D-printable photopolymer as 3D printing is our target manufacturing technique to fabricate the entire tire assembly with the sensor. Results show that the proposed sensors, inserted in the 3D printed tire assembly, could detect forces, as well as their locations, properly. PMID:28327533

Flexible Piezoresistive Sensors Embedded in 3D Printed Tires.

PubMed

Emon, Md Omar Faruk; Choi, Jae-Won

2017-03-22

In this article, we report the development of a flexible, 3D printable piezoresistive pressure sensor capable of measuring force and detecting the location of the force. The multilayer sensor comprises of an ionic liquid-based piezoresistive intermediate layer in between carbon nanotube (CNT)-based stretchable electrodes. A sensor containing an array of different sensing units was embedded on the inner liner surface of a 3D printed tire to provide with force information at different points of contact between the tire and road. Four scaled tires, as well as wheels, were 3D printed using a flexible and a rigid material, respectively, which were later assembled with a 3D-printed chassis. Only one tire was equipped with a sensor and the chassis was driven through a motorized linear stage at different speeds and load conditions to evaluate the sensor performance. The sensor was fabricated via molding and screen printing processes using a commercially available 3D-printable photopolymer as 3D printing is our target manufacturing technique to fabricate the entire tire assembly with the sensor. Results show that the proposed sensors, inserted in the 3D printed tire assembly, could detect forces, as well as their locations, properly.

Modeling Analysis of a Six-axis Force/Tactile Sensor for Robot Fingers and a Method for Decreasing Error

NASA Astrophysics Data System (ADS)

Luo, Minghua; Shimizu, Etsuro; Zhang, Feifei; Ito, Masanori

This paper describes a six-axis force/tactile sensor for robot fingers. A mathematical model of this sensor is proposed. By this model, the grasping force and its moments, and touching position of robot finger for holding an object can be calculated. A new sensor is fabricated based on this model, where the elastic sensing unit of the sensor is made of a brazen plate. A new compensating method for decreasing error is proposed. Furthermore, the performance of this sensor is examined. The test results present approximate relationship between theoretical input and output of the sensor. It is obvious that the performance of the new sensor is better than the sensor with no compensation.

Design Methodology for Magnetic Field-Based Soft Tri-Axis Tactile Sensors.

PubMed

Wang, Hongbo; de Boer, Greg; Kow, Junwai; Alazmani, Ali; Ghajari, Mazdak; Hewson, Robert; Culmer, Peter

2016-08-24

Tactile sensors are essential if robots are to safely interact with the external world and to dexterously manipulate objects. Current tactile sensors have limitations restricting their use, notably being too fragile or having limited performance. Magnetic field-based soft tactile sensors offer a potential improvement, being durable, low cost, accurate and high bandwidth, but they are relatively undeveloped because of the complexities involved in design and calibration. This paper presents a general design methodology for magnetic field-based three-axis soft tactile sensors, enabling researchers to easily develop specific tactile sensors for a variety of applications. All aspects (design, fabrication, calibration and evaluation) of the development of tri-axis soft tactile sensors are presented and discussed. A moving least square approach is used to decouple and convert the magnetic field signal to force output to eliminate non-linearity and cross-talk effects. A case study of a tactile sensor prototype, MagOne, was developed. This achieved a resolution of 1.42 mN in normal force measurement (0.71 mN in shear force), good output repeatability and has a maximum hysteresis error of 3.4%. These results outperform comparable sensors reported previously, highlighting the efficacy of our methodology for sensor design.

Design Methodology for Magnetic Field-Based Soft Tri-Axis Tactile Sensors

PubMed Central

Wang, Hongbo; de Boer, Greg; Kow, Junwai; Alazmani, Ali; Ghajari, Mazdak; Hewson, Robert; Culmer, Peter

2016-01-01

Tactile sensors are essential if robots are to safely interact with the external world and to dexterously manipulate objects. Current tactile sensors have limitations restricting their use, notably being too fragile or having limited performance. Magnetic field-based soft tactile sensors offer a potential improvement, being durable, low cost, accurate and high bandwidth, but they are relatively undeveloped because of the complexities involved in design and calibration. This paper presents a general design methodology for magnetic field-based three-axis soft tactile sensors, enabling researchers to easily develop specific tactile sensors for a variety of applications. All aspects (design, fabrication, calibration and evaluation) of the development of tri-axis soft tactile sensors are presented and discussed. A moving least square approach is used to decouple and convert the magnetic field signal to force output to eliminate non-linearity and cross-talk effects. A case study of a tactile sensor prototype, MagOne, was developed. This achieved a resolution of 1.42 mN in normal force measurement (0.71 mN in shear force), good output repeatability and has a maximum hysteresis error of 3.4%. These results outperform comparable sensors reported previously, highlighting the efficacy of our methodology for sensor design. PMID:27563908

A novel sensor for bite force determinations.

PubMed

Fernandes, Cláudio P; Glantz, Per Olof J; Svensson, Stig A; Bergmark, Anders

2003-03-01

The clinical usefulness, accuracy and precision of a novel bite force sensor based on force sensing resistors were tested in six subjects wearing maxillary removable partial dentures retained by conical crowns. The surfaces of the sensor were manufactured in a silicone material that had mechanical properties similar to those of tough foodstuffs. In two separate series of standardized bite force tests, submaximum force levels were recorded with the sensor and with a strain gaged bite fork. Subjects were assisted in the loading tests with visual feedback instrumentation. Reliability estimates for the bite force sensor were calculated in order to show their reproducibility. Strain gages attached to the prostheses were used to determine the pattern of force distribution during loading tests. The bite force results obtained with the new bite force sensor and with the bite fork were analyzed with ANOVA and Scheffés tests. The strain patterns registered with strain gages were analyzed with F-test. The bite force sensor and the bite fork transducer showed no statistically significant differences in respect of intra-individual bite force levels (range 50-300N). The bite forces registered with the new sensor were dependent on the loading position (p<0.05), sex (p<0.05) and test subject (p<0.05). The reliability of the new sensor for submaximum bite forces was calculated to be 93%. Strain gage results showed that the new sensor generated strain patterns of less variance (p<0.05) than the bite fork and therefore allowed for higher precision during biting tests. The presented instrument has such clinical merits, as to favor its use in experimental clinical studies on the biomechanics of prosthetic appliances.

Semiconducter Optical Amplifier as a Phase Modulator for Coherent Laser Radar (Preprint)

DTIC Science & Technology

2012-01-01

AIR FORCE RESEARCH LABORATORY SENSORS DIRECTORATE WRIGHT-PATTERSON AIR FORCE BASE, OH 45433-7320 AIR FORCE MATERIEL COMMAND UNITED STATES... AIR FORCE NOTICE AND SIGNATURE PAGE Using Government drawings, specifications, or other data included in this document for any purpose other...NUMBER Multispectral Sensing and Detection Division LADAR Technology Branch (AFRL/RYMM) Air Force Research Laboratory, Sensors Directorate Wright

Survey of Visual and Force/Tactile Control of Robots for Physical Interaction in Spain

PubMed Central

Garcia, Gabriel J.; Corrales, Juan A.; Pomares, Jorge; Torres, Fernando

2009-01-01

Sensors provide robotic systems with the information required to perceive the changes that happen in unstructured environments and modify their actions accordingly. The robotic controllers which process and analyze this sensory information are usually based on three types of sensors (visual, force/torque and tactile) which identify the most widespread robotic control strategies: visual servoing control, force control and tactile control. This paper presents a detailed review on the sensor architectures, algorithmic techniques and applications which have been developed by Spanish researchers in order to implement these mono-sensor and multi-sensor controllers which combine several sensors. PMID:22303146

Multidirectional flexible force sensors based on confined, self-adjusting carbon nanotube arrays

NASA Astrophysics Data System (ADS)

Lee, J.-I.; Pyo, Soonjae; Kim, Min-Ook; Kim, Jongbaeg

2018-02-01

We demonstrate a highly sensitive force sensor based on self-adjusting carbon nanotube (CNT) arrays. Aligned CNT arrays are directly synthesized on silicon microstructures by a space-confined growth technique which enables a facile self-adjusting contact. To afford flexibility and softness, the patterned microstructures with the integrated CNTs are embedded in polydimethylsiloxane structures. The sensing mechanism is based on variations in the contact resistance between the facing CNT arrays under the applied force. By finite element analysis, proper dimensions and positions for each component are determined. Further, high sensitivities up to 15.05%/mN of the proposed sensors were confirmed experimentally. Multidirectional sensing capability could also be achieved by designing multiple sets of sensing elements in a single sensor. The sensors show long-term operational stability, owing to the unique properties of the constituent CNTs, such as outstanding mechanical durability and elasticity.

Frequency domain surface EMG sensor fusion for estimating finger forces.

PubMed

Potluri, Chandrasekhar; Kumar, Parmod; Anugolu, Madhavi; Urfer, Alex; Chiu, Steve; Naidu, D; Schoen, Marco P

2010-01-01

Extracting or estimating skeletal hand/finger forces using surface electro myographic (sEMG) signals poses many challenges due to cross-talk, noise, and a temporal and spatially modulated signal characteristics. Normal sEMG measurements are based on single sensor data. In this paper, array sensors are used along with a proposed sensor fusion scheme that result in a simple Multi-Input-Single-Output (MISO) transfer function. Experimental data is used along with system identification to find this MISO system. A Genetic Algorithm (GA) approach is employed to optimize the characteristics of the MISO system. The proposed fusion-based approach is tested experimentally and indicates improvement in finger/hand force estimation.

Inferring Interaction Force from Visual Information without Using Physical Force Sensors.

PubMed

Hwang, Wonjun; Lim, Soo-Chul

2017-10-26

In this paper, we present an interaction force estimation method that uses visual information rather than that of a force sensor. Specifically, we propose a novel deep learning-based method utilizing only sequential images for estimating the interaction force against a target object, where the shape of the object is changed by an external force. The force applied to the target can be estimated by means of the visual shape changes. However, the shape differences in the images are not very clear. To address this problem, we formulate a recurrent neural network-based deep model with fully-connected layers, which models complex temporal dynamics from the visual representations. Extensive evaluations show that the proposed learning models successfully estimate the interaction forces using only the corresponding sequential images, in particular in the case of three objects made of different materials, a sponge, a PET bottle, a human arm, and a tube. The forces predicted by the proposed method are very similar to those measured by force sensors.

Integrated dynamic and static tactile sensor: focus on static force sensing

NASA Astrophysics Data System (ADS)

Wettels, Nicholas; Pletner, Baruch

2012-04-01

Object grasping by robotic hands in unstructured environments demands a sensor that is durable, compliant, and responsive to static and dynamic force conditions. In order for a tactile sensor to be useful for grasp control in these, it should have the following properties: tri-axial force sensing (two shear plus normal component), dynamic event sensing across slip frequencies, compliant surface for grip, wide dynamic range (depending on application), insensitivity to environmental conditions, ability to withstand abuse and good sensing behavior (e.g. low hysteresis, high repeatability). These features can be combined in a novel multimodal tactile sensor. This sensor combines commercial-off-the-shelf MEMS technology with two proprietary force sensors: a high bandwidth device based on PZT technology and low bandwidth device based on elastomers and optics. In this study, we focus on the latter transduction mechanism and the proposed architecture of the completed device. In this study, an embedded LED was utilized to produce a constant light source throughout a layer of silicon rubber which covered a plastic mandrel containing a set of sensitive phototransistors. Features about the contacted object such as center of pressure and force vectors can be extracted from the information in the changing patterns of light. The voltage versus force relationship obtained with this molded humanlike finger had a wide dynamic range that coincided with forces relevant for most human grip tasks.

3D-Structured Stretchable Strain Sensors for Out-of-Plane Force Detection.

PubMed

Liu, Zhiyuan; Qi, Dianpeng; Leow, Wan Ru; Yu, Jiancan; Xiloyannnis, Michele; Cappello, Leonardo; Liu, Yaqing; Zhu, Bowen; Jiang, Ying; Chen, Geng; Masia, Lorenzo; Liedberg, Bo; Chen, Xiaodong

2018-05-17

Stretchable strain sensors, as the soft mechanical interface, provide the key mechanical information of the systems for healthcare monitoring, rehabilitation assistance, soft exoskeletal devices, and soft robotics. Stretchable strain sensors based on 2D flat film have been widely developed to monitor the in-plane force applied within the plane where the sensor is placed. However, to comprehensively obtain the mechanical feedback, the capability to detect the out-of-plane force, caused by the interaction outside of the plane where the senor is located, is needed. Herein, a 3D-structured stretchable strain sensor is reported to monitor the out-of-plane force by employing 3D printing in conjunction with out-of-plane capillary force-assisted self-pinning of carbon nanotubes. The 3D-structured sensor possesses large stretchability, multistrain detection, and strain-direction recognition by one single sensor. It is demonstrated that out-of-plane forces induced by the air/fluid flow are reliably monitored and intricate flow details are clearly recorded. The development opens up for the exploration of next-generation 3D stretchable sensors for electronic skin and soft robotics. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Three Dimensional Distribution of Sensitive Field and Stress Field Inversion of Force Sensitive Materials under Constant Current Excitation.

PubMed

Zhao, Shuanfeng; Liu, Min; Guo, Wei; Zhang, Chuanwei

2018-02-28

Force sensitive conductive composite materials are functional materials which can be used as the sensitive material of force sensors. However, the existing sensors only use one-dimensional electrical properties of force sensitive conductive materials. Even in tactile sensors, the measurement of contact pressure is achieved by large-scale arrays and the units of a large-scale array are also based on the one-dimensional electrical properties of force sensitive materials. The main contribution of this work is to study the three-dimensional electrical properties and the inversion method of three-dimensional stress field of a force sensitive material (conductive rubber), which pushes the application of force sensitive material from one dimensional to three-dimensional. First, the mathematical model of the conductive rubber current field distribution under a constant force is established by the effective medium theory, and the current field distribution model of conductive rubber with different geometry, conductive rubber content and conductive rubber relaxation parameters is deduced. Secondly, the inversion method of the three-dimensional stress field of conductive rubber is established, which provides a theoretical basis for the design of a new tactile sensor, three-dimensional stress field and space force based on force sensitive materials.

Design and Analysis of the Measurement Characteristics of a Bidirectional-Decoupling Over-Constrained Six-Dimensional Parallel-Mechanism Force Sensor

PubMed Central

Zhao, Tieshi; Zhao, Yanzhi; Hu, Qiangqiang; Ding, Shixing

2017-01-01

The measurement of large forces and the presence of errors due to dimensional coupling are significant challenges for multi-dimensional force sensors. To address these challenges, this paper proposes an over-constrained six-dimensional force sensor based on a parallel mechanism of steel ball structures as a measurement module. The steel ball structure can be subject to rolling friction instead of sliding friction, thus reducing the influence of friction. However, because the structure can only withstand unidirectional pressure, the application of steel balls in a six-dimensional force sensor is difficult. Accordingly, a new design of the sensor measurement structure was designed in this study. The static equilibrium and displacement compatibility equations of the sensor prototype’s over-constrained structure were established to obtain the transformation function, from which the forces in the measurement branches of the proposed sensor were then analytically derived. The sensor’s measurement characteristics were then analysed through numerical examples. Finally, these measurement characteristics were confirmed through calibration and application experiments. The measurement accuracy of the proposed sensor was determined to be 1.28%, with a maximum coupling error of 1.98%, indicating that the proposed sensor successfully overcomes the issues related to steel ball structures and provides sufficient accuracy. PMID:28867812

Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle.

PubMed

Elayaperumal, Santhi; Bae, Jung Hwa; Daniel, Bruce L; Cutkosky, Mark R

2014-09-01

This paper presents calibration and user test results of a 3-D tip-force sensing needle with haptic feedback. The needle is a modified MRI-compatible biopsy needle with embedded fiber Bragg grating (FBG) sensors for strain detection. After calibration, the needle is interrogated at 2 kHz, and dynamic forces are displayed remotely with a voice coil actuator. The needle is tested in a single-axis master/slave system, with the voice coil haptic display at the master, and the needle at the slave end. Tissue phantoms with embedded membranes were used to determine the ability of the tip-force sensors to provide real-time haptic feedback as compared to external sensors at the needle base during needle insertion via the master/slave system. Subjects were able to determine the position of the embedded membranes with significantly better accuracy using FBG tip feedback than with base feedback using a commercial force/torque sensor (p = 0.045) or with no added haptic feedback (p = 0.0024).

Detection of Membrane Puncture with Haptic Feedback using a Tip-Force Sensing Needle

PubMed Central

Elayaperumal, Santhi; Bae, Jung Hwa; Daniel, Bruce L.; Cutkosky, Mark R.

2015-01-01

This paper presents calibration and user test results of a 3-D tip-force sensing needle with haptic feedback. The needle is a modified MRI-compatible biopsy needle with embedded fiber Bragg grating (FBG) sensors for strain detection. After calibration, the needle is interrogated at 2 kHz, and dynamic forces are displayed remotely with a voice coil actuator. The needle is tested in a single-axis master/slave system, with the voice coil haptic display at the master, and the needle at the slave end. Tissue phantoms with embedded membranes were used to determine the ability of the tip-force sensors to provide real-time haptic feedback as compared to external sensors at the needle base during needle insertion via the master/slave system. Subjects were able to determine the position of the embedded membranes with significantly better accuracy using FBG tip feedback than with base feedback using a commercial force/torque sensor (p = 0.045) or with no added haptic feedback (p = 0.0024). PMID:26509101

Design and finite element modeling of a novel optical microsystems-based tactile sensor for minimal invasive robotic surgery

NASA Astrophysics Data System (ADS)

Ghanbari Mardasi, Amir; Ghanbari, Mahmood; Salmani Tehrani, Mehdi

2014-09-01

Although recently Minimal Invasive Robotic Surgery (MIRS) has been more addressed because of its wide range of benefits, however there are still some limitations in this regard. In order to address the shortcomings of MIRS systems, various types of tactile sensors with different sensing principles have been presented in the last few years. In the present paper a MEMS-based optical sensor, which has been recently proposed by researchers, is investigated using numerical simulation. By this type of sensors real time quantification of both dynamic and statics contact forces between the tissue and surgical instrument would be possible. The presented sensor has one moving part and works based on the intensity modulation principle of optical fibers. It is electrically-passive, MRI-compatible and it is possible to be fabricated using available standard micro fabrication techniques. The behavior of the sensor has been simulated using COMSOL MULTIPHYSICS 3.5 software. Stress analysis is conducted on the sensor to assess the deflection of the moving part of the sensor due to applied force. The optical simulation is then conducted to estimate the power loss due to the moving part deflection. Using FEM modeling, the relation between force and deflection is derived which is necessary for the calibration of the sensor.

Temperature- and phase-independent lateral force sensor based on a core-offset multi-mode fiber interferometer.

PubMed

Dong, Bo; Zhou, Da-Peng; Wei, Li; Liu, Wing-Ki; Lit, John W Y

2008-11-10

A novel lateral force sensor based on a core-offset multi-mode fiber (MMF) interferometer is reported. High extinction ratio can be obtained by misaligning a fused cross section between the single-mode fiber (SMF) and MMF. With the variation of the lateral force applied to a short section of the MMF, the extinction ratio changes while the interference phase remains almost constant. The change of the extinction ratio is independent of temperature variations. The proposed force sensor has the advantages of temperature- and phase-independency, high extinction ratio sensitivity, good repeatability, low cost, and simple structure. Moreover, the core-offset MMF interferometer is expected to have applications in fiber filters and tunable phase-independent attenuators.

Contact position sensor using constant contact force control system

NASA Technical Reports Server (NTRS)

Sturdevant, Jay (Inventor)

1995-01-01

A force control system (50) and method are provided for controlling a position contact sensor (10) so as to produce a constant controlled contact force therewith. The system (50) includes a contact position sensor (10) which has a contact probe (12) for contacting the surface of a target to be measured and an output signal (V.sub.o) for providing a position indication thereof. An actuator (30) is provided for controllably driving the contact position sensor (10) in response to an actuation control signal (I). A controller (52) receives the position indication signal (V.sub.o) and generates in response thereto the actuation control signal (I) so as to provide a substantially constant selective force (F) exerted by the contact probe (12). The actuation drive signal (I) is generated further in response to substantially linear approximation curves based on predetermined force and position data attained from the sensor (10) and the actuator (30).

3-DOF Force-Sensing Motorized Micro-Forceps for Robot-Assisted Vitreoretinal Surgery

PubMed Central

Gonenc, Berk; Chamani, Alireza; Handa, James; Gehlbach, Peter; Taylor, Russell H.; Iordachita, Iulian

2017-01-01

In vitreoretinal surgery, membrane peeling is a prototypical task where a layer of fibrous tissue is delaminated off the retina with a micro-forceps by applying very fine forces that are mostly imperceptible to the surgeon. Previously we developed sensitized ophthalmic surgery tools based on fiber Bragg grating (FBG) strain sensors, which were shown to precisely detect forces at the instrument’s tip in two degrees of freedom perpendicular to the tool axis. This paper presents a new design that employs an additional sensor to capture also the tensile force along the tool axis. The grasping functionality is provided via a compact motorized unit. To compute forces, we investigate two distinct fitting methods: a linear regression and a nonlinear fitting based on second-order Bernstein polynomials. We carry out experiments to test the repeatability of sensor outputs, calibrate the sensor and validate its performance. Results demonstrate sensor wavelength repeatability within 2 pm. Although the linear method provides sufficient accuracy in measuring transverse forces, in the axial direction it produces a root mean square (rms) error over 3 mN even for a confined magnitude and direction of forces. On the other hand, the nonlinear method provides a more consistent and accurate measurement of both the transverse and axial forces for the entire force range (0–25 mN). Validation including random samples shows that our tool with the nonlinear force computation method can predict 3-D forces with an rms error under 0.15 mN in the transverse plane and within 2 mN accuracy in the axial direction. PMID:28736508

Design Optimisation of a Magnetic Field Based Soft Tactile Sensor

PubMed Central

Raske, Nicholas; Kow, Junwai; Alazmani, Ali; Ghajari, Mazdak; Culmer, Peter; Hewson, Robert

2017-01-01

This paper investigates the design optimisation of a magnetic field based soft tactile sensor, comprised of a magnet and Hall effect module separated by an elastomer. The aim was to minimise sensitivity of the output force with respect to the input magnetic field; this was achieved by varying the geometry and material properties. Finite element simulations determined the magnetic field and structural behaviour under load. Genetic programming produced phenomenological expressions describing these responses. Optimisation studies constrained by a measurable force and stable loading conditions were conducted; these produced Pareto sets of designs from which the optimal sensor characteristics were selected. The optimisation demonstrated a compromise between sensitivity and the measurable force, a fabricated version of the optimised sensor validated the improvements made using this methodology. The approach presented can be applied in general for optimising soft tactile sensor designs over a range of applications and sensing modes. PMID:29099787

Virtual Sensors for Advanced Controllers in Rehabilitation Robotics.

PubMed

Mancisidor, Aitziber; Zubizarreta, Asier; Cabanes, Itziar; Portillo, Eva; Jung, Je Hyung

2018-03-05

In order to properly control rehabilitation robotic devices, the measurement of interaction force and motion between patient and robot is an essential part. Usually, however, this is a complex task that requires the use of accurate sensors which increase the cost and the complexity of the robotic device. In this work, we address the development of virtual sensors that can be used as an alternative of actual force and motion sensors for the Universal Haptic Pantograph (UHP) rehabilitation robot for upper limbs training. These virtual sensors estimate the force and motion at the contact point where the patient interacts with the robot using the mathematical model of the robotic device and measurement through low cost position sensors. To demonstrate the performance of the proposed virtual sensors, they have been implemented in an advanced position/force controller of the UHP rehabilitation robot and experimentally evaluated. The experimental results reveal that the controller based on the virtual sensors has similar performance to the one using direct measurement (less than 0.005 m and 1.5 N difference in mean error). Hence, the developed virtual sensors to estimate interaction force and motion can be adopted to replace actual precise but normally high-priced sensors which are fundamental components for advanced control of rehabilitation robotic devices.

Research on a new fiber-optic axial pressure sensor of transformer winding based on fiber Bragg grating

NASA Astrophysics Data System (ADS)

Liu, Yuan; Li, Lianqing; Zhao, Lin; Wang, Jiqiang; Liu, Tongyu

2017-12-01

Based on the principle of the fiber Bragg grating, a new type of fiber-optic pressure sensor for axial force measurement of transformer winding is designed, which is designed with the structure of bending plate beam, the optimization of the packaging process, and material of the sensor. Through the calibration experiment to calibrate the sensor, the field test results of the Taikai transformer factory show that the sensitivity of the sensor is 0.133 pm/kPa and the repeatability error is 2.7% FS. The data of the fiber-optic pressure sensor in different positions maintain consistent and repeatable, which can meet the requirement of the real-time monitoring of the axial force of transformer winding.

A nano cold-wire for velocity measurements

NASA Astrophysics Data System (ADS)

Huang, Yi-Chun; Fu, Matthew; Fan, Yuyang; Byers, Clayton; Hultmark, Marcus

2016-11-01

We introduce a novel, strain-based sensor for both gaseous and liquid flows. The sensor consists of a free-standing, electrically conductive, nanoscale ribbon suspended between silicon supports. Due to its size, the nanoribbon deflects in flow under viscously dominated fluid forcing, which induces axial strain and a resistance change in the sensing element. The change in resistance can then be measured by a Wheatstone bridge, resulting in straightforward design and operation of the sensor. Since its operating principle is based on viscous fluid forcing, the sensor has high sensitivity especially in liquid or other highly viscous flows. A simple analytical model to understand the relation between forcing and strain is derived from the geometric and material constraints, and preliminary analysis using a low order model of the dynamic systems suggests that the sensor has a high frequency response. Lastly, a cylindrical structure to house the sensor with an axial and ventral channel to generate a pressure differential is being considered for typical velocimetry applications.

Finger-Shaped GelForce: Sensor for Measuring Surface Traction Fields for Robotic Hand.

PubMed

Sato, K; Kamiyama, K; Kawakami, N; Tachi, S

2010-01-01

It is believed that the use of haptic sensors to measure the magnitude, direction, and distribution of a force will enable a robotic hand to perform dexterous operations. Therefore, we develop a new type of finger-shaped haptic sensor using GelForce technology. GelForce is a vision-based sensor that can be used to measure the distribution of force vectors, or surface traction fields. The simple structure of the GelForce enables us to develop a compact finger-shaped GelForce for the robotic hand. GelForce that is developed on the basis of an elastic theory can be used to calculate surface traction fields using a conversion equation. However, this conversion equation cannot be analytically solved when the elastic body of the sensor has a complicated shape such as the shape of a finger. Therefore, we propose an observational method and construct a prototype of the finger-shaped GelForce. By using this prototype, we evaluate the basic performance of the finger-shaped GelForce. Then, we conduct a field test by performing grasping operations using a robotic hand. The results of this test show that using the observational method, the finger-shaped GelForce can be successfully used in a robotic hand.

On Gait Analysis Estimation Errors Using Force Sensors on a Smart Rollator

PubMed Central

Ballesteros, Joaquin; Urdiales, Cristina; Martinez, Antonio B.; van Dieën, Jaap H.

2016-01-01

Gait analysis can provide valuable information on a person’s condition and rehabilitation progress. Gait is typically captured using external equipment and/or wearable sensors. These tests are largely constrained to specific controlled environments. In addition, gait analysis often requires experts for calibration, operation and/or to place sensors on volunteers. Alternatively, mobility support devices like rollators can be equipped with onboard sensors to monitor gait parameters, while users perform their Activities of Daily Living. Gait analysis in rollators may use odometry and force sensors in the handlebars. However, force based estimation of gait parameters is less accurate than traditional methods, especially when rollators are not properly used. This paper presents an evaluation of force based gait analysis using a smart rollator on different groups of users to determine when this methodology is applicable. In a second stage, the rollator is used in combination with two lab-based gait analysis systems to assess the rollator estimation error. Our results show that: (i) there is an inverse relation between the variance in the force difference between handlebars and support on the handlebars—related to the user condition—and the estimation error; and (ii) this error is lower than 10% when the variation in the force difference is above 7 N. This lower limit was exceeded by the 95.83% of our challenged volunteers. In conclusion, rollators are useful for gait characterization as long as users really need the device for ambulation. PMID:27834911

On Gait Analysis Estimation Errors Using Force Sensors on a Smart Rollator.

PubMed

Ballesteros, Joaquin; Urdiales, Cristina; Martinez, Antonio B; van Dieën, Jaap H

2016-11-10

Gait analysis can provide valuable information on a person's condition and rehabilitation progress. Gait is typically captured using external equipment and/or wearable sensors. These tests are largely constrained to specific controlled environments. In addition, gait analysis often requires experts for calibration, operation and/or to place sensors on volunteers. Alternatively, mobility support devices like rollators can be equipped with onboard sensors to monitor gait parameters, while users perform their Activities of Daily Living. Gait analysis in rollators may use odometry and force sensors in the handlebars. However, force based estimation of gait parameters is less accurate than traditional methods, especially when rollators are not properly used. This paper presents an evaluation of force based gait analysis using a smart rollator on different groups of users to determine when this methodology is applicable. In a second stage, the rollator is used in combination with two lab-based gait analysis systems to assess the rollator estimation error. Our results show that: (i) there is an inverse relation between the variance in the force difference between handlebars and support on the handlebars-related to the user condition-and the estimation error; and (ii) this error is lower than 10% when the variation in the force difference is above 7 N. This lower limit was exceeded by the 95.83% of our challenged volunteers. In conclusion, rollators are useful for gait characterization as long as users really need the device for ambulation.

Beyond Line-of-Sight Information Dissemination for Force Protection

DTIC Science & Technology

2012-11-01

utilize ad hoc, mesh networks to support data-in-motion and remote data storage and access. These types of sensors are common among Force Protection...Operations and Forward Operating Base security . Current Force Protection Kits include a rich set of sensors that can be monitored from a core operator...and tactical war fighters in tactical network environments . Marti has the potential to improve situation awareness and Force Protection for

A droplet-based passive force sensor for remote tactile sensing applications

NASA Astrophysics Data System (ADS)

Nie, Baoqing; Yao, Ting; Zhang, Yiqiu; Liu, Jian; Chen, Xinjian

2018-01-01

A droplet-based flexible wireless force sensor has been developed for remote tactile-sensing applications. By integration of a droplet-based capacitive sensing unit and two circular planar coils, this inductor-capacitor (LC) passive sensor offers a platform for the mechanical force detection in a wireless transmitting mode. Under external loads, the membrane surface of the sensor deforms the underlying elastic droplet uniformly, introducing a capacitance response in tens of picofarads. The LC circuit transduces the applied force into corresponding variations of its resonance frequency, which is detected by an external electromagnetic coupling coil. Specifically, the liquid droplet features a mechanosensitive plasticity, which results in an increased device sensitivity as high as 2.72 MHz N-1. The high dielectric property of the droplet endows our sensor with high tolerance for noise and large capacitance values (20-40 pF), the highest value in the literature for the LC passive devices in comparable dimensions. It achieves excellent reproducibility under periodical loads ranging from 0 to 1.56 N and temperature fluctuations ranging from 10 °C to 55 °C. As an interesting conceptual demonstration, the flexible device has been configured into a fingertip-amounted setting in a highly compact package (of 11 mm × 11 mm × 0.25 mm) for remote contact force sensing in the table tennis game.

MEMS piezoresistive cantilever for the direct measurement of cardiomyocyte contractile force

NASA Astrophysics Data System (ADS)

Matsudaira, Kenei; Nguyen, Thanh-Vinh; Hirayama Shoji, Kayoko; Tsukagoshi, Takuya; Takahata, Tomoyuki; Shimoyama, Isao

2017-10-01

This paper reports on a method to directly measure the contractile forces of cardiomyocytes using MEMS (micro electro mechanical systems)-based force sensors. The fabricated sensor chip consists of piezoresistive cantilevers that can measure contractile forces with high frequency (several tens of kHz) and high sensing resolution (less than 0.1 nN). Moreover, the proposed method does not require a complex observation system or image processing, which are necessary in conventional optical-based methods. This paper describes the design, fabrication, and evaluation of the proposed device and demonstrates the direct measurements of contractile forces of cardiomyocytes using the fabricated device.

Highly sensitive force sensor based on balloon-like interferometer

NASA Astrophysics Data System (ADS)

Wu, Yue; Xiao, Shiying; Xu, Yao; Shen, Ya; Jiang, Youchao; Jin, Wenxing; Yang, Yuguang; Jian, Shuisheng

2018-07-01

An all-fiber highly sensitive force sensor based on modal interferometer has been presented and demonstrated. The single-mode fiber (SMF) with coating stripped is designed into a balloon-like shape to form a modal interferometer. Due to the bent SMF, the interference occurs between the core mode and cladding modes. With variation of the force applied to the balloon-like interferometer, the bending diameter changes, which caused the wavelength shift of the modal interference. Thus the measurement of the force variation can be achieved by monitoring the wavelength shift. The performances of the interferometer with different bending diameter are experimentally investigated, and the maximum force sensitivity of 24.9 pm/ μ N can be achieved with the bending diameter 14 mm ranging from 0 μ N to 1464.12 μ N. Furthermore, the proposed fiber sensor exhibits the advantages of easy fabrication and low cost, making it a suitable candidate in the optical fiber sensing field.

MEMS based Low Cost Piezoresistive Microcantilever Force Sensor and Sensor Module

PubMed Central

Pandya, H. J.; Kim, Hyun Tae; Roy, Rajarshi; Desai, Jaydev P.

2014-01-01

In the present work, we report fabrication and characterization of a low-cost MEMS based piezoresistive micro-force sensor with SU-8 tip using laboratory made silicon-on-insulator (SOI) substrate. To prepare SOI wafer, silicon film (0.8 µm thick) was deposited on an oxidized silicon wafer using RF magnetron sputtering technique. The films were deposited in Argon (Ar) ambient without external substrate heating. The material characteristics of the sputtered deposited silicon film and silicon film annealed at different temperatures (400–1050°C) were studied using atomic force microscopy (AFM) and X-ray diffraction (XRD) techniques. The residual stress of the films was measured as a function of annealing temperature. The stress of the as-deposited films was observed to be compressive and annealing the film above 1050°C resulted in a tensile stress. The stress of the film decreased gradually with increase in annealing temperature. The fabricated cantilevers were 130 µm in length, 40 µm wide and 1.0 µm thick. A series of force-displacement curves were obtained using fabricated microcantilever with commercial AFM setup and the data were analyzed to get the spring constant and the sensitivity of the fabricated microcantilever. The measured spring constant and sensitivity of the sensor was 0.1488N/m and 2.7mV/N. The microcantilever force sensor was integrated with an electronic module that detects the change in resistance of the sensor with respect to the applied force and displays it on the computer screen. PMID:24855449

MEMS based Low Cost Piezoresistive Microcantilever Force Sensor and Sensor Module.

PubMed

Pandya, H J; Kim, Hyun Tae; Roy, Rajarshi; Desai, Jaydev P

2014-03-01

In the present work, we report fabrication and characterization of a low-cost MEMS based piezoresistive micro-force sensor with SU-8 tip using laboratory made silicon-on-insulator (SOI) substrate. To prepare SOI wafer, silicon film (0.8 µm thick) was deposited on an oxidized silicon wafer using RF magnetron sputtering technique. The films were deposited in Argon (Ar) ambient without external substrate heating. The material characteristics of the sputtered deposited silicon film and silicon film annealed at different temperatures (400-1050°C) were studied using atomic force microscopy (AFM) and X-ray diffraction (XRD) techniques. The residual stress of the films was measured as a function of annealing temperature. The stress of the as-deposited films was observed to be compressive and annealing the film above 1050°C resulted in a tensile stress. The stress of the film decreased gradually with increase in annealing temperature. The fabricated cantilevers were 130 µm in length, 40 µm wide and 1.0 µm thick. A series of force-displacement curves were obtained using fabricated microcantilever with commercial AFM setup and the data were analyzed to get the spring constant and the sensitivity of the fabricated microcantilever. The measured spring constant and sensitivity of the sensor was 0.1488N/m and 2.7mV/N. The microcantilever force sensor was integrated with an electronic module that detects the change in resistance of the sensor with respect to the applied force and displays it on the computer screen.

Six component robotic force-torque sensor

NASA Technical Reports Server (NTRS)

Grahn, Allen R.; Hutchings, Brad L.; Johnston, David R.; Parsons, David C.; Wyatt, Roland F.

1987-01-01

The results of a two-phase contract studying the feasibility of a miniaturized six component force-torque sensor and development of a working laboratory system were described. The principle of operation is based upon using ultrasonic pulse-echo ranging to determine the position of ultrasonic reflectors attached to a metal or ceramic cover plate. Because of the small size of the sensor, this technology may have application in robotics, to sense forces and torques at the finger tip of a robotic end effector. Descriptions are included of laboratory experiments evaluating materials and techniques for sensor fabrication and of the development of support electronics for data acquisition, computer interface, and operator display.

Fabrication and characterization of artificial hair cell sensor based on MWCNT-PDMS composite

NASA Astrophysics Data System (ADS)

Kim, Chi Yeon; Lee, Hyun Sup; Cho, Yo Han; Joh, Cheeyoung; Choi, Pyung; Park, Seong Jin

2011-06-01

The aim of this work is to design and fabricate a flow sensor using an artificial hair cell (AHC) inspired by biological hair cells of fish. The sensor consists of a single cilium structure with high aspect ratio and a mechanoreceptor using force sensitive resistor (FSR). The cilium structure is designed for capturing a drag force with direction due to flow field around the sensor and the mechanoreceptor is designed for sensing the drag force with direction from the cilium structure and converting it into an electric signal. The mechanoreceptor has a symmetric four electrodes to sense the drag force and its direction. To fabricate the single cilium structure with high aspect ratio, we have proposed a new design concept using a separated micro mold system (SMS) fabricated by the LIGA process. For a successful replication of the cilium structure, we used the hot embossing process with the help of a double-sided mold system. We used a composite of multiwall carbon nanotube and polydimethylsiloxane (MWCNT-PDMS). The performance of the mechanoreceptors was measured by a computer-controlled nanoindenter. We carried out several experiments with the sensor in the different flow rate and direction using the experimental test apparatus. To calibrate the sensor and calculate the velocity with direction based the signal from the sensor, we analyzed the coupled phenomena between flow field and the cilium structure to calculate the deflection of the cilium structure and the drag force applying to the cilium structure due to the flow field around sensor.

Design of a Minimum Surface-Effect Tendon-Based Microactuator for Micromanipulation

NASA Technical Reports Server (NTRS)

Goldfarb, Michael; Lipsey, James H.

1997-01-01

A piezoelectric (PZT) stack-based actuator was developed to provide a means of actuation with dynamic characteristics appropriate for small-scale manipulation. In particular, the design incorporates a highly nonlinear, large-ratio transmission that provides approximately two orders of magnitude motion amplification from the PZT stack. In addition to motion amplification, the nonlinear transmission was designed via optimization methods to distort the highly non-uniform properties of a piezoelectric actuator so that the achievable actuation force is nearly constant throughout the actuator workspace. The package also includes sensors that independently measure actuator output force and displacement, so that a manipulator structure need not incorporate sensors nor the associated wires. Specifically, the actuator was designed to output a maximum force of at least one Newton through a stroke of at least one millimeter. For purposes of small-scale precision position and/or force control, the actuator/sensor package was designed to eliminate stick-slip friction and backlash. The overall dimensions of the actuator/sensor package are approximately 40 x 65 x 25 mm.

GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force

PubMed Central

Yuan, Wenzhen; Dong, Siyuan; Adelson, Edward H.

2017-01-01

Tactile sensing is an important perception mode for robots, but the existing tactile technologies have multiple limitations. What kind of tactile information robots need, and how to use the information, remain open questions. We believe a soft sensor surface and high-resolution sensing of geometry should be important components of a competent tactile sensor. In this paper, we discuss the development of a vision-based optical tactile sensor, GelSight. Unlike the traditional tactile sensors which measure contact force, GelSight basically measures geometry, with very high spatial resolution. The sensor has a contact surface of soft elastomer, and it directly measures its deformation, both vertical and lateral, which corresponds to the exact object shape and the tension on the contact surface. The contact force, and slip can be inferred from the sensor’s deformation as well. Particularly, we focus on the hardware and software that support GelSight’s application on robot hands. This paper reviews the development of GelSight, with the emphasis in the sensing principle and sensor design. We introduce the design of the sensor’s optical system, the algorithm for shape, force and slip measurement, and the hardware designs and fabrication of different sensor versions. We also show the experimental evaluation on the GelSight’s performance on geometry and force measurement. With the high-resolution measurement of shape and contact force, the sensor has successfully assisted multiple robotic tasks, including material perception or recognition and in-hand localization for robot manipulation. PMID:29186053

Method of simultaneous measurement of two direction force and temperature using FBG sensor head.

PubMed

Kisała, Piotr; Cięszczyk, Sławomir

2015-04-01

This paper presents a method for measuring two components of bending force and temperature using one sensor head. Indirect inference based on the spectra of two fiber Bragg gratings (FBGs) placed on a cantilever beam is used. The method was developed during work on the inverse problem of determining a nonuniform stress distribution based on FBG spectra. A gradient in the FBG stress profile results in a characteristic shape of its reflective spectrum. The simultaneous measurements of force and temperature were possible through the use of an appropriate layout of the sensor head. The spectral characteristics of the sensor's gratings do not retain full symmetry, which is due to the geometry of the sensor's head and the related difference in the distribution of the axial stress of the gratings. In the proposed approach, the change in width of the sum of the normalized transmission spectra was used to determine the value of the applied force. In the presented method, an increase in the sensitivity of this change to the force is obtained relative to the other known systems. A change in the spectral width was observed for an increase in bending forces from 0 to 150 N. The sensitivity coefficient of the spectral width to force, defined as the ratio of the change of the spectral half-width to the change in force was 2.6e-3  nm/N for the first grating and 1.2e-3  nm/N for the second grating. However, the sensitivity of the whole sensor system was 5.8e-3  nm/N, which is greater than the sum of the sensitivities of the individual gratings. For the purpose of this work, a station with a thermal chamber has been designed with a bracket on which fiber optic transducers have been mounted for use in further measurements. The sensor head in this experiment is considered to be a universal device with potential applications in other types of optical sensors, and it can be treated as a module for development through its multiplication on a single optical fiber.

Optic fiber sensor-based smart bridge cable with functionality of self-sensing

NASA Astrophysics Data System (ADS)

He, Jianping; Zhou, Zhi; Jinping, Ou

2013-02-01

Bridge cables, characterized by distributed large span, serving in harsh environment and vulnerability to random damage, are the key load-sustaining components of cable-based bridges. To ensure the safety of the bridge structure, it is critical to monitor the loading conditions of these cables under lengthwise random damages. Aiming at obtaining accurate monitoring at the critical points as well as the general information of the cable force distributed along the entire cable, this paper presents a study on cable force monitoring by combining optical fiber Bragg grating (FBG) sensors and Brillouin optical time domain analysis/reflectory (BOTDA/R) sensing technique in one single optical fiber. A smart FRP-OF-FBG rebar based cable was fabricated by protruding a FRP packaged OF-FBG sensor into the bridge cable. And its sensing characteristics, stability under high stress state temperature self-compensation as well as BOTDA/R distributed data improvement by local FBG sensors have been investigated. The results show that FRP-OF-FBG rebar in the smart cable can deform consistantly along with the steel wire and the cable force obtained from the optical fiber sensors agree well with theoretical value with relative error less than ±5%. Besides, the temperature self-compensation method provides a significant cost-effective technique for the FRP-OF-FBG based cables' in situ cable force measurement. And furthermore, potential damages of the bridge cable, e.g. wire breaking and corrosion, can be characterized and symbolized by the discontinuity and fluctuation of the distributed BOTDA data thereafter accuracy improved by local FBG sensors.

A flexible micromachined optical sensor for simultaneous measurement of pressure and shear force distribution on foot

NASA Astrophysics Data System (ADS)

Wang, Wei-Chih; Panergo, Reynold R.; Galvanin, Christopher M.; Ledoux, William; Sangeorzan, Bruce; Reinhall, Per G.

2003-07-01

Lower limb complications associated with diabetes include the development of plantar ulcers that can lead to infection and subsequent amputation. While it is known from force plate analyses that there are medial/lateral and anterior/posterior shear components of the ground reaction force, there is little known about the actual distribution of this force during daily activities, nor about the role that shear plays in causing plantar ulceration. Furthermore, one critical reason why these data have not been obtained previously is the lack of a validated, widely used, commercially available shear sensor, in part because of the various technical issues associated with shear measurement. Here we have developed novel means of tranducing plantar shear and pressure stress via a new microfabricated optical system. The pressure/shear sensor consists of an array of optical waveguides lying in perpendicular rows and columns separated by elastomeric pads. A map of pressure and shear stress is constructed based on observed macro bending through the intensity attenuation from the physical deformation of two adjacent perpendicular optical waveguides. The uniqueness of the sensor is in its batch fabrication process, which involves injection molding and embossing techniques with Polydimethylsiloxane (PDMS) as the optical medium. Here we present the preliminary results of the prototype. The sensor has been shown to have low noise and responds linearly to applied loads. The smallest detectable force on each sensor element based on the current setup is ~0.1 N. The smallest area we have resolved in our mesh sensor is currently 950x950μm2

Design and Analysis of a Micromechanical Three-Component Force Sensor for Characterizing and Quantifying Surface Roughness

NASA Astrophysics Data System (ADS)

Liang, Q.; Wu, W.; Zhang, D.; Wei, B.; Sun, W.; Wang, Y.; Ge, Y.

2015-10-01

Roughness, which can represent the trade-off between manufacturing cost and performance of mechanical components, is a critical predictor of cracks, corrosion and fatigue damage. In order to measure polished or super-finished surfaces, a novel touch probe based on three-component force sensor for characterizing and quantifying surface roughness is proposed by using silicon micromachining technology. The sensor design is based on a cross-beam structure, which ensures that the system possesses high sensitivity and low coupling. The results show that the proposed sensor possesses high sensitivity, low coupling error, and temperature compensation function. The proposed system can be used to investigate micromechanical structures with nanometer accuracy.

Oscillatory motion based measurement method and sensor for measuring wall shear stress due to fluid flow

DOEpatents

Armstrong, William D [Laramie, WY; Naughton, Jonathan [Laramie, WY; Lindberg, William R [Laramie, WY

2008-09-02

A shear stress sensor for measuring fluid wall shear stress on a test surface is provided. The wall shear stress sensor is comprised of an active sensing surface and a sensor body. An elastic mechanism mounted between the active sensing surface and the sensor body allows movement between the active sensing surface and the sensor body. A driving mechanism forces the shear stress sensor to oscillate. A measuring mechanism measures displacement of the active sensing surface relative to the sensor body. The sensor may be operated under periodic excitation where changes in the nature of the fluid properties or the fluid flow over the sensor measurably changes the amplitude or phase of the motion of the active sensing surface, or changes the force and power required from a control system in order to maintain constant motion. The device may be operated under non-periodic excitation where changes in the nature of the fluid properties or the fluid flow over the sensor change the transient motion of the active sensor surface or change the force and power required from a control system to maintain a specified transient motion of the active sensor surface.

Design and implementation of visual-haptic assistive control system for virtual rehabilitation exercise and teleoperation manipulation.

PubMed

Veras, Eduardo J; De Laurentis, Kathryn J; Dubey, Rajiv

2008-01-01

This paper describes the design and implementation of a control system that integrates visual and haptic information to give assistive force feedback through a haptic controller (Omni Phantom) to the user. A sensor-based assistive function and velocity scaling program provides force feedback that helps the user complete trajectory following exercises for rehabilitation purposes. This system also incorporates a PUMA robot for teleoperation, which implements a camera and a laser range finder, controlled in real time by a PC, were implemented into the system to help the user to define the intended path to the selected target. The real-time force feedback from the remote robot to the haptic controller is made possible by using effective multithreading programming strategies in the control system design and by novel sensor integration. The sensor-based assistant function concept applied to teleoperation as well as shared control enhances the motion range and manipulation capabilities of the users executing rehabilitation exercises such as trajectory following along a sensor-based defined path. The system is modularly designed to allow for integration of different master devices and sensors. Furthermore, because this real-time system is versatile the haptic component can be used separately from the telerobotic component; in other words, one can use the haptic device for rehabilitation purposes for cases in which assistance is needed to perform tasks (e.g., stroke rehab) and also for teleoperation with force feedback and sensor assistance in either supervisory or automatic modes.

Error Modeling and Experimental Study of a Flexible Joint 6-UPUR Parallel Six-Axis Force Sensor.

PubMed

Zhao, Yanzhi; Cao, Yachao; Zhang, Caifeng; Zhang, Dan; Zhang, Jie

2017-09-29

By combining a parallel mechanism with integrated flexible joints, a large measurement range and high accuracy sensor is realized. However, the main errors of the sensor involve not only assembly errors, but also deformation errors of its flexible leg. Based on a flexible joint 6-UPUR (a kind of mechanism configuration where U-universal joint, P-prismatic joint, R-revolute joint) parallel six-axis force sensor developed during the prephase, assembly and deformation error modeling and analysis of the resulting sensors with a large measurement range and high accuracy are made in this paper. First, an assembly error model is established based on the imaginary kinematic joint method and the Denavit-Hartenberg (D-H) method. Next, a stiffness model is built to solve the stiffness matrix. The deformation error model of the sensor is obtained. Then, the first order kinematic influence coefficient matrix when the synthetic error is taken into account is solved. Finally, measurement and calibration experiments of the sensor composed of the hardware and software system are performed. Forced deformation of the force-measuring platform is detected by using laser interferometry and analyzed to verify the correctness of the synthetic error model. In addition, the first order kinematic influence coefficient matrix in actual circumstances is calculated. By comparing the condition numbers and square norms of the coefficient matrices, the conclusion is drawn theoretically that it is very important to take into account the synthetic error for design stage of the sensor and helpful to improve performance of the sensor in order to meet needs of actual working environments.

Error Modeling and Experimental Study of a Flexible Joint 6-UPUR Parallel Six-Axis Force Sensor

PubMed Central

Zhao, Yanzhi; Cao, Yachao; Zhang, Caifeng; Zhang, Dan; Zhang, Jie

2017-01-01

By combining a parallel mechanism with integrated flexible joints, a large measurement range and high accuracy sensor is realized. However, the main errors of the sensor involve not only assembly errors, but also deformation errors of its flexible leg. Based on a flexible joint 6-UPUR (a kind of mechanism configuration where U-universal joint, P-prismatic joint, R-revolute joint) parallel six-axis force sensor developed during the prephase, assembly and deformation error modeling and analysis of the resulting sensors with a large measurement range and high accuracy are made in this paper. First, an assembly error model is established based on the imaginary kinematic joint method and the Denavit-Hartenberg (D-H) method. Next, a stiffness model is built to solve the stiffness matrix. The deformation error model of the sensor is obtained. Then, the first order kinematic influence coefficient matrix when the synthetic error is taken into account is solved. Finally, measurement and calibration experiments of the sensor composed of the hardware and software system are performed. Forced deformation of the force-measuring platform is detected by using laser interferometry and analyzed to verify the correctness of the synthetic error model. In addition, the first order kinematic influence coefficient matrix in actual circumstances is calculated. By comparing the condition numbers and square norms of the coefficient matrices, the conclusion is drawn theoretically that it is very important to take into account the synthetic error for design stage of the sensor and helpful to improve performance of the sensor in order to meet needs of actual working environments. PMID:28961209

Mathematical Model and Calibration Experiment of a Large Measurement Range Flexible Joints 6-UPUR Six-Axis Force Sensor

PubMed Central

Zhao, Yanzhi; Zhang, Caifeng; Zhang, Dan; Shi, Zhongpan; Zhao, Tieshi

2016-01-01

Nowadays improving the accuracy and enlarging the measuring range of six-axis force sensors for wider applications in aircraft landing, rocket thrust, and spacecraft docking testing experiments has become an urgent objective. However, it is still difficult to achieve high accuracy and large measuring range with traditional parallel six-axis force sensors due to the influence of the gap and friction of the joints. Therefore, to overcome the mentioned limitations, this paper proposed a 6-Universal-Prismatic-Universal-Revolute (UPUR) joints parallel mechanism with flexible joints to develop a large measurement range six-axis force sensor. The structural characteristics of the sensor are analyzed in comparison with traditional parallel sensor based on the Stewart platform. The force transfer relation of the sensor is deduced, and the force Jacobian matrix is obtained using screw theory in two cases of the ideal state and the state of flexibility of each flexible joint is considered. The prototype and loading calibration system are designed and developed. The K value method and least squares method are used to process experimental data, and in errors of kind Ι and kind II linearity are obtained. The experimental results show that the calibration error of the K value method is more than 13.4%, and the calibration error of the least squares method is 2.67%. The experimental results prove the feasibility of the sensor and the correctness of the theoretical analysis which are expected to be adopted in practical applications. PMID:27529244

Integration of Fiber-Optic Sensor Arrays into a Multi-Modal Tactile Sensor Processing System for Robotic End-Effectors

PubMed Central

Kampmann, Peter; Kirchner, Frank

2014-01-01

With the increasing complexity of robotic missions and the development towards long-term autonomous systems, the need for multi-modal sensing of the environment increases. Until now, the use of tactile sensor systems has been mostly based on sensing one modality of forces in the robotic end-effector. The use of a multi-modal tactile sensory system is motivated, which combines static and dynamic force sensor arrays together with an absolute force measurement system. This publication is focused on the development of a compact sensor interface for a fiber-optic sensor array, as optic measurement principles tend to have a bulky interface. Mechanical, electrical and software approaches are combined to realize an integrated structure that provides decentralized data pre-processing of the tactile measurements. Local behaviors are implemented using this setup to show the effectiveness of this approach. PMID:24743158

Recent Advances of MEMS Resonators for Lorentz Force Based Magnetic Field Sensors: Design, Applications and Challenges.

PubMed

Herrera-May, Agustín Leobardo; Soler-Balcazar, Juan Carlos; Vázquez-Leal, Héctor; Martínez-Castillo, Jaime; Vigueras-Zuñiga, Marco Osvaldo; Aguilera-Cortés, Luz Antonio

2016-08-24

Microelectromechanical systems (MEMS) resonators have allowed the development of magnetic field sensors with potential applications such as biomedicine, automotive industry, navigation systems, space satellites, telecommunications and non-destructive testing. We present a review of recent magnetic field sensors based on MEMS resonators, which operate with Lorentz force. These sensors have a compact structure, wide measurement range, low energy consumption, high sensitivity and suitable performance. The design methodology, simulation tools, damping sources, sensing techniques and future applications of magnetic field sensors are discussed. The design process is fundamental in achieving correct selection of the operation principle, sensing technique, materials, fabrication process and readout systems of the sensors. In addition, the description of the main sensing systems and challenges of the MEMS sensors are discussed. To develop the best devices, researches of their mechanical reliability, vacuum packaging, design optimization and temperature compensation circuits are needed. Future applications will require multifunctional sensors for monitoring several physical parameters (e.g., magnetic field, acceleration, angular ratio, humidity, temperature and gases).

Recent Advances of MEMS Resonators for Lorentz Force Based Magnetic Field Sensors: Design, Applications and Challenges

PubMed Central

Herrera-May, Agustín Leobardo; Soler-Balcazar, Juan Carlos; Vázquez-Leal, Héctor; Martínez-Castillo, Jaime; Vigueras-Zuñiga, Marco Osvaldo; Aguilera-Cortés, Luz Antonio

2016-01-01

Microelectromechanical systems (MEMS) resonators have allowed the development of magnetic field sensors with potential applications such as biomedicine, automotive industry, navigation systems, space satellites, telecommunications and non-destructive testing. We present a review of recent magnetic field sensors based on MEMS resonators, which operate with Lorentz force. These sensors have a compact structure, wide measurement range, low energy consumption, high sensitivity and suitable performance. The design methodology, simulation tools, damping sources, sensing techniques and future applications of magnetic field sensors are discussed. The design process is fundamental in achieving correct selection of the operation principle, sensing technique, materials, fabrication process and readout systems of the sensors. In addition, the description of the main sensing systems and challenges of the MEMS sensors are discussed. To develop the best devices, researches of their mechanical reliability, vacuum packaging, design optimization and temperature compensation circuits are needed. Future applications will require multifunctional sensors for monitoring several physical parameters (e.g., magnetic field, acceleration, angular ratio, humidity, temperature and gases). PMID:27563912

Providing haptic feedback in robot-assisted minimally invasive surgery: a direct optical force-sensing solution for haptic rendering of deformable bodies.

PubMed

Ehrampoosh, Shervin; Dave, Mohit; Kia, Michael A; Rablau, Corneliu; Zadeh, Mehrdad H

2013-01-01

This paper presents an enhanced haptic-enabled master-slave teleoperation system which can be used to provide force feedback to surgeons in minimally invasive surgery (MIS). One of the research goals was to develop a combined-control architecture framework that included both direct force reflection (DFR) and position-error-based (PEB) control strategies. To achieve this goal, it was essential to measure accurately the direct contact forces between deformable bodies and a robotic tool tip. To measure the forces at a surgical tool tip and enhance the performance of the teleoperation system, an optical force sensor was designed, prototyped, and added to a robot manipulator. The enhanced teleoperation architecture was formulated by developing mathematical models for the optical force sensor, the extended slave robot manipulator, and the combined-control strategy. Human factor studies were also conducted to (a) examine experimentally the performance of the enhanced teleoperation system with the optical force sensor, and (b) study human haptic perception during the identification of remote object deformability. The first experiment was carried out to discriminate deformability of objects when human subjects were in direct contact with deformable objects by means of a laparoscopic tool. The control parameters were then tuned based on the results of this experiment using a gain-scheduling method. The second experiment was conducted to study the effectiveness of the force feedback provided through the enhanced teleoperation system. The results show that the force feedback increased the ability of subjects to correctly identify materials of different deformable types. In addition, the virtual force feedback provided by the teleoperation system comes close to the real force feedback experienced in direct MIS. The experimental results provide design guidelines for choosing and validating the control architecture and the optical force sensor.

Development and calibration of an air-floating six-axis force measurement platform using self-calibration

NASA Astrophysics Data System (ADS)

Huang, Bin; Wang, Xiaomeng; Li, Chengwei; Yi, Jiajing; Lu, Rongsheng; Tao, Jiayue

2016-09-01

This paper describes the design, working principle, as well as calibration of an air-floating six-axis force measurement platform, where the floating plate and nozzles were connected without contact, preventing inter-dimensional coupling and increasing precision significantly. The measurement repeatability error of the force size in the platform is less than 0.2% full scale (FS), which is significantly better than the precision of 1% FS in the six-axis force sensors on the current market. We overcame the difficulties of weight loading device in high-precision calibration by proposing a self-calibration method based on the floating plate gravity and met the calibration precision requirement of 0.02% FS. This study has general implications for the development and calibration of high-precision multi-axis force sensors. In particular, the air-floating six-axis force measurement platform could be applied to the calibration of some special sensors such as flexible tactile sensors and may be used as a micro-nano mechanical assembly platform for real-time assembly force testing.

Development of a disposable force-sensing glove for clinicians and demonstration of its force measurements on patients during rehabilitation following anterior cruciate ligament reconstruction surgery

NASA Astrophysics Data System (ADS)

Wang, Wei-Chih; Linders, David R.; Nuckley, David J.

2017-12-01

For many clinicians, their effectiveness is dependent on the magnitude of forces they manually apply to their patients. However, current state-of-the-art care strategies lack quantitative feedback, making it difficult to provide consistent care over time and among multiple clinicians. To provide real-time quantitative feedback to clinicians, we have developed a disposable glove with a force sensor embedded in the fingertips or palm. The sensor is based on the fiber-optic bendloss effect whereby light intensity from an infrared source is attenuated as the fiber is bent between a series of corrugated teeth. The sensor fabricated has a very low profile (10×7×1 mm) and has demonstrated high sensitivity, accuracy, range, and durability. Force feedback up to 90 N with an average force threshold at 0.19 N and average sensor resolution at 0.05 N has been demonstrated. A preliminary clinical study has also been conducted with anterior cruciate ligament reconstruction patients who show significant range of motion improvement when treated with the force-sensing glove.

An optimized BP neural network based on genetic algorithm for static decoupling of a six-axis force/torque sensor

NASA Astrophysics Data System (ADS)

Fu, Liyue; Song, Aiguo

2018-02-01

In order to improve the measurement precision of 6-axis force/torque sensor for robot, BP decoupling algorithm optimized by GA (GA-BP algorithm) is proposed in this paper. The weights and thresholds of a BP neural network with 6-10-6 topology are optimized by GA to develop decouple a six-axis force/torque sensor. By comparison with other traditional decoupling algorithm, calculating the pseudo-inverse matrix of calibration and classical BP algorithm, the decoupling results validate the good decoupling performance of GA-BP algorithm and the coupling errors are reduced.

A MEMS hardness sensor with reduced contact force dependence based on the reference plane concept aimed for medical applications

NASA Astrophysics Data System (ADS)

Maeda, Yusaku; Terao, Kyohei; Shimokawa, Fusao; Takao, Hidekuni

2016-04-01

In this study, the stable detection principle of a MEMS hardness sensor with “reference plane” structure is theoretically analyzed and demonstrated with experimental results. Hardness measurement independent of contact force instability is realized by the optimum design of the reference plane. The fabricated devices were evaluated, and a “shore A” hardness scale (JIS K 6301 A) was obtained as the reference in the range from A1 to A54 under a stable contact force. The contact force dependence on hardness sensor signals was effectively reduced by 96.6% using our reference plane design. Below 5 N contact force, the maximal signal error of hardness is suppressed to A8. This result corresponds to the detection capability for fat hardness, even when the contact force is unstable. Through experiments, stable detection of human body hardness has been demonstrated without any control of contact force.

Control of a Glove-Based Grasp Assist Device

NASA Technical Reports Server (NTRS)

Bergelin, Bryan J (Inventor); Ihrke, Chris A. (Inventor); Davis, Donald R. (Inventor); Linn, Douglas Martin (Inventor); Sanders, Adam M (Inventor); Askew, R. Scott (Inventor); Laske, Evan (Inventor); Ensley, Kody (Inventor)

2015-01-01

A grasp assist system includes a glove and sleeve. The glove includes a digit, i.e., a finger or thumb, and a force sensor. The sensor measures a grasping force applied to an object by an operator wearing the glove. The glove contains a tendon connected at a first end to the digit. The sleeve has an actuator assembly connected to a second end of the tendon and a controller in communication with the sensor. The controller includes a configuration module having selectable operating modes and a processor that calculates a tensile force to apply to the tendon for each of the selectable operating modes to assist the grasping force in a manner that differs for each of the operating modes. A method includes measuring the grasping force, selecting the mode, calculating the tensile force, and applying the tensile force to the tendon using the actuator assembly.

Measuring mitotic forces.

PubMed

Ye, Anna A; Maresca, Thomas J

2018-01-01

Productive chromosome movements require that a large multiprotein complex called the kinetochore assemble on sister centromeres. The kinetochore fulfills two critical functions as (1) the physical linkage between chromosomes and spindle microtubules and (2) a mechanomolecular sensor that relays a spindle assembly checkpoint signal delaying anaphase onset until chromosomes are attached to spindle microtubules and bioriented. Given its central roles in such a vital process, the kinetochore is one of the most important force-transducing structures in cells; yet it has been technically challenging to measure kinetochore forces. Barriers to measuring cellular forces have begun to be broken by the development of fluorescence-based tension sensors. In this chapter, two methods will be described for measuring kinetochore forces in living cells and strategies for applying these sensors to other force-transducing processes and molecules will be discussed. © 2018 Elsevier Inc. All rights reserved.

Experimental investigations of the large deflection capabilities of a compliant parallel mechanism actuated by shape memory alloy wires

NASA Astrophysics Data System (ADS)

Sreekumar, M.; Nagarajan, T.; Singaperumal, M.

2008-12-01

This experimental study investigates the coupled effect of the force developed by the shape memory alloy (SMA) actuators and the force required for the large deflection of an elastica member in a compliant parallel mechanism. The compliant mechanism developed in house consists of a moving platform mounted on a superelastic pillar and three SMA wire actuators to manipulate the platform. A three-axis MEMS accelerometer has been mounted on the moving platform to measure its tilt angle. Three miniature force sensors have been designed and fabricated out of cantilever beams, each mounted with a pair of strain gauges, to measure the force developed by the respective actuators. The force sensors are highly sensitive and cost effective compared to commercially available miniature force sensors. Calibration of the force sensors has been accomplished with known weights, and for the three-axis MEMS accelerometer a rotary base has been considered which is usually used in optical applications. The calibration curves obtained, with R-squared values between 0.9997 and 1.0, show that both the tilt and force sensors considered are most appropriate for the respective applications. The mechanism fixed with the sensors and the drivers for the SMA actuators is integrated with a National Instrument's data acquisition system. The experimental results have been compared with the analytical results and it was found that the relative error is less than 2%. This is a preliminary study in the development of a mechanism for eye prosthesis and similar applications.

Research on on-line monitoring technology for steel ball's forming process based on load signal analysis method

NASA Astrophysics Data System (ADS)

Li, Ying-jun; Ai, Chang-sheng; Men, Xiu-hua; Zhang, Cheng-liang; Zhang, Qi

2013-04-01

This paper presents a novel on-line monitoring technology to obtain forming quality in steel ball's forming process based on load signal analysis method, in order to reveal the bottom die's load characteristic in initial cold heading forging process of steel balls. A mechanical model of the cold header producing process is established and analyzed by using finite element method. The maximum cold heading force is calculated. The results prove that the monitoring on the cold heading process with upsetting force is reasonable and feasible. The forming defects are inflected on the three feature points of the bottom die signals, which are the initial point, infection point, and peak point. A novel PVDF piezoelectric force sensor which is simple on construction and convenient on installation is designed. The sensitivity of the PVDF force sensor is calculated. The characteristics of PVDF force sensor are analyzed by FEM. The PVDF piezoelectric force sensor is fabricated to acquire the actual load signals in the cold heading process, and calibrated by a special device. The measuring system of on-line monitoring is built. The characteristics of the actual signals recognized by learning and identification algorithm are in consistence with simulation results. Identification of actual signals shows that the timing difference values of all feature points for qualified products are not exceed ±6 ms, and amplitude difference values are less than ±3%. The calibration and application experiments show that PVDF force sensor has good static and dynamic performances, and is competent at dynamic measuring on upsetting force. It greatly improves automatic level and machining precision. Equipment capacity factor with damages identification method depends on grade of steel has been improved to 90%.

Surface plasmon resonance-based highly sensitive optical touch sensor with a hybrid noise rejection scheme.

PubMed

Sumriddetchkajorn, Sarun; Chaitavon, Kosom

2006-01-01

A surface plasmon resonance (SPR)-based optical touch sensor structure is proposed that provides high switch sensitivity and requires a weak activating force. Our proposed SPR-based optical touch sensor is arranged in a compact Kretschmann-Raether configuration in which the prism acting as our sensor head is coated with a metal nanofilm. Our optical-based noise rejection scheme relies on wavelength filtering, spatial filtering, and high reflectivity of the metal nanofilm, whereas our electrical-based noise reduction is obtained by means of an electrical signal filtering process. In our experimental proof of concept, a visible laser diode at a 655 nm centered wavelength and a prism made from BK7 with a 50 nm thick gold layer on the touching surface are used, showing a 7.85 dB optical contrast ratio for the first touch. An estimated weak mechanical force of <0.1 N is also observed that sufficiently activates the desired electrical load. It is tested for 51 operations without sensor malfunction under typical and very high illumination of 342 and 3000 lx, respectively. In this case, a measured average optical contrast of 0.80 dB is obtained with a +/-0.47 dB fluctuation, implying that the refractive index change in a small 3.2% of the overall active area is enough for our SPR-based optical touch sensor to function properly. Increasing optical contrast in our SPR-based optical touch sensor can be accomplished by using a higher polarization-extinction ratio and a narrower-bandwidth optical beam. A controlled environment and gold-coated surface using the thin-film sputtering technique can help improve the reliability and the durability of our SPR-based optical touch sensor. Other key features include ease of implementation, prevention of a light beam becoming incident on the user, and the ability to accept both strong and weak activating forces.

A novel integrated multifunction micro-sensor for three-dimensional micro-force measurements.

PubMed

Wang, Weizhong; Zhao, Yulong; Qin, Yafei

2012-01-01

An integrated multifunction micro-sensor for three-dimensional micro-force precision measurement under different pressure and temperature conditions is introduced in this paper. The integrated sensor consists of three kinds of sensors: a three-dimensional micro-force sensor, an absolute pressure sensor and a temperature sensor. The integrated multifunction micro-sensor is fabricated on silicon wafers by micromachining technology. Different doping doses of boron ion, placement and structure of resistors are tested for the force sensor, pressure sensor and temperature sensor to minimize the cross interference and optimize the properties. A glass optical fiber, with a ladder structure and sharp tip etched by buffer oxide etch solution, is glued on the micro-force sensor chip as the tactile probe. Experimental results show that the minimum force that can be detected by the force sensor is 300 nN; the lateral sensitivity of the force sensor is 0.4582 mV/μN; the probe length is linearly proportional to sensitivity of the micro-force sensor in lateral; the sensitivity of the pressure sensor is 0.11 mv/KPa; the sensitivity of the temperature sensor is 5.836 × 10(-3) KΩ/°C. Thus it is a cost-effective method to fabricate integrated multifunction micro-sensors with different measurement ranges that could be used in many fields.

Mechanical dynamics in live cells and fluorescence-based force/tension sensors

PubMed Central

Yang, Chao; Zhang, Xiaohan; Guo, Yichen; Meng, Fanjie; Sachs, Frederick; Guo, Jun

2016-01-01

Three signaling systems play the fundamental roles in modulating cell activities: chemical, electrical, and mechanical. While the former two are well studied, the mechanical signaling system is still elusive because of the lack of methods to measure structural forces in real time at cellular and subcellular levels. Indeed, almost all biological processes are responsive to modulation by mechanical forces that trigger dispersive downstream electrical and biochemical pathways. Communication among the three systems is essential to make cells and tissues receptive to environmental changes. Cells have evolved many sophisticated mechanisms for the generation, perception and transduction of mechanical forces, including motor proteins and mechanosensors. In this review, we introduce some background information about mechanical dynamics in live cells, including the ubiquitous mechanical activity, various types of mechanical stimuli exerted on cells and the different mechanosensors. We also summarize recent results obtained using genetically encoded FRET (fluorescence resonance energy transfer)-based force/tension sensors; a new technique used to measure mechanical forces in structural proteins. The sensors have been incorporated into many specific structural proteins and have measured the force gradients in real time within live cells, tissues, and animals. PMID:25958335

Microfabricated Electrical Connector for Atomic Force Microscopy Probes with Integrated Sensor/Actuator

NASA Astrophysics Data System (ADS)

Akiyama, Terunobu; Staufer, Urs; Rooij, Nico F. de

2002-06-01

A microfabricated, electrical connector is proposed for facilitating the mounting of atomic force microscopy (AFM) probes, which have an integrated sensor and/or actuator. Only a base chip, which acts as a socket, is permanently fixed onto a printed circuit board and electronically connected by standard wire bonding. The AFM chip, the “plug”, is flipped onto the base chip and pressed from the backside by a spring. Electrical contact with the eventual stress sensors, capacitive or piezoelectric sensor/actuators, is provided by contact bumps. These bumps of about 8 μm height are placed onto the base chip. They touch the pads on the AFM chip that were originally foreseen to be for wire bonding and thus provide the electrical contact. This connector schema was successfully used to register AFM images with piezoresistive cantilevers.

A wireless smart sensor network for automated monitoring of cable tension

NASA Astrophysics Data System (ADS)

Sim, Sung-Han; Li, Jian; Jo, Hongki; Park, Jong-Woong; Cho, Soojin; Spencer, Billie F., Jr.; Jung, Hyung-Jo

2014-02-01

As cables are primary load carrying members in cable-stayed bridges, monitoring the tension forces of the cables provides valuable information regarding structural soundness. Incorporating wireless smart sensors with vibration-based tension estimation methods provides an efficient means of autonomous long-term monitoring of cable tensions. This study develops a wireless cable tension monitoring system using MEMSIC’s Imote2 smart sensors. The monitoring system features autonomous operation, sustainable energy harvesting and power consumption, and remote access using the internet. To obtain the tension force, an in-network data processing strategy associated with the vibration-based tension estimation method is implemented on the Imote2-based sensor network, significantly reducing the wireless data transmission and the power consumption. The proposed monitoring system has been deployed and validated on the Jindo Bridge, a cable-stayed bridge located in South Korea.

Morphology-Dependent Resonances and Their Applications to Sensing in Aerospace Environments

NASA Technical Reports Server (NTRS)

Adamovsky, G.; Otugen, M.V.

2009-01-01

This paper reviews recent developments in Morphology-Dependent Resonance (MDR)-based sensors for aerospace applications. The sensor concept is based on the detection of small shifts of optical resonances (also called the whispering gallery modes or WGM) of dielectric spheres caused by external effects. Recent developments in MRD-based micro-optical sensors for temperature, force, pressure, and concentration are discussed. In addition to the experimental configurations used in each type of prototype sensor, a brief overview is also given for analytical approaches to describe the sensor principle.

Force Measurements in Magnetic Suspension and Balance System

NASA Technical Reports Server (NTRS)

Kuzin, Alexander; Shapovalov, George; Prohorov, Nikolay

1996-01-01

The description of an infrared telemetry system for measurement of drag forces in Magnetic Suspension and Balance Systems (MSBS) is presented. This system includes a drag force sensor, electronic pack and transmitter placed in the model which is of special construction, and receiver with a microprocessor-based measuring device, placed outside of the test section. Piezosensitive resonators as sensitive elements and non-magnetic steel as the material for the force sensor are used. The main features of the proposed system for load measurements are discussed and the main characteristics are presented.

Surface roughness model based on force sensors for the prediction of the tool wear.

PubMed

de Agustina, Beatriz; Rubio, Eva María; Sebastián, Miguel Ángel

2014-04-04

In this study, a methodology has been developed with the objective of evaluating the surface roughness obtained during turning processes by measuring the signals detected by a force sensor under the same cutting conditions. In this way, the surface quality achieved along the process is correlated to several parameters of the cutting forces (thrust forces, feed forces and cutting forces), so the effect that the tool wear causes on the surface roughness is evaluated. In a first step, the best cutting conditions (cutting parameters and radius of tool) for a certain quality surface requirement were found for pieces of UNS A97075. Next, with this selection a model of surface roughness based on the cutting forces was developed for different states of wear that simulate the behaviour of the tool throughout its life. The validation of this model reveals that it was effective for approximately 70% of the surface roughness values obtained.

Fiber Optic Force Sensors for MRI-Guided Interventions and Rehabilitation: A Review

PubMed Central

Iordachita, Iulian I.; Tokuda, Junichi; Hata, Nobuhiko; Liu, Xuan; Seifabadi, Reza; Xu, Sheng; Wood, Bradford; Fischer, Gregory S.

2017-01-01

Magnetic Resonance Imaging (MRI) provides both anatomical imaging with excellent soft tissue contrast and functional MRI imaging (fMRI) of physiological parameters. The last two decades have witnessed the manifestation of increased interest in MRI-guided minimally invasive intervention procedures and fMRI for rehabilitation and neuroscience research. Accompanying the aspiration to utilize MRI to provide imaging feedback during interventions and brain activity for neuroscience study, there is an accumulated effort to utilize force sensors compatible with the MRI environment to meet the growing demand of these procedures, with the goal of enhanced interventional safety and accuracy, improved efficacy and rehabilitation outcome. This paper summarizes the fundamental principles, the state of the art development and challenges of fiber optic force sensors for MRI-guided interventions and rehabilitation. It provides an overview of MRI-compatible fiber optic force sensors based on different sensing principles, including light intensity modulation, wavelength modulation, and phase modulation. Extensive design prototypes are reviewed to illustrate the detailed implementation of these principles. Advantages and disadvantages of the sensor designs are compared and analyzed. A perspective on the future development of fiber optic sensors is also presented which may have additional broad clinical applications. Future surgical interventions or rehabilitation will rely on intelligent force sensors to provide situational awareness to augment or complement human perception in these procedures. PMID:28652857

A Fabry-Perot Interferometry Based MRI-Compatible Miniature Uniaxial Force Sensor for Percutaneous Needle Placement

PubMed Central

Shang, Weijian; Su, Hao; Li, Gang; Furlong, Cosme; Fischer, Gregory S.

2014-01-01

Robot-assisted surgical procedures, taking advantage of the high soft tissue contrast and real-time imaging of magnetic resonance imaging (MRI), are developing rapidly. However, it is crucial to maintain tactile force feedback in MRI-guided needle-based procedures. This paper presents a Fabry-Perot interference (FPI) based system of an MRI-compatible fiber optic sensor which has been integrated into a piezoelectrically actuated robot for prostate cancer biopsy and brachytherapy in 3T MRI scanner. The opto-electronic sensing system design was minimized to fit inside an MRI-compatible robot controller enclosure. A flexure mechanism was designed that integrates the FPI sensor fiber for measuring needle insertion force, and finite element analysis was performed for optimizing the correct force-deformation relationship. The compact, low-cost FPI sensing system was integrated into the robot and calibration was conducted. The root mean square (RMS) error of the calibration among the range of 0–10 Newton was 0.318 Newton comparing to the theoretical model which has been proven sufficient for robot control and teleoperation. PMID:25126153

A Sub-Millimetric 3-DOF Force Sensing Instrument with Integrated Fiber Bragg Grating for Retinal Microsurgery

PubMed Central

He, Xingchi; Handa, James; Gehlbach, Peter; Taylor, Russell; Iordachita, Iulian

2013-01-01

Vitreoretinal surgery requires very fine motor control to perform precise manipulation of the delicate tissue in the interior of the eye. Besides physiological hand tremor, fatigue, poor kinesthetic feedback, and patient movement, the absence of force sensing is one of the main technical challenges. Previous two degrees of freedom (DOF) force sensing instruments have demonstrated robust force measuring performance. The main design challenge is to incorporate high sensitivity axial force sensing. This paper reports the development of a sub-millimetric 3-DOF force sensing pick instrument based on fiber Bragg grating (FBG) sensors. The configuration of the four FBG sensors is arranged to maximize the decoupling between axial and transverse force sensing. A super-elastic nitinol flexure is designed to achieve high axial force sensitivity. An automated calibration system was developed for repeatability testing, calibration, and validation. Experimental results demonstrate a FBG sensor repeatability of 1.3 pm. The linear model for calculating the transverse forces provides an accurate global estimate. While the linear model for axial force is only locally accurate within a conical region with a 30° vertex angle, a second-order polynomial model can provide a useful global estimate for axial force. Combining the linear model for transverse forces and nonlinear model for axial force, the 3-DOF force sensing instrument can provide sub-millinewton resolution for axial force and a quarter millinewton for transverse forces. Validation with random samples show the force sensor can provide consistent and accurate measurement of three dimensional forces. PMID:24108455

Networked sensors for the combat forces

NASA Astrophysics Data System (ADS)

Klager, Gene

2004-11-01

Real-time and detailed information is critical to the success of ground combat forces. Current manned reconnaissance, surveillance, and target acquisition (RSTA) capabilities are not sufficient to cover battlefield intelligence gaps, provide Beyond-Line-of-Sight (BLOS) targeting, and the ambush avoidance information necessary for combat forces operating in hostile situations, complex terrain, and conducting military operations in urban terrain. This paper describes a current US Army program developing advanced networked unmanned/unattended sensor systems to survey these gaps and provide the Commander with real-time, pertinent information. Networked Sensors for the Combat Forces plans to develop and demonstrate a new generation of low cost distributed unmanned sensor systems organic to the RSTA Element. Networked unmanned sensors will provide remote monitoring of gaps, will increase a unit"s area of coverage, and will provide the commander organic assets to complete his Battlefield Situational Awareness (BSA) picture for direct and indirect fire weapons, early warning, and threat avoidance. Current efforts include developing sensor packages for unmanned ground vehicles, small unmanned aerial vehicles, and unattended ground sensors using advanced sensor technologies. These sensors will be integrated with robust networked communications and Battle Command tools for mission planning, intelligence "reachback", and sensor data management. The network architecture design is based on a model that identifies a three-part modular design: 1) standardized sensor message protocols, 2) Sensor Data Management, and 3) Service Oriented Architecture. This simple model provides maximum flexibility for data exchange, information management and distribution. Products include: Sensor suites optimized for unmanned platforms, stationary and mobile versions of the Sensor Data Management Center, Battle Command planning tools, networked communications, and sensor management software. Details of these products and recent test results will be presented.

Power modulation based fiber-optic loop-sensor having a dual measurement range

NASA Astrophysics Data System (ADS)

Nguyen, Nguyen Q.; Gupta, Nikhil

2009-08-01

A fiber-optic sensor is investigated in this work for potential applications in structural health monitoring. The sensor, called fiber-loop-sensor, is based on bending an optical fiber beyond a critical radius to obtain intensity losses and calibrating the losses with respect to the applied force or displacement. Additionally, in the present case, the use of single-mode optical fibers allows the appearance of several resonance peaks in the transmitted power-displacement graph. The intensity of one of these resonances can be tracked in a narrow range to obtain high sensitivity. Experimental results show that the resolution of 10-4 N for force and 10-5 m for displacement can be obtained in these sensors. The sensors are calibrated for various loop radii and for various loading rates. They are also tested under loading-unloading conditions for over 104 cycles to observe their fatigue behavior. The sensors show very repeatable response and no degradation in performance under these test conditions. Simple construction and instrumentation, high sensitivity, and low cost are the advantages of these sensors.

Method for six-legged robot stepping on obstacles by indirect force estimation

NASA Astrophysics Data System (ADS)

Xu, Yilin; Gao, Feng; Pan, Yang; Chai, Xun

2016-07-01

Adaptive gaits for legged robots often requires force sensors installed on foot-tips, however impact, temperature or humidity can affect or even damage those sensors. Efforts have been made to realize indirect force estimation on the legged robots using leg structures based on planar mechanisms. Robot Octopus III is a six-legged robot using spatial parallel mechanism(UP-2UPS) legs. This paper proposed a novel method to realize indirect force estimation on walking robot based on a spatial parallel mechanism. The direct kinematics model and the inverse kinematics model are established. The force Jacobian matrix is derived based on the kinematics model. Thus, the indirect force estimation model is established. Then, the relation between the output torques of the three motors installed on one leg to the external force exerted on the foot tip is described. Furthermore, an adaptive tripod static gait is designed. The robot alters its leg trajectory to step on obstacles by using the proposed adaptive gait. Both the indirect force estimation model and the adaptive gait are implemented and optimized in a real time control system. An experiment is carried out to validate the indirect force estimation model. The adaptive gait is tested in another experiment. Experiment results show that the robot can successfully step on a 0.2 m-high obstacle. This paper proposes a novel method to overcome obstacles for the six-legged robot using spatial parallel mechanism legs and to avoid installing the electric force sensors in harsh environment of the robot's foot tips.

A slow-adapting microfluidic-based tactile sensor

NASA Astrophysics Data System (ADS)

Tseng, W.-Y.; Fisher, J. S.; Prieto, J. L.; Rinaldi, K.; Alapati, G.; Lee, A. P.

2009-08-01

We present a microfluidic-based tactile sensor mimicking the human slow-adapting mechanoreceptor such as Merkel's disc. The sensor is composed of a polyimide (PI)/polydimethylsiloxane (PDMS) multilayer structure. The device uses a hemispherical reservoir filled with electrolyte solution in the PDMS layer, a microchannel in the PI layer and a pair of sensing electrodes below the microchannel as the force transducer. The tactile signal is detected as the impedance change resulting predominantly from the resistance variance due to the electrodes coverage by the 1M NaCl solution and is measured across the electrode pair. The sensor response is linear and the working range is shown to be in the range of 0-1.8 N. The characterization results also demonstrate the sensing of various levels of forces and its long-term signal stability.

Grip Force and 3D Push-Pull Force Estimation Based on sEMG and GRNN

PubMed Central

Wu, Changcheng; Zeng, Hong; Song, Aiguo; Xu, Baoguo

2017-01-01

The estimation of the grip force and the 3D push-pull force (push and pull force in the three dimension space) from the electromyogram (EMG) signal is of great importance in the dexterous control of the EMG prosthetic hand. In this paper, an action force estimation method which is based on the eight channels of the surface EMG (sEMG) and the Generalized Regression Neural Network (GRNN) is proposed to meet the requirements of the force control of the intelligent EMG prosthetic hand. Firstly, the experimental platform, the acquisition of the sEMG, the feature extraction of the sEMG and the construction of GRNN are described. Then, the multi-channels of the sEMG when the hand is moving are captured by the EMG sensors attached on eight different positions of the arm skin surface. Meanwhile, a grip force sensor and a three dimension force sensor are adopted to measure the output force of the human's hand. The characteristic matrix of the sEMG and the force signals are used to construct the GRNN. The mean absolute value and the root mean square of the estimation errors, the correlation coefficients between the actual force and the estimated force are employed to assess the accuracy of the estimation. Analysis of variance (ANOVA) is also employed to test the difference of the force estimation. The experiments are implemented to verify the effectiveness of the proposed estimation method and the results show that the output force of the human's hand can be correctly estimated by using sEMG and GRNN method. PMID:28713231

Grip Force and 3D Push-Pull Force Estimation Based on sEMG and GRNN.

PubMed

Wu, Changcheng; Zeng, Hong; Song, Aiguo; Xu, Baoguo

2017-01-01

The estimation of the grip force and the 3D push-pull force (push and pull force in the three dimension space) from the electromyogram (EMG) signal is of great importance in the dexterous control of the EMG prosthetic hand. In this paper, an action force estimation method which is based on the eight channels of the surface EMG (sEMG) and the Generalized Regression Neural Network (GRNN) is proposed to meet the requirements of the force control of the intelligent EMG prosthetic hand. Firstly, the experimental platform, the acquisition of the sEMG, the feature extraction of the sEMG and the construction of GRNN are described. Then, the multi-channels of the sEMG when the hand is moving are captured by the EMG sensors attached on eight different positions of the arm skin surface. Meanwhile, a grip force sensor and a three dimension force sensor are adopted to measure the output force of the human's hand. The characteristic matrix of the sEMG and the force signals are used to construct the GRNN. The mean absolute value and the root mean square of the estimation errors, the correlation coefficients between the actual force and the estimated force are employed to assess the accuracy of the estimation. Analysis of variance (ANOVA) is also employed to test the difference of the force estimation. The experiments are implemented to verify the effectiveness of the proposed estimation method and the results show that the output force of the human's hand can be correctly estimated by using sEMG and GRNN method.

Experimental Verification of Buffet Calculation Procedure Using Unsteady PSP

NASA Technical Reports Server (NTRS)

Panda, Jayanta

2016-01-01

Typically a limited number of dynamic pressure sensors are employed to determine the unsteady aerodynamic forces on large, slender aerospace structures. The estimated forces are known to be very sensitive to the number of the dynamic pressure sensors and the details of the integration scheme. This report describes a robust calculation procedure, based on frequency-specific correlation lengths, that is found to produce good estimation of fluctuating forces from a few dynamic pressure sensors. The validation test was conducted on a flat panel, placed on the floor of a wind tunnel, and was subjected to vortex shedding from a rectangular bluff-body. The panel was coated with fast response Pressure Sensitive Paint (PSP), which allowed time-resolved measurements of unsteady pressure fluctuations on a dense grid of spatial points. The first part of the report describes the detail procedure used to analyze the high-speed, PSP camera images. The procedure includes steps to reduce contamination by electronic shot noise, correction for spatial non-uniformities, and lamp brightness variation, and finally conversion of fluctuating light intensity to fluctuating pressure. The latter involved applying calibration constants from a few dynamic pressure sensors placed at selective points on the plate. Excellent comparison in the spectra, coherence and phase, calculated via PSP and dynamic pressure sensors validated the PSP processing steps. The second part of the report describes the buffet validation process, for which the first step was to use pressure histories from all PSP points to determine the "true" force fluctuations. In the next step only a selected number of pixels were chosen as "virtual sensors" and a correlation-length based buffet calculation procedure was applied to determine "modeled" force fluctuations. By progressively decreasing the number of virtual sensors it was observed that the present calculation procedure was able to make a close estimate of the "true" unsteady forces only from four sensors. It is believed that the present work provides the first validation of the buffet calculation procedure which has been used for the development of many space vehicles.

Integrated Force and Distance Sensing using Elastomer-Embedded Commodity Proximity Sensors.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Patel, Radhen; Cox, Rebecca E.; Correll, Nikolaus

We describe a combined proximity, contact and force (PCF) sensor based on a commodity infrared distance sensor embedded in a transparent elastomer with applications in robotic manipulation. Prior to contact, the sensor works as a distance sensor (0{6 cm), whereas after contact the material doubles as a spring, with force proportional to the compression of the elastomer (0{5 N). We describe its principle of operation and design parameters, including polymer thickness, mixing ratio, and emitter current, and show that the sensor response has an in ection point at contact that is independent of an object's surface properties, making it amore » robust detector for contact events. We then demonstrate how arrays of sensors, custom made for a standard Baxter gripper as well as embedded in the nger of the Kinova hand, can be used to (1) improve gripper alignment during grasping, (2) determine contact points with objects, (3) obtain simple 3D models using both proximity and touch, and (4) register point clouds from touch and RGB-D data.« less

Force sensor characterization under sinusoidal excitations.

PubMed

Medina, Nieves; de Vicente, Jesús

2014-10-06

The aim in the current work is the development of a method to characterize force sensors under sinusoidal excitations using a primary standard as the source of traceability. During this work the influence factors have been studied and a method to minimise their contributions, as well as the corrections to be performed under dynamic conditions have been established. These results will allow the realization of an adequate characterization of force sensors under sinusoidal excitations, which will be essential for its further proper use under dynamic conditions. The traceability of the sensor characterization is based in the direct definition of force as mass multiplied by acceleration. To do so, the sensor is loaded with different calibrated loads and is maintained under different sinusoidal accelerations by means of a vibration shaker system that is able to generate accelerations up to 100 m/s2 with frequencies from 5 Hz up to 2400 Hz. The acceleration is measured by means of a laser vibrometer with traceability to the units of time and length. A multiple channel data acquisition system is also required to simultaneously acquire the electrical output signals of the involved instrument in real time.

Interaction force and motion estimators facilitating impedance control of the upper limb rehabilitation robot.

PubMed

Mancisidor, Aitziber; Zubizarreta, Asier; Cabanes, Itziar; Bengoa, Pablo; Jung, Je Hyung

2017-07-01

In order to enhance the performance of rehabilitation robots, it is imperative to know both force and motion caused by the interaction between user and robot. However, common direct measurement of both signals through force and motion sensors not only increases the complexity of the system but also impedes affordability of the system. As an alternative of the direct measurement, in this work, we present new force and motion estimators for the proper control of the upper-limb rehabilitation Universal Haptic Pantograph (UHP) robot. The estimators are based on the kinematic and dynamic model of the UHP and the use of signals measured by means of common low-cost sensors. In order to demonstrate the effectiveness of the estimators, several experimental tests were carried out. The force and impedance control of the UHP was implemented first by directly measuring the interaction force using accurate extra sensors and the robot performance was compared to the case where the proposed estimators replace the direct measured values. The experimental results reveal that the controller based on the estimators has similar performance to that using direct measurement (less than 1 N difference in root mean square error between two cases), indicating that the proposed force and motion estimators can facilitate implementation of interactive controller for the UHP in robotmediated rehabilitation trainings.

Implantable sensor technology: measuring bone and joint biomechanics of daily life in vivo

PubMed Central

2013-01-01

Stresses and strains are major factors influencing growth, remodeling and repair of musculoskeletal tissues. Therefore, knowledge of forces and deformation within bones and joints is critical to gain insight into the complex behavior of these tissues during development, aging, and response to injury and disease. Sensors have been used in vivo to measure strains in bone, intraarticular cartilage contact pressures, and forces in the spine, shoulder, hip, and knee. Implantable sensors have a high impact on several clinical applications, including fracture fixation, spine fixation, and joint arthroplasty. This review summarizes the developments in strain-measurement-based implantable sensor technology for musculoskeletal research. PMID:23369655

Computational Intelligence Based Data Fusion Algorithm for Dynamic sEMG and Skeletal Muscle Force Modelling

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chandrasekhar Potluri,; Madhavi Anugolu; Marco P. Schoen

2013-08-01

In this work, an array of three surface Electrography (sEMG) sensors are used to acquired muscle extension and contraction signals for 18 healthy test subjects. The skeletal muscle force is estimated using the acquired sEMG signals and a Non-linear Wiener Hammerstein model, relating the two signals in a dynamic fashion. The model is obtained from using System Identification (SI) algorithm. The obtained force models for each sensor are fused using a proposed fuzzy logic concept with the intent to improve the force estimation accuracy and resilience to sensor failure or misalignment. For the fuzzy logic inference system, the sEMG entropy,more » the relative error, and the correlation of the force signals are considered for defining the membership functions. The proposed fusion algorithm yields an average of 92.49% correlation between the actual force and the overall estimated force output. In addition, the proposed fusionbased approach is implemented on a test platform. Experiments indicate an improvement in finger/hand force estimation.« less

Design Principles for Rapid Prototyping Forces Sensors using 3D Printing.

PubMed

Kesner, Samuel B; Howe, Robert D

2011-07-21

Force sensors provide critical information for robot manipulators, manufacturing processes, and haptic interfaces. Commercial force sensors, however, are generally not adapted to specific system requirements, resulting in sensors with excess size, cost, and fragility. To overcome these issues, 3D printers can be used to create components for the quick and inexpensive development of force sensors. Limitations of this rapid prototyping technology, however, require specialized design principles. In this paper, we discuss techniques for rapidly developing simple force sensors, including selecting and attaching metal flexures, using inexpensive and simple displacement transducers, and 3D printing features to aid in assembly. These design methods are illustrated through the design and fabrication of a miniature force sensor for the tip of a robotic catheter system. The resulting force sensor prototype can measure forces with an accuracy of as low as 2% of the 10 N measurement range.

77 FR 22770 - U.S. Air Force Scientific Advisory Board; Notice of Meeting

Federal Register 2010, 2011, 2012, 2013, 2014

2012-04-17

... extended use of Air Force Space Command space-based sensors. In accordance with 5 U.S.C. 552b, as amended... DEPARTMENT OF DEFENSE Department of the Air Force U.S. Air Force Scientific Advisory Board; Notice of Meeting AGENCY: Department of the Air Force, U.S. Air Force Scientific Advisory Board. ACTION...

A 3D CFD Simulation and Analysis of Flow-Induced Forces on Polymer Piezoelectric Sensors in a Chinese Liquors Identification E-Nose.

PubMed

Gu, Yu; Wang, Yang-Fu; Li, Qiang; Liu, Zu-Wu

2016-10-20

Chinese liquors can be classified according to their flavor types. Accurate identification of Chinese liquor flavors is not always possible through professional sommeliers' subjective assessment. A novel polymer piezoelectric sensor electric nose (e-nose) can be applied to distinguish Chinese liquors because of its excellent ability in imitating human senses by using sensor arrays and pattern recognition systems. The sensor, based on the quartz crystal microbalance (QCM) principle is comprised of a quartz piezoelectric crystal plate sandwiched between two specific gas-sensitive polymer coatings. Chinese liquors are identified by obtaining the resonance frequency value changes of each sensor using the e-nose. However, the QCM principle failed to completely account for a particular phenomenon: we found that the resonance frequency values fluctuated in the stable state. For better understanding the phenomenon, a 3D Computational Fluid Dynamics (CFD) simulation using the finite volume method is employed to study the influence of the flow-induced forces to the resonance frequency fluctuation of each sensor in the sensor box. A dedicated procedure was developed for modeling the flow of volatile gas from Chinese liquors in a realistic scenario to give reasonably good results with fair accuracy. The flow-induced forces on the sensors are displayed from the perspective of their spatial-temporal and probability density distributions. To evaluate the influence of the fluctuation of the flow-induced forces on each sensor and ensure the serviceability of the e-nose, the standard deviation of resonance frequency value (SD F ) and the standard deviation of resultant forces (SD Fy ) in y-direction (F y ) are compared. Results show that the fluctuations of F y are bound up with the resonance frequency values fluctuations. To ensure that the sensor's resonance frequency values are steady and only fluctuate slightly, in order to improve the identification accuracy of Chinese liquors using the e-nose, the sensors in the sensor box should be in the proper place, i.e., where the fluctuations of the flow-induced forces is relatively small. This plays a significant reference role in determining the optimum design of the e-nose for accurately identifying Chinese liquors.

Problems and research issues associated with the hybrid control of force and displacement

NASA Technical Reports Server (NTRS)

Paul, R. P.

1987-01-01

The hybrid control of force and position is basic to the science of robotics but is only poorly understood. Before much progress can be made in robotics, this problem needs to be solved in a robust manner. However, the use of hybrid control implies the existence of a model of the environment, not an exact model (as the function of hybrid control is to accommodate these errors), but a model appropriate for planning and reasoning. The monitored forces in position control are interpreted in terms of a model of the task as are the monitored displacements in force control. The reaction forces of the task of writing are far different from those of hammering. The programming of actions in such a modeled world becomes more complicated and systems of task level programming need to be developed. Sensor based robotics, of which force sensing is the most basic, implies an entirely new level of technology. Indeed, robot force sensors, no matter how compliant they may be, must be protected from accidental collisions. This implies other sensors to monitor task execution and again the use of a world model. This new level of technology is the task level, in which task actions are specified, not the actions of individual sensors and manipulators.

Surface Roughness Model Based on Force Sensors for the Prediction of the Tool Wear

PubMed Central

de Agustina, Beatriz; Rubio, Eva María; Sebastián, Miguel Ángel

2014-01-01

In this study, a methodology has been developed with the objective of evaluating the surface roughness obtained during turning processes by measuring the signals detected by a force sensor under the same cutting conditions. In this way, the surface quality achieved along the process is correlated to several parameters of the cutting forces (thrust forces, feed forces and cutting forces), so the effect that the tool wear causes on the surface roughness is evaluated. In a first step, the best cutting conditions (cutting parameters and radius of tool) for a certain quality surface requirement were found for pieces of UNS A97075. Next, with this selection a model of surface roughness based on the cutting forces was developed for different states of wear that simulate the behaviour of the tool throughout its life. The validation of this model reveals that it was effective for approximately 70% of the surface roughness values obtained. PMID:24714391

Force feedback in a piezoelectric linear actuator for neurosurgery.

PubMed

De Lorenzo, Danilo; De Momi, Elena; Dyagilev, Ilya; Manganelli, Rudy; Formaglio, Alessandro; Prattichizzo, Domenico; Shoham, Moshe; Ferrigno, Giancarlo

2011-09-01

Force feedback in robotic minimally invasive surgery allows the human operator to manipulate tissues as if his/her hands were in contact with the patient organs. A force sensor mounted on the probe raises problems with sterilization of the overall surgical tool. Also, the use of off-axis gauges introduces a moment that increases the friction force on the bearing, which can easily mask off the signal, given the small force to be measured. This work aims at designing and testing two methods for estimating the resistance to the advancement (force) experienced by a standard probe for brain biopsies within a brain-like material. The further goal is to provide a neurosurgeon using a master-slave tele-operated driver with direct feedback on the tissue mechanical characteristics. Two possible sensing methods, in-axis strain gauge force sensor and position-position error (control-based method), were implemented and tested, both aimed at device miniaturization. The analysis carried out was aimed at fulfilment of the psychophysics requirements for force detection and delay tolerance, also taking into account safety, which is directly related to the last two issues. Controller parameters definition is addressed and consideration is given to development of the device with integration of a haptic interface. Results show better performance of the control-based method (RMSE < 0.1 N), which is also best for reliability, sterilizability, and material dimensions for the application addressed. The control-based method developed for force estimation is compatible with the neurosurgical application and is also capable of measuring tissue resistance without any additional sensors. Force feedback in minimally invasive surgery allows the human operator to manipulate tissues as if his/her hands were in contact with the patient organs. Copyright © 2011 John Wiley & Sons, Ltd.

Design and validation of the Grip-ball for measurement of hand grip strength.

PubMed

Jaber, Rana; Hewson, David J; Duchêne, Jacques

2012-11-01

The Grip-ball is a new dynamometer used to evaluate grip strength, as well as for use in home-based rehabilitation of the hand and forearm. The Grip-ball consists of pressure and temperature sensors and an electronic wireless communication system contained in an airtight ball. That can be inflated to different pressures. The device has advantages over standard dynamometers in that it looks like a simple ball, and can wirelessly communicate via Bluetooth to any compatible receiver, thus have potential to be used for clinical assessment and rehabilitation in a remote setting. The reliability and reproducibility of the device were assessed for the pressure sensor itself, as well as the relationship between the force applied and the pressure measured by the Grip-ball. The initial validation was performed using the pressure sensor without the ball in order to confirm the accuracy of the sensor used. A second validation study was conducted using the Grip-ball rather than just its sensor to examine the relationship between the pressure measured inside the ball and force applied. The results showed that there is a very good correlation (r=0.997, p<0.05) between the pressure measured by the Grip-ball sensor and that measured by a Vigorimeter, thus confirming the reliability of the sensor used in the Grip-ball. A quadratic regression equation was calculated in order to predict the force applied based on the pressure measured inside the ball, and the initial pressure to which the ball was inflated (R(2)=0.97, standard error 10.9N). Such a finding compares favourably with the variability inherent in Jamar recordings, thus indicating that the Grip-ball could be used to assess grip force. An industrial version of the Grip-ball, which is currently under development, will be able to be used for the entire range of grip force in the population. Copyright © 2012 IPEM. Published by Elsevier Ltd. All rights reserved.

A Novel Angular Acceleration Sensor Based on the Electromagnetic Induction Principle and Investigation of Its Calibration Tests

PubMed Central

Zhao, Hao; Feng, Hao

2013-01-01

An angular acceleration sensor can be used for the dynamic analysis of human and joint motions. In this paper, an angular acceleration sensor with novel structure based on the principle of electromagnetic induction is designed. The method involves the construction of a constant magnetic field by the excitation windings of sensor, and the cup-shaped rotor that cut the magnetic field. The output windings of the sensor generate an electromotive force, which is directly proportional to the angular acceleration through the electromagnetic coupling when the rotor has rotational angular acceleration. The mechanical structure and the magnetic working circuit of the sensor are described. The output properties and the mathematical model including the transfer function and state-space model of the sensor are established. The asymptotical stability of the sensor when it is working is verified by the Lyapunov Theorem. An angular acceleration calibration device based on the torsional pendulum principle is designed. The method involves the coaxial connection of the angular acceleration sensor, torsion pendulum and a high-precision angle sensor, and then an initial external force is applied to the torsion pendulum to produce a periodic damping angle oscillation. The angular acceleration sensor and the angle sensor will generate two corresponding electrical signals. The sensitivity coefficient of the angular acceleration sensor can be obtained after processing these two-channel signals. The experiment results show that the sensitivity coefficient of the sensor is about 17.29 mv/Krad·s2. Finally, the errors existing in the practical applications of the sensor are discussed and the corresponding improvement measures are proposed to provide effective technical support for the practical promotion of the novel sensor. PMID:23941911

Improved response time of flexible microelectromechanical sensors employing eco-friendly nanomaterials.

PubMed

Fan, Shicheng; Dan, Li; Meng, Lingju; Zheng, Wei; Elias, Anastasia; Wang, Xihua

2017-11-09

Flexible force/pressure sensors are of interest for academia and industry and have applications in wearable technologies. Most of such sensors on the market or reported in journal publications are based on the operation mechanism of probing capacitance or resistance changes of the materials under pressure. Recently, we reported the microelectromechanical (MEM) sensors based on a different mechanism: mechanical switches. Multiples of such MEM sensors can be integrated to achieve the same function of regular force/pressure sensors while having the advantages of ease of fabrication and long-term stability in operation. Herein, we report the dramatically improved response time (more than one order of magnitude) of these MEM sensors by employing eco-friendly nanomaterials-cellulose nanocrystals. For instance, the incorporation of polydimethysiloxane filled with cellulose nanocrystals shortened the response time of MEM sensors from sub-seconds to several milliseconds, leading to the detection of both diastolic and systolic pressures in the radial arterial blood pressure measurement. Comprehensive mechanical and electrical characterization of the materials and the devices reveal that greatly enhanced storage modulus and loss modulus play key roles in this improved response time. The demonstrated fast-response flexible sensors enabled continuous monitoring of heart rate and complex cardiovascular signals using pressure sensors for future wearable sensing platforms.

Evaluation of Visibility Sensors at the Eglin Air Force Base Climatic Chamber

DOT National Transportation Integrated Search

1983-10-01

Three transmissometers and five forward-scatter meters were evaluated for measuring fog, haze, rain and snow in the large test chamber of the Eglin Air Force Base Climatic Laboratory. Methods were developed for generating moderately uniform and stabl...

Bite force measurement based on fiber Bragg grating sensor

NASA Astrophysics Data System (ADS)

Padma, Srivani; Umesh, Sharath; Asokan, Sundarrajan; Srinivas, Talabattula

2017-10-01

The maximum level of voluntary bite force, which results from the combined action of muscle of mastication, joints, and teeth, i.e., craniomandibular structure, is considered as one of the major indicators for the functional state of the masticatory system. Measurement of voluntary bite force provides useful data for the jaw muscle function and activity along with assessment of prosthetics. This study proposes an in vivo methodology for the dynamic measurement of bite force employing a fiber Bragg grating (FBG) sensor known as bite force measurement device (BFMD). The BFMD developed is a noninvasive intraoral device, which transduces the bite force exerted at the occlusal surface into strain variations on a metal plate. These strain variations are acquired by the FBG sensor bonded over it. The BFMD developed facilitates adjustment of the distance between the biting platform, which is essential to capture the maximum voluntary bite force at three different positions of teeth, namely incisor, premolar, and molar sites. The clinically relevant bite forces are measured at incisor, molar, and premolar position and have been compared against each other. Furthermore, the bite forces measured with all subjects are segregated according to gender and also compared against each other.

Detecting stages of needle penetration into tissues through force estimation at needle tip using fiber Bragg grating sensors

NASA Astrophysics Data System (ADS)

Kumar, Saurabh; Shrikanth, Venkoba; Amrutur, Bharadwaj; Asokan, Sundarrajan; Bobji, Musuvathi S.

2016-12-01

Several medical procedures involve the use of needles. The advent of robotic and robot assisted procedures requires dynamic estimation of the needle tip location during insertion for use in both assistive systems as well as for automatic control. Most prior studies have focused on the maneuvering of solid flexible needles using external force measurements at the base of the needle holder. However, hollow needles are used in several procedures and measurements of forces in proximity of such needles can eliminate the need for estimating frictional forces that have high variations. These measurements are also significant for endoscopic procedures in which measurement of forces at the needle holder base is difficult. Fiber Bragg grating sensors, due to their small size, inert nature, and multiplexing capability, provide a good option for this purpose. Force measurements have been undertaken during needle insertion into tissue mimicking phantoms made of polydimethylsiloxane as well as chicken tissue using an 18-G needle instrumented with FBG sensors. The results obtained show that it is possible to estimate the different stages of needle penetration including partial rupture, which is significant for procedures in which precise estimation of needle tip position inside the organ or tissue is required.

Micromachined piconewton force sensor for biophysics investigations

DOE Office of Scientific and Technical Information (OSTI.GOV)

Koch, Steven J.; Thayer, Gayle E.; Corwin, Alex D.

2006-10-23

We describe a micromachined force sensor that is able to measure forces as small as 1 pN in both air and water. First, we measured the force field produced by an electromagnet on individual 2.8 {mu}m magnetic beads glued to the sensor. By repeating with 11 different beads, we measured a 9% standard deviation in saturation magnetization. We next demonstrated that the sensor was fully functional when immersed in physiological buffer. These results show that the force sensors can be useful for magnetic force calibration and also for measurement of biophysical forces on chip.

Force Sensor Characterization Under Sinusoidal Excitations

PubMed Central

Medina, Nieves; de Vicente, Jesús

2014-01-01

The aim in the current work is the development of a method to characterize force sensors under sinusoidal excitations using a primary standard as the source of traceability. During this work the influence factors have been studied and a method to minimise their contributions, as well as the corrections to be performed under dynamic conditions have been established. These results will allow the realization of an adequate characterization of force sensors under sinusoidal excitations, which will be essential for its further proper use under dynamic conditions. The traceability of the sensor characterization is based in the direct definition of force as mass multiplied by acceleration. To do so, the sensor is loaded with different calibrated loads and is maintained under different sinusoidal accelerations by means of a vibration shaker system that is able to generate accelerations up to 100 m/s2 with frequencies from 5 Hz up to 2400 Hz. The acceleration is measured by means of a laser vibrometer with traceability to the units of time and length. A multiple channel data acquisition system is also required to simultaneously acquire the electrical output signals of the involved instrument in real time. PMID:25290287

3D capacitive tactile sensor using DRIE micromachining

NASA Astrophysics Data System (ADS)

Chuang, Chiehtang; Chen, Rongshun

2005-07-01

This paper presents a three dimensional micro capacitive tactile sensor that can detect normal and shear forces which is fabricated using deep reactive ion etching (DRIE) bulk silicon micromachining. The tactile sensor consists of a force transmission plate, a symmetric suspension system, and comb electrodes. The sensing character is based on the changes of capacitance between coplanar sense electrodes. High sensitivity is achieved by using the high aspect ratio interdigital electrodes with narrow comb gaps and large overlap areas. The symmetric suspension mechanism of this sensor can easily solve the coupling problem of measurement and increase the stability of the structure. In this paper, the sensor structure is designed, the capacitance variation of the proposed device is theoretically analyzed, and the finite element analysis of mechanical behavior of the structures is performed.

Optical Characterization of Lorentz Force Based CMOS-MEMS Magnetic Field Sensor

PubMed Central

Dennis, John Ojur; Ahmad, Farooq; Khir, M. Haris Bin Md; Hamid, Nor Hisham Bin

2015-01-01

Magnetic field sensors are becoming an essential part of everyday life due to the improvements in their sensitivities and resolutions, while at the same time they have become compact, smaller in size and economical. In the work presented herein a Lorentz force based CMOS-MEMS magnetic field sensor is designed, fabricated and optically characterized. The sensor is fabricated by using CMOS thin layers and dry post micromachining is used to release the device structure and finally the sensor chip is packaged in DIP. The sensor consists of a shuttle which is designed to resonate in the lateral direction (first mode of resonance). In the presence of an external magnetic field, the Lorentz force actuates the shuttle in the lateral direction and the amplitude of resonance is measured using an optical method. The differential change in the amplitude of the resonating shuttle shows the strength of the external magnetic field. The resonance frequency of the shuttle is determined to be 8164 Hz experimentally and from the resonance curve, the quality factor and damping ratio are obtained. In an open environment, the quality factor and damping ratio are found to be 51.34 and 0.00973 respectively. The sensitivity of the sensor is determined in static mode to be 0.034 µm/mT when a current of 10 mA passes through the shuttle, while it is found to be higher at resonance with a value of 1.35 µm/mT at 8 mA current. Finally, the resolution of the sensor is found to be 370.37 µT. PMID:26225972

Optical Characterization of Lorentz Force Based CMOS-MEMS Magnetic Field Sensor.

PubMed

Dennis, John Ojur; Ahmad, Farooq; Khir, M Haris Bin Md; Bin Hamid, Nor Hisham

2015-07-27

Magnetic field sensors are becoming an essential part of everyday life due to the improvements in their sensitivities and resolutions, while at the same time they have become compact, smaller in size and economical. In the work presented herein a Lorentz force based CMOS-MEMS magnetic field sensor is designed, fabricated and optically characterized. The sensor is fabricated by using CMOS thin layers and dry post micromachining is used to release the device structure and finally the sensor chip is packaged in DIP. The sensor consists of a shuttle which is designed to resonate in the lateral direction (first mode of resonance). In the presence of an external magnetic field, the Lorentz force actuates the shuttle in the lateral direction and the amplitude of resonance is measured using an optical method. The differential change in the amplitude of the resonating shuttle shows the strength of the external magnetic field. The resonance frequency of the shuttle is determined to be 8164 Hz experimentally and from the resonance curve, the quality factor and damping ratio are obtained. In an open environment, the quality factor and damping ratio are found to be 51.34 and 0.00973 respectively. The sensitivity of the sensor is determined in static mode to be 0.034 µm/mT when a current of 10 mA passes through the shuttle, while it is found to be higher at resonance with a value of 1.35 µm/mT at 8 mA current. Finally, the resolution of the sensor is found to be 370.37 µT.

Applications of pressure-sensitive dielectric elastomer sensors

NASA Astrophysics Data System (ADS)

Böse, Holger; Ocak, Deniz; Ehrlich, Johannes

2016-04-01

Dielectric elastomer sensors for the measurement of compression loads with high sensitivity are described. The basic design of the sensors exhibits two profiled surfaces between which an elastomer film is confined. All components of the sensor were prepared with silicone whose stiffness can be varied in a wide range. Depending on details of the sensor design, various effects contribute to the enhancement of the capacitance. The intermediate elastomer film is stretched upon compression and electrode layers on the elastomer profiles and in the elastomer film approach each other. Different designs of the pressure sensor give rise to very different sensor characteristics in terms of the dependence of electric capacitance on compression force. Due to their inherent flexibility, the pressure sensors can be used on compliant substrates such as seats or beds or on the human body. This gives rise to numerous possible applications. The contribution describes also some examples of possible sensor applications. A glove was equipped with various sensors positioned at the finger tips. When grabbing an object with the glove, the sensors can detect the gripping forces of the individual fingers with high sensitivity. In a demonstrator of the glove equipped with seven sensors, the capacitances representing the gripping forces are recorded on a display. In another application example, a lower limb prosthesis was equipped with a pressure sensor to detect the load on the remaining part of the leg and the load is displayed in terms of the measured capacitance. The benefit of such sensors is to detect an eventual overload in order to prevent possible pressure sores. A third example introduces a seat load sensor system based on four extended pressure sensor mats. The sensor system detects the load distribution of a person on the seat. The examples emphasize the high performance of the new pressure sensor technology.

Development of a High Precision Displacement Measurement System by Fusing a Low Cost RTK-GPS Sensor and a Force Feedback Accelerometer for Infrastructure Monitoring.

PubMed

Koo, Gunhee; Kim, Kiyoung; Chung, Jun Yeon; Choi, Jaemook; Kwon, Nam-Yeol; Kang, Doo-Young; Sohn, Hoon

2017-11-28

A displacement measurement system fusing a low cost real-time kinematic global positioning system (RTK-GPS) receiver and a force feedback accelerometer is proposed for infrastructure monitoring. The proposed system is composed of a sensor module, a base module and a computation module. The sensor module consists of a RTK-GPS rover and a force feedback accelerometer, and is installed on a target structure like conventional RTK-GPS sensors. The base module is placed on a rigid ground away from the target structure similar to conventional RTK-GPS bases, and transmits observation messages to the sensor module. Then, the initial acceleration, velocity and displacement responses measured by the sensor module are transmitted to the computation module located at a central monitoring facility. Finally, high precision and high sampling rate displacement, velocity, and acceleration are estimated by fusing the acceleration from the accelerometer, the velocity from the GPS rover, and the displacement from RTK-GPS. Note that the proposed displacement measurement system can measure 3-axis acceleration, velocity as well as displacement in real time. In terms of displacement, the proposed measurement system can estimate dynamic and pseudo-static displacement with a root-mean-square error of 2 mm and a sampling rate of up to 100 Hz. The performance of the proposed system is validated under sinusoidal, random and steady-state vibrations. Field tests were performed on the Yeongjong Grand Bridge and Yi Sun-sin Bridge in Korea, and the Xihoumen Bridge in China to compare the performance of the proposed system with a commercial RTK-GPS sensor and other data fusion techniques.

Sensor tip for a robotic gripper and method of manufacture

NASA Technical Reports Server (NTRS)

Lorenz, Robert D. (Inventor); Jackson, Gregory T. (Inventor)

1991-01-01

A sensor tip (10) for use in a robotic hand has a three-dimensional compliant elastomeric body (12) with an outer boundary (22) having a circular base (24) and a convex surface (26) extending therefrom. Four strain transducers (14, 16, 18, and 20) produce electrical signals indicative of the strain at various positions near the boundary of the elastomeric body (12) resulting from forces exerted upon the sensor tip (10) by an object which the robotic hand is manipulating. The transducers (14, 16, 18, and 20) are positioned about the convex surface (26) so as to produce signals that may be decoupled to determine the normal and tangential forces and the applied torque. A buffer amplifier circuit (34), one for each of the transducers (14, 16, 18, and 20), receives the signals and provides quasi-steady state force information. The circuit (34) connects the respective transducer (40) in a feedback loop around an amplifier (36) and has desirable attributes for static charge buffering. The sensor tip (10) is calibrated to determine proportionality constants for the decoupling algorithm for use of a force delivering system (60), which uses voice coils (74) to apply a force that is linearly related to the current introduced to each of the coils (74). A method of manufacture of the sensor tip (10) results in improved bonding between the transducers (14, 16, 18, and 20) and the elastomeric body (12) for better performance and longer life of the sensor tip (10).

Sensor tip for a robotic gripper and method of manufacture

NASA Technical Reports Server (NTRS)

Lorenz, Robert D. (Inventor); Jackson, Gregory T. (Inventor)

1993-01-01

A sensor tip (10) for use in a robotic hand has a three-dimensional compliant elastomeric body (12) with an outer boundary (22) having a circular base (24) and a convex surface (26) extending therefrom. Four strain transducers (14, 16, 18, and 20) produce electrical signals indicative of the strain at various positions near the boundary of the elastomeric body (12) resulting from forces exerted upon the sensor tip (10) by an object which the robotic hand is manipulating. The transducers (14, 16, 18, and 20) are positioned about the convex surface (26) so as to produce signals that may be decoupled to determine the normal and tangential forces and the applied torque. A buffer amplifier circuit (34), one for each of the transducers (14, 16, 18, and 20), receives the signals and provides quasi-steady state force information. The circuit (34) connects the respective transducer (40) in a feedback loop around an amplifier (36) and has desirable attributes for static charge buffering. The sensor tip (10) is calibrated to determine proportionality constants for the decoupling algorithm for use of a force delivering system (60), which uses voice coils (74) to apply a force that is linearly related to the current introduced to each of the coils (74). A method of manufacture of the sensor tip (10) results in improved bonding between the transducers (14, 16, 18, and 20) and the elastomeric body (12) for better performance and longer life of the sensor tip (10).

Magnetic field sensor based on the Ampere's force using dual-polarization DBR fiber laser

NASA Astrophysics Data System (ADS)

Yao, Shuang; Zhang, Yang; Guan, Baiou

2015-08-01

A novel magnetic field sensor using distributed Bragg reflector (DBR) fiber laser by Ampere's force effect is proposed and experimentally demonstrated. The key sensing element, that is the dual-polarization DBR fiber laser, is fixed on the middle part of two copper plates which carry the current. Ampere's force is applied onto the coppers due to an external magnetic field generated by a DC solenoid. Thus, the lateral force from the coppers is converted to a corresponding beat frequency signal shift produced by the DBR laser. The electric current sensing is also realized by the same configuration and same principle simultaneously in an intuitive manner. Good agreement between the theory calculation and the experimental results is obtained, which shows a good linearity. This sensor's sensitivity to the magnetic field and to the electric current finally reaches ~258.92 kHz/mT and ~1.08727 MHz/A, respectively.

A novel 4-DOF surgical instrument with modular joints and 6-Axis Force sensing capability.

PubMed

Li, Kun; Pan, Bo; Zhang, Fuhai; Gao, Wenpeng; Fu, Yili; Wang, Shuguo

2017-03-01

It is difficult for surgeons to exert appropriate forces during delicate operations due to lack of force feedback in robot-assisted minimally invasive surgery (RMIS). A 4-DOF surgical grasper with a modular wrist and 6-axis force sensing capability is developed. A grasper integrated with a miniature force and torque sensor based on the Stewart platform is designed, and a cable tension decomposition mechanism is designed to alleviate influence of the cable tension to the sensor. A modularized wrist consisting of four joint units is designed to facilitate integration of the sensor and eliminate coupled motion of the wrist. Sensing ranges of this instrument are ±10 N and ±160 N mm, and resolutions are 1.2% in radial directions, 5% in axial direction, and 4.2% in rotational directions. An ex vivo experiment shows that this instrument prototype successfully measures the interaction forces. A 4-DOF surgical instrument with modular joints and 6-axis force sensing capability is developed. This instrument can be used for force feedback in RMIS. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

Vibration analysis and experiment of giant magnetostrictive force sensor

NASA Astrophysics Data System (ADS)

Zhu, Zhiwen; Liu, Fang; Zhu, Xingqiao; Wang, Haibo; Xu, Jia

2017-12-01

In this paper, a kind of giant magnetostrictive force sensor is proposed, ans its magneto-mechanical coupled model is developed. The relationship between output voltage of giant magnetostrictive force sensor and input excitation force is obtained. The phenomena of accuracy aggravation in high frequency and delay of giant magnetostrictive sensor are explained. The experimental results show that the model can describe the actual response of giant magnetostrictive force sensor. The new model of giant magnetostrictive sensor has simple form and is easy to be analyzed in theory, which is helpful to be applied in measuring and control fields.

A Miniature Magnetic-Force-Based Three-Axis AC Magnetic Sensor with Piezoelectric/Vibrational Energy-Harvesting Functions.

PubMed

Hung, Chiao-Fang; Yeh, Po-Chen; Chung, Tien-Kan

2017-02-08

In this paper, we demonstrate a miniature magnetic-force-based, three-axis, AC magnetic sensor with piezoelectric/vibrational energy-harvesting functions. For magnetic sensing, the sensor employs a magnetic-mechanical-piezoelectric configuration (which uses magnetic force and torque, a compact, single, mechanical mechanism, and the piezoelectric effect) to convert x -axis and y -axis in-plane and z -axis magnetic fields into piezoelectric voltage outputs. Under the x -axis magnetic field (sine-wave, 100 Hz, 0.2-3.2 gauss) and the z -axis magnetic field (sine-wave, 142 Hz, 0.2-3.2 gauss), the voltage output with the sensitivity of the sensor are 1.13-26.15 mV with 8.79 mV/gauss and 1.31-8.92 mV with 2.63 mV/gauss, respectively. In addition, through this configuration, the sensor can harness ambient vibrational energy, i.e., possessing piezoelectric/vibrational energy-harvesting functions. Under x -axis vibration (sine-wave, 100 Hz, 3.5 g) and z -axis vibration (sine-wave, 142 Hz, 3.8 g), the root-mean-square voltage output with power output of the sensor is 439 mV with 0.333 μW and 138 mV with 0.051 μW, respectively. These results show that the sensor, using this configuration, successfully achieves three-axis magnetic field sensing and three-axis vibration energy-harvesting. Due to these features, the three-axis AC magnetic sensor could be an important design reference in order to develop future three-axis AC magnetic sensors, which possess energy-harvesting functions, for practical industrial applications, such as intelligent vehicle/traffic monitoring, processes monitoring, security systems, and so on.

A Miniature Magnetic-Force-Based Three-Axis AC Magnetic Sensor with Piezoelectric/Vibrational Energy-Harvesting Functions

PubMed Central

Hung, Chiao-Fang; Yeh, Po-Chen; Chung, Tien-Kan

2017-01-01

In this paper, we demonstrate a miniature magnetic-force-based, three-axis, AC magnetic sensor with piezoelectric/vibrational energy-harvesting functions. For magnetic sensing, the sensor employs a magnetic–mechanical–piezoelectric configuration (which uses magnetic force and torque, a compact, single, mechanical mechanism, and the piezoelectric effect) to convert x-axis and y-axis in-plane and z-axis magnetic fields into piezoelectric voltage outputs. Under the x-axis magnetic field (sine-wave, 100 Hz, 0.2–3.2 gauss) and the z-axis magnetic field (sine-wave, 142 Hz, 0.2–3.2 gauss), the voltage output with the sensitivity of the sensor are 1.13–26.15 mV with 8.79 mV/gauss and 1.31–8.92 mV with 2.63 mV/gauss, respectively. In addition, through this configuration, the sensor can harness ambient vibrational energy, i.e., possessing piezoelectric/vibrational energy-harvesting functions. Under x-axis vibration (sine-wave, 100 Hz, 3.5 g) and z-axis vibration (sine-wave, 142 Hz, 3.8 g), the root-mean-square voltage output with power output of the sensor is 439 mV with 0.333 μW and 138 mV with 0.051 μW, respectively. These results show that the sensor, using this configuration, successfully achieves three-axis magnetic field sensing and three-axis vibration energy-harvesting. Due to these features, the three-axis AC magnetic sensor could be an important design reference in order to develop future three-axis AC magnetic sensors, which possess energy-harvesting functions, for practical industrial applications, such as intelligent vehicle/traffic monitoring, processes monitoring, security systems, and so on. PMID:28208693

Precise computer controlled positioning of robot end effectors using force sensors

NASA Technical Reports Server (NTRS)

Shieh, L. S.; Mcinnis, B. C.; Wang, J. C.

1988-01-01

A thorough study of combined position/force control using sensory feedback for a one-dimensional manipulator model, which may count for the spacecraft docking problem or be extended to the multi-joint robot manipulator problem, was performed. The additional degree of freedom introduced by the compliant force sensor is included in the system dynamics in the design of precise position control. State feedback based on the pole placement method and with integral control is used to design the position controller. A simple constant gain force controller is used as an example to illustrate the dependence of the stability and steady-state accuracy of the overall position/force control upon the design of the inner position controller. Supportive simulation results are also provided.

Disposable soft 3 axis force sensor for biomedical applications.

PubMed

Chathuranga, Damith Suresh; Zhongkui Wang; Yohan Noh; Nanayakkara, Thrishantha; Hirai, Shinichi

2015-08-01

This paper proposes a new disposable soft 3D force sensor that can be used to calculate either force or displacement and vibrations. It uses three Hall Effect sensors orthogonally placed around a cylindrical beam made of silicon rubber. A niobium permanent magnet is inside the silicon. When a force is applied to the end of the cylinder, it is compressed and bent to the opposite side of the force displacing the magnet. This displacement causes change in the magnetic flux around the ratiomatric linear sensors (Hall Effect sensors). By analysing these changes, we calculate the force or displacement in three directions using a lookup table. This sensor can be used in minimal invasive surgery and haptic feedback applications. The cheap construction, bio-compatibility and ease of miniaturization are few advantages of this sensor. The sensor design, and its characterization are presented in this work.

Kinesthetic coupling between operator and remote manipulator

NASA Technical Reports Server (NTRS)

Bejczy, A. K.; Salisbury, J. K., Jr.

1980-01-01

A universal force-reflecting hand controller has been developed which allows the establishment of a kinesthetic coupling between the operator and a remote manipulator. The six-degree-of-freedom controller was designed to generate forces and torques on its three positional and three rotational axes in order to permit the operator to accurately feel the forces encountered by the manipulator and be as transparent to operate as possible. The universal controller has been used in an application involving a six-degree-of-freedom mechanical arm equipped with a six-dimensional force-torque sensor at its base. In this application, the hand controller acts as a position control input device to the arm, while forces and torques sensed at the base of the mechanical hand back drive the hand controller. The positional control relation and the back driving of the controller according to inputs experienced by the force-torque sensor are established through complex mathematical transformations performed by a minicomputer. The hand controller is intended as a development tool for investigating force-reflecting master-slave manipulator control technology.

Electromagnetic Contact-Force Sensing Electrophysiological Catheters: How Accurate is the Technology?

PubMed

Bourier, Felix; Hessling, Gabriele; Ammar-Busch, Sonia; Kottmaier, Marc; Buiatti, Alessandra; Grebmer, Christian; Telishevska, Marta; Semmler, Verena; Lennerz, Carsten; Schneider, Christine; Kolb, Christof; Deisenhofer, Isabel; Reents, Tilko

2016-03-01

Contact-force (CF) sensing catheters are increasingly used in clinical electrophysiological practice due to their efficacy and safety profile. As data about the accuracy of this technology are scarce, we sought to quantify accuracy based on in vitro experiments. A custom-made force sensor was constructed that allowed exact force reference measurements registered via a flexible membrane. A Smarttouch Surround Flow (ST SF) ablation catheter (Biosense Webster, Diamond Bar, CA, USA) was brought in contact with the membrane of the force sensor in order to compare the ST SF force measurements to force sensor reference measurements. ST SF force sensing technology is based on deflection registration between the distal and proximal catheter tip. The experiment was repeated for n = 10 ST SF catheters, which showed no significant difference in accuracy levels. A series of measurements (n = 1200) was carried out for different angles of force acting to the catheter tip (0°/perpendicular contact, 30°, 60°, 90°/parallel contact). The mean absolute differences between reference and ST SF measurements were 1.7 ± 1.8 g (0°), 1.6 ± 1.2 g (30°), 1.4 ± 1.3 g (60°), and 6.6 ± 5.9 g (90°). Measurement accuracy was significantly higher in non-parallel contact when compared with parallel contact (P < 0.01). Catheter force measurements using the ST SF catheters show a high level of accuracy regarding differences to reference measurements and reproducibility. The reduced accuracy in measurements of 90° acting forces (parallel contact) might be clinically important when creating, for example, linear lesions. © 2015 Wiley Periodicals, Inc.

A Deformable Smart Skin for Continuous Sensing Based on Electrical Impedance Tomography.

PubMed

Visentin, Francesco; Fiorini, Paolo; Suzuki, Kenji

2016-11-16

In this paper, we present a low-cost, adaptable, and flexible pressure sensor that can be applied as a smart skin over both stiff and deformable media. The sensor can be easily adapted for use in applications related to the fields of robotics, rehabilitation, or costumer electronic devices. In order to remove most of the stiff components that block the flexibility of the sensor, we based the sensing capability on the use of a tomographic technique known as Electrical Impedance Tomography. The technique allows the internal structure of the domain under study to be inferred by reconstructing its conductivity map. By applying the technique to a material that changes its resistivity according to applied forces, it is possible to identify these changes and then localise the area where the force was applied. We tested the system when applied to flat and curved surfaces. For all configurations, we evaluate the artificial skin capabilities to detect forces applied over a single point, over multiple points, and changes in the underlying geometry. The results are all promising, and open the way for the application of such sensors in different robotic contexts where deformability is the key point.

A Deformable Smart Skin for Continuous Sensing Based on Electrical Impedance Tomography

PubMed Central

Visentin, Francesco; Fiorini, Paolo; Suzuki, Kenji

2016-01-01

In this paper, we present a low-cost, adaptable, and flexible pressure sensor that can be applied as a smart skin over both stiff and deformable media. The sensor can be easily adapted for use in applications related to the fields of robotics, rehabilitation, or costumer electronic devices. In order to remove most of the stiff components that block the flexibility of the sensor, we based the sensing capability on the use of a tomographic technique known as Electrical Impedance Tomography. The technique allows the internal structure of the domain under study to be inferred by reconstructing its conductivity map. By applying the technique to a material that changes its resistivity according to applied forces, it is possible to identify these changes and then localise the area where the force was applied. We tested the system when applied to flat and curved surfaces. For all configurations, we evaluate the artificial skin capabilities to detect forces applied over a single point, over multiple points, and changes in the underlying geometry. The results are all promising, and open the way for the application of such sensors in different robotic contexts where deformability is the key point. PMID:27854325

Clinical Application of Insertion Force Sensor System for Coil Embolization of Intracranial Aneurysms.

PubMed

Matsubara, Noriaki; Miyachi, Shigeru; Izumi, Takashi; Yamada, Hiroyuki; Marui, Naoki; Ota, Keisuke; Tajima, Hayato; Shintai, Kazunori; Ito, Masashi; Imai, Tasuku; Nishihori, Masahiro; Wakabayashi, Toshihiko

2017-09-01

In endovascular embolization for intracranial aneurysms, it is important to properly control the coil insertion force. However, the force can only be subjectively detected by the subtle feedback experienced by neurointerventionists at their fingertips. The authors envisioned a system that would objectively sense and quantify that force. In this article, coil insertion force was measured in cases of intracranial aneurysm using this sensor, and its actual clinical application was investigated. The sensor consists of a hemostatic valve (Y-connector). A little flexure was intentionally added in the device, and it creates a bend in the delivery wire. The sensor measures the change in the position of the bent wire depending on the insertion force and translates it into a force value. Using this, embolization was performed for 10 unruptured intracranial aneurysms. The sensor adequately recorded the force, and it reflected the operators' usual clinical experience. The presence of the sensor did not affect the procedures. The sensor enabled the operators to objectively note and evaluate the insertion force and better cooperative handling was possible. Additionally, other members of the intervention team shared the information. Force records demonstrated the characteristic patterns according to every stage of coiling (framing, filling, and finishing). The force sensor system adequately measured coil insertion force in intracranial aneurysm coil embolization procedures. The safety of this sensor was demonstrated in clinical application for the limited number of patients. This system is useful adjunct for assisting during coil embolization for an intracranial aneurysm. Copyright © 2017 Elsevier Inc. All rights reserved.

Cantilevers orthodontics forces measured by fiber sensors

NASA Astrophysics Data System (ADS)

Schneider, Neblyssa; Milczewski, Maura S.; de Oliveira, Valmir; Guariza Filho, Odilon; Lopes, Stephani C. P. S.; Kalinowski, Hypolito J.

2015-09-01

Fibers Bragg Gratings were used to evaluate the transmission of the forces generates by orthodontic mechanic based one and two cantilevers used to move molars to the upright position. The results showed levels forces of approximately 0,14N near to the root of the molar with one and two cantilevers.

Advances in Bio-Tactile Sensors for Minimally Invasive Surgery Using the Fibre Bragg Grating Force Sensor Technique:A Survey

PubMed Central

Abushagur, Abdulfatah A.G.; Arsad, Norhana; Ibne Reaz, Mamun; Ashrif, A.; Bakar, A.

2014-01-01

The large interest in utilising fibre Bragg grating (FBG) strain sensors for minimally invasive surgery (MIS) applications to replace conventional electrical tactile sensors has grown in the past few years. FBG strain sensors offer the advantages of optical fibre sensors, such as high sensitivity, immunity to electromagnetic noise, electrical passivity and chemical inertness, but are not limited by phase discontinuity or intensity fluctuations. FBG sensors feature a wavelength-encoding sensing signal that enables distributed sensing that utilises fewer connections. In addition, their flexibility and lightness allow easy insertion into needles and catheters, thus enabling localised measurements inside tissues and blood. Two types of FBG tactile sensors have been emphasised in the literature: single-point and array FBG tactile sensors. This paper describes the current design, development and research of the optical fibre tactile techniques that are based on FBGs to enhance the performance of MIS procedures in general. Providing MIS or microsurgery surgeons with accurate and precise measurements and control of the contact forces during tissues manipulation will benefit both surgeons and patients. PMID:24721774

Flexible heartbeat sensor for wearable device.

PubMed

Kwak, Yeon Hwa; Kim, Wonhyo; Park, Kwang Bum; Kim, Kunnyun; Seo, Sungkyu

2017-08-15

We demonstrate a flexible strain-gauge sensor and its use in a wearable application for heart rate detection. This polymer-based strain-gauge sensor was fabricated using a double-sided fabrication method with polymer and metal, i.e., polyimide and nickel-chrome. The fabrication process for this strain-gauge sensor is compatible with the conventional flexible printed circuit board (FPCB) processes facilitating its commercialization. The fabricated sensor showed a linear relation for an applied normal force of more than 930 kPa, with a minimum detectable force of 6.25Pa. This sensor can also linearly detect a bending radius from 5mm to 100mm. It is a thin, flexible, compact, and inexpensive (for mass production) heart rate detection sensor that is highly sensitive compared to the established optical photoplethysmography (PPG) sensors. It can detect not only the timing of heart pulsation, but also the amplitude or shape of the pulse signal. The proposed strain-gauge sensor can be applicable to various applications for smart devices requiring heartbeat detection. Copyright © 2017 Elsevier B.V. All rights reserved.

Compliant tactile sensor that delivers a force vector

NASA Technical Reports Server (NTRS)

Torres-Jara, Eduardo (Inventor)

2010-01-01

Tactile Sensor. The sensor includes a compliant convex surface disposed above a sensor array, the sensor array adapted to respond to deformation of the convex surface to generate a signal related to an applied force vector. The applied force vector has three components to establish the direction and magnitude of an applied force. The compliant convex surface defines a dome with a hollow interior and has a linear relation between displacement and load including a magnet disposed substantially at the center of the dome above a sensor array that responds to magnetic field intensity.

Sensitivity of optical mass sensor enhanced by optomechanical coupling

DOE Office of Scientific and Technical Information (OSTI.GOV)

He, Yong, E-mail: hey@cczu.edu.cn

Optical mass sensors based on cavity optomechanics employ radiation pressure force to drive mechanical resonator whose mechanical susceptibility can be described by nonlinear optical transmission spectrum. In this paper, we present an optical mass sensor based on a two-cavity optomechanical system where the mechanical damping rate can be decreased by adjusting a pump power so that the mass sensitivity which depends on the mechanical quality factor has been enhanced greatly. Compared with that of an optical mass sensor based on single-cavity optomechanics, the mass sensitivity of the optical mass sensor is improved by three orders of magnitude. This is anmore » approach to enhance the mass sensitivity by means of optomechanical coupling, which is suitable for all mass sensor based on cavity optomechanics. Finally, we illustrate the accurate measurement for the mass of a few chromosomes, which can be achieved based on the current experimental conditions.« less

Evaluation of Sensor Configurations for Robotic Surgical Instruments

PubMed Central

Gómez-de-Gabriel, Jesús M.; Harwin, William

2015-01-01

Designing surgical instruments for robotic-assisted minimally-invasive surgery (RAMIS) is challenging due to constraints on the number and type of sensors imposed by considerations such as space or the need for sterilization. A new method for evaluating the usability of virtual teleoperated surgical instruments based on virtual sensors is presented. This method uses virtual prototyping of the surgical instrument with a dual physical interaction, which allows testing of different sensor configurations in a real environment. Moreover, the proposed approach has been applied to the evaluation of prototypes of a two-finger grasper for lump detection by remote pinching. In this example, the usability of a set of five different sensor configurations, with a different number of force sensors, is evaluated in terms of quantitative and qualitative measures in clinical experiments with 23 volunteers. As a result, the smallest number of force sensors needed in the surgical instrument that ensures the usability of the device can be determined. The details of the experimental setup are also included. PMID:26516863

Evaluation of Sensor Configurations for Robotic Surgical Instruments.

PubMed

Gómez-de-Gabriel, Jesús M; Harwin, William

2015-10-27

Designing surgical instruments for robotic-assisted minimally-invasive surgery (RAMIS) is challenging due to constraints on the number and type of sensors imposed by considerations such as space or the need for sterilization. A new method for evaluating the usability of virtual teleoperated surgical instruments based on virtual sensors is presented. This method uses virtual prototyping of the surgical instrument with a dual physical interaction, which allows testing of different sensor configurations in a real environment. Moreover, the proposed approach has been applied to the evaluation of prototypes of a two-finger grasper for lump detection by remote pinching. In this example, the usability of a set of five different sensor configurations, with a different number of force sensors, is evaluated in terms of quantitative and qualitative measures in clinical experiments with 23 volunteers. As a result, the smallest number of force sensors needed in the surgical instrument that ensures the usability of the device can be determined. The details of the experimental setup are also included.

Accuracy and precision of loadsol® insole force-sensors for the quantification of ground reaction force-based biomechanical running parameters.

PubMed

Seiberl, Wolfgang; Jensen, Elisabeth; Merker, Josephine; Leitel, Marco; Schwirtz, Ansgar

2018-05-29

Force plates represent the "gold standard" in measuring running kinetics to predict performance or to identify the sources of running-related injuries. As these measurements are generally limited to laboratory analyses, wireless high-quality sensors for measuring in the field are needed. This work analysed the accuracy and precision of a new wireless insole forcesensor for quantifying running-related kinetic parameters. Vertical ground reaction force (GRF) was simultaneously measured with pit-mounted force plates (1 kHz) and loadsol ® sensors (100 Hz) under unshod forefoot and rearfoot running-step conditions. GRF data collections were repeated four times, each separated by 30 min treadmill running, to test influence of extended use. A repeated-measures ANOVA was used to identify differences between measurement devices. Additionally, mean bias and Bland-Altman limits of agreement (LoA) were calculated. We found a significant difference (p < .05) in ground contact time, peak force, and force rate, while there was no difference in parameters impulse, time to peak, and negative force rate. There was no influence of time point of measurement. The mean bias of ground contact time, impulse, peak force, and time to peak ranged between 0.6% and 3.4%, demonstrating high accuracy of loadsol ® devices for these parameters. For these same parameters, the LoA analysis showed that 95% of all measurement differences between insole and force plate measurements were less than 12%, demonstrating high precision of the sensors. However, highly dynamic behaviour of GRF, such as force rate, is not yet sufficiently resolved by the insole devices, which is likely explained by the low sampling rate.

Finding the Effective Mass and Spring Constant of a Force Probe from Simple Harmonic Motion

ERIC Educational Resources Information Center

Greene, Nathaniel R.; Gill, Tom; Eyerly, Stephen

2016-01-01

Force probes are versatile tools in the physics lab, but their internal workings can introduce artifacts when measuring rapidly changing forces. The Dual-Range Force Sensor by Vernier uses strain gage technology to measure force, based on the bending of a beam. Strain gages along the length of the beam change resistance as the beam bends. The…

A three-axis force sensor for dual finger haptic interfaces.

PubMed

Fontana, Marco; Marcheschi, Simone; Salsedo, Fabio; Bergamasco, Massimo

2012-10-10

In this work we present the design process, the characterization and testing of a novel three-axis mechanical force sensor. This sensor is optimized for use in closed-loop force control of haptic devices with three degrees of freedom. In particular the sensor has been conceived for integration with a dual finger haptic interface that aims at simulating forces that occur during grasping and surface exploration. The sensing spring structure has been purposely designed in order to match force and layout specifications for the application. In this paper the design of the sensor is presented, starting from an analytic model that describes the characteristic matrix of the sensor. A procedure for designing an optimal overload protection mechanism is proposed. In the last part of the paper the authors describe the experimental characterization and the integrated test on a haptic hand exoskeleton showing the improvements in the controller performances provided by the inclusion of the force sensor.

Injury Risk Assessment of Extravehicular Mobility Unit (EMU) Phase VI and Series 4000 Gloves During Extravehicular Activity (EVA) Hand Manipulation Tasks

NASA Technical Reports Server (NTRS)

Kilby, Melissa

2015-01-01

Functional Extravehicular Mobility Units (EMUs) with high precision gloves are essential for the success of Extravehicular Activity (EVA). Previous research done at NASA has shown that total strength capabilities and performance are reduced when wearing a pressurized EMU. The goal of this project was to characterize the human-space suit glove interaction and assess the risk of injury during common EVA hand manipulation tasks, including pushing, pinching and gripping objects. A custom third generation sensor garment was designed to incorporate a combination of sensors, including force sensitive resistors, strain gauge sensors, and shear force sensors. The combination of sensors was used to measure the forces acting on the finger nails, finger pads, finger tips, as well as the knuckle joints. In addition to measuring the forces, data was collected on the temperature, humidity, skin conductance, and blood perfusion of the hands. Testing compared both the Phase VI and Series 4000 glove against an ungloved condition. The ungloved test was performed wearing the sensor garment only. The project outcomes identified critical landmarks that experienced higher workloads and are more likely to suffer injuries. These critical landmarks varied as a function of space suit glove and task performed. The results showed that less forces were acting on the hands while wearing the Phase VI glove as compared to wearing the Series 4000 glove. Based on our findings, the engineering division can utilize these methods for optimizing the current space suit glove and designing next generation gloves to prevent injuries and optimize hand mobility and comfort.

Decoupling Principle Analysis and Development of a Parallel Three-Dimensional Force Sensor

PubMed Central

Zhao, Yanzhi; Jiao, Leihao; Weng, Dacheng; Zhang, Dan; Zheng, Rencheng

2016-01-01

In the development of the multi-dimensional force sensor, dimension coupling is the ubiquitous factor restricting the improvement of the measurement accuracy. To effectively reduce the influence of dimension coupling on the parallel multi-dimensional force sensor, a novel parallel three-dimensional force sensor is proposed using a mechanical decoupling principle, and the influence of the friction on dimension coupling is effectively reduced by making the friction rolling instead of sliding friction. In this paper, the mathematical model is established by combining with the structure model of the parallel three-dimensional force sensor, and the modeling and analysis of mechanical decoupling are carried out. The coupling degree (ε) of the designed sensor is defined and calculated, and the calculation results show that the mechanical decoupling parallel structure of the sensor possesses good decoupling performance. A prototype of the parallel three-dimensional force sensor was developed, and FEM analysis was carried out. The load calibration and data acquisition experiment system are built, and then calibration experiments were done. According to the calibration experiments, the measurement accuracy is less than 2.86% and the coupling accuracy is less than 3.02%. The experimental results show that the sensor system possesses high measuring accuracy, which provides a basis for the applied research of the parallel multi-dimensional force sensor. PMID:27649194

Selection of optimal sensors for predicting performance of polymer electrolyte membrane fuel cell

NASA Astrophysics Data System (ADS)

Mao, Lei; Jackson, Lisa

2016-10-01

In this paper, sensor selection algorithms are investigated based on a sensitivity analysis, and the capability of optimal sensors in predicting PEM fuel cell performance is also studied using test data. The fuel cell model is developed for generating the sensitivity matrix relating sensor measurements and fuel cell health parameters. From the sensitivity matrix, two sensor selection approaches, including the largest gap method, and exhaustive brute force searching technique, are applied to find the optimal sensors providing reliable predictions. Based on the results, a sensor selection approach considering both sensor sensitivity and noise resistance is proposed to find the optimal sensor set with minimum size. Furthermore, the performance of the optimal sensor set is studied to predict fuel cell performance using test data from a PEM fuel cell system. Results demonstrate that with optimal sensors, the performance of PEM fuel cell can be predicted with good quality.

A temperature-compensated optical fiber force sensor for minimally invasive surgeries

NASA Astrophysics Data System (ADS)

Mo, Z.; Xu, W.; Broderick, N.; Chen, H.

2015-12-01

Force sensing in minimally invasive surgery (MIS) is a chronic problem since it has an intensive magnetic resonance (MR) operation environment, which causes a high influence to traditional electronic force sensors. Optical sensor is a promising choice in this area because it is immune to MR influence. However, the changing temperature introduces a lot of noise signals to them, which is the main obstacle for optical sensing applications in MIS. This paper proposes a miniature temperature-compensated optical force sensor by using Fabry-Perot interference (FPI) principle. It can be integrated into medical tools' tips and the temperature noise is decreased by using a reference FPI temperature sensor. An injection needle with embedded temperature-compensated FPI force sensor has been fabricated and tested. And the comparison between temperature-force simulation results and the temperature-force experiment results has been carried out.

16 CFR 1211.13 - Inherent force activated secondary door sensors.

Code of Federal Regulations, 2011 CFR

2011-01-01

... sensors. 1211.13 Section 1211.13 Commercial Practices CONSUMER PRODUCT SAFETY COMMISSION CONSUMER PRODUCT... § 1211.13 Inherent force activated secondary door sensors. (a) Normal operation test. (1) A force activated door sensor of a door system installed according to the installation instructions shall actuate...

16 CFR 1211.13 - Inherent force activated secondary door sensors.

Code of Federal Regulations, 2014 CFR

2014-01-01

... sensors. 1211.13 Section 1211.13 Commercial Practices CONSUMER PRODUCT SAFETY COMMISSION CONSUMER PRODUCT... § 1211.13 Inherent force activated secondary door sensors. (a) Normal operation test. (1) A force activated door sensor of a door system installed according to the installation instructions shall actuate...

16 CFR 1211.13 - Inherent force activated secondary door sensors.

Code of Federal Regulations, 2012 CFR

2012-01-01

... sensors. 1211.13 Section 1211.13 Commercial Practices CONSUMER PRODUCT SAFETY COMMISSION CONSUMER PRODUCT... § 1211.13 Inherent force activated secondary door sensors. (a) Normal operation test. (1) A force activated door sensor of a door system installed according to the installation instructions shall actuate...

The Effectiveness of Shin Guards Used by Football Players

PubMed Central

Tatar, Yasar; Ramazanoglu, Nusret; Camliguney, Asiye Filiz; Saygi, Evrim Karadag; Cotuk, Hasan Birol

2014-01-01

In football, injuries from opponent contact occur commonly in the lower extremities. FIFA the world’s governing body for football requires players to wear shin guards. The aim of this study was to compare the protective effectiveness of polypropylene based shin guards with custom-made carbon fiber ones. Three commercial polypropylene shin guards (Adidas Predator™, Adidas UCL™, and Nike Mercurial™) and two custom-made carbon fiber shin guards were examined. The experimental setup had the following parts: 1) A pendulum attached a load cell at the tip (CAS Corp., Korea) and a fixed prosthetic foot equipped with a cleat to simulate an attacker’s foot. 2) An artificial tibia prepared by condensed foam and reinforced by carbon fibers protected with soft clothing. 3) A multifunctional sensor system (Tekscan Corp., F-Socket System, Turkey) to record the impact on the tibia. In the low impact force trials, only 2.79-9.63 % of the load was transmitted to the sensors. When comparing for mean force, peak force and impulse, both carbon fiber shin guards performed better than the commercial ones (Adidas Predator™, Adidas UCL™, and Nike Mercurial™) (p = 0.000). Based on these same parameters, the Nike Mercurial™ provided better protection than the Adidas Predator™ and the Adidas UCL™ (p = 0.000). In the high impact force trials, only 5.16-10.90 % of the load was transmitted to the sensors. For peak force and impulse, the carbon fiber shin guards provided better protection than all the others. Carbon fiber shin guards possess protective qualities superior to those of commercial polypropylene shin guards. Key Points Shin guards decrease the risk of serious injuries. Carbon shin guards provide sufficient protection against high impact forces. Commercially available Polypropylene based shin guards do not provide sufficient protection against high impact forces. PMID:24570615

The effectiveness of shin guards used by football players.

PubMed

Tatar, Yasar; Ramazanoglu, Nusret; Camliguney, Asiye Filiz; Saygi, Evrim Karadag; Cotuk, Hasan Birol

2014-01-01

In football, injuries from opponent contact occur commonly in the lower extremities. FIFA the world's governing body for football requires players to wear shin guards. The aim of this study was to compare the protective effectiveness of polypropylene based shin guards with custom-made carbon fiber ones. Three commercial polypropylene shin guards (Adidas Predator™, Adidas UCL™, and Nike Mercurial™) and two custom-made carbon fiber shin guards were examined. The experimental setup had the following parts: 1) A pendulum attached a load cell at the tip (CAS Corp., Korea) and a fixed prosthetic foot equipped with a cleat to simulate an attacker's foot. 2) An artificial tibia prepared by condensed foam and reinforced by carbon fibers protected with soft clothing. 3) A multifunctional sensor system (Tekscan Corp., F-Socket System, Turkey) to record the impact on the tibia. In the low impact force trials, only 2.79-9.63 % of the load was transmitted to the sensors. When comparing for mean force, peak force and impulse, both carbon fiber shin guards performed better than the commercial ones (Adidas Predator™, Adidas UCL™, and Nike Mercurial™) (p = 0.000). Based on these same parameters, the Nike Mercurial™ provided better protection than the Adidas Predator™ and the Adidas UCL™ (p = 0.000). In the high impact force trials, only 5.16-10.90 % of the load was transmitted to the sensors. For peak force and impulse, the carbon fiber shin guards provided better protection than all the others. Carbon fiber shin guards possess protective qualities superior to those of commercial polypropylene shin guards. Key PointsShin guards decrease the risk of serious injuries.Carbon shin guards provide sufficient protection against high impact forces.Commercially available Polypropylene based shin guards do not provide sufficient protection against high impact forces.

A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain

PubMed Central

Wu, Rui; Li, Changle; Zang, Xizhe; Zhang, Xuehe; Jin, Hongzhe; Zhao, Jie

2017-01-01

The tiger beetle can maintain its stability by controlling the interaction force between its legs and an unstructured terrain while it runs. The biomimetic hexapod robot mimics a tiger beetle, and a comprehensive force sensing system combined with certain algorithms can provide force information that can help the robot understand the unstructured terrain that it interacts with. This study introduces a complicated leg force sensing system for a hexapod robot that is the same for all six legs. First, the layout and configuration of sensing system are designed according to the structure and sizes of legs. Second, the joint toque sensors, 3-DOF foot-end force sensor and force information processing module are designed, and the force sensor performance parameters are tested by simulations and experiments. Moreover, a force sensing system is implemented within the robot control architecture. Finally, the experimental evaluation of the leg force sensor system on the hexapod robot is discussed and the performance of the leg force sensor system is verified. PMID:28654003

Pull-in instability of paddle-type and double-sided NEMS sensors under the accelerating force

NASA Astrophysics Data System (ADS)

Keivani, M.; Khorsandi, J.; Mokhtari, J.; Kanani, A.; Abadian, N.; Abadyan, M.

2016-02-01

Paddle-type and double-sided nanostructures are potential for use as accelerometers in flying vehicles and aerospace applications. Herein the pull-in instability of the cantilever paddle-type and double-sided sensors in the Casimir regime are investigated under the acceleration. The D'Alembert principle is employed to transform the accelerating system into an equivalent static system by incorporating the accelerating force. Based on the couple stress theory (CST), the size-dependent constitutive equations of the sensors are derived. The governing nonlinear equations are solved by two approaches, i.e. modified variational iteration method and finite difference method. The influences of the Casimir force, geometrical parameters, acceleration and the size phenomenon on the instability performance have been demonstrated. The obtained results are beneficial to design and fabricate paddle-type and double-sided accelerometers.

Recording forces exerted on the bowel wall during colonoscopy: in vitro evaluation.

PubMed

Dogramadzi, S; Virk, G S; Bell, G D; Rowland, R S; Hancock, J

2005-12-01

A novel system for distributed force measurement between the bowel wall and the shaft of a colonoscope is presented. The system, based on the piezoresistive method, involves the integration of soft miniature transducers to a colonoscope to enable a wide range of forces to be sensed. The attached sensing sheath does not restrict the propulsion of the colonoscope nor notably alter its flexibility. The addition of the sensor sheath increases the colonoscope diameter by 15-20% depending on the type of the colonoscope (adult or paediatric). The transducer's accuracy is +/-20 grammes if it is not subjected to extensive static forces. Under large static force conditions the errors may increase to +/-50 grammes. The tactile force measuring sensors have provided preliminary results from experiments on a model of the large bowel. The force measurements confirm the predictions on the location and magnitude of the forces and that most of the forces are exerted whilst the instrument is looping. Copyright 2005 John Wiley & Sons, Ltd.

Drag reduction of a car model by linear genetic programming control

NASA Astrophysics Data System (ADS)

Li, Ruiying; Noack, Bernd R.; Cordier, Laurent; Borée, Jacques; Harambat, Fabien

2017-08-01

We investigate open- and closed-loop active control for aerodynamic drag reduction of a car model. Turbulent flow around a blunt-edged Ahmed body is examined at ReH≈ 3× 105 based on body height. The actuation is performed with pulsed jets at all trailing edges (multiple inputs) combined with a Coanda deflection surface. The flow is monitored with 16 pressure sensors distributed at the rear side (multiple outputs). We apply a recently developed model-free control strategy building on genetic programming in Dracopoulos and Kent (Neural Comput Appl 6:214-228, 1997) and Gautier et al. (J Fluid Mech 770:424-441, 2015). The optimized control laws comprise periodic forcing, multi-frequency forcing and sensor-based feedback including also time-history information feedback and combinations thereof. Key enabler is linear genetic programming (LGP) as powerful regression technique for optimizing the multiple-input multiple-output control laws. The proposed LGP control can select the best open- or closed-loop control in an unsupervised manner. Approximately 33% base pressure recovery associated with 22% drag reduction is achieved in all considered classes of control laws. Intriguingly, the feedback actuation emulates periodic high-frequency forcing. In addition, the control identified automatically the only sensor which listens to high-frequency flow components with good signal to noise ratio. Our control strategy is, in principle, applicable to all multiple actuators and sensors experiments.

Direct manipulation of metallic nanosheets by shear force microscopy.

PubMed

Bi, Z; Cai, W; Wang, Y; Shang, G

2018-05-15

Micro/nanomanipulation is a rapidly growing technology and holds promising applications in various fields, including photonic/electronic devices, chemical/biosensors etc. In this work, we present that shear force microscopy (ShFM) can be exploited to manipulate metallic nanosheets besides imaging. The manipulation is realized via controlling the shear force sensor probe position and shear force magnitude based on our homemade ShFM system under an optical microscopy for in situ observation. The main feature of the ShFM system is usage of a piezoelectric bimorph sensor, which has the ability of self-excitation and detection. Moreover, the shear force magnitude as a function of the spring constant of the sensor and setpoint is obtained, which indicates that operation modes can be switched between imaging and manipulation through designing the spring constant before experiment and changing the setpoint during manipulation process, respectively. We believe that this alternative manipulation technique could be used to assemble other nanostructures with different shapes, sizes and compositions for new properties and wider applications. © 2018 The Authors Journal of Microscopy © 2018 Royal Microscopical Society.

Identification of Object Dynamics Using Hand Worn Motion and Force Sensors

PubMed Central

Kortier, Henk G.; Schepers, H. Martin; Veltink, Peter H.

2016-01-01

Emerging microelectromechanical system (MEMS)-based sensors become much more applicable for on-body measurement purposes lately. Especially, the development of a finger tip-sized tri-axial force sensor gives the opportunity to measure interaction forces between the human hand and environmental objects. We have developed a new prototype device that allows simultaneous 3D force and movement measurements at the finger and thumb tips. The combination of interaction forces and movements makes it possible to identify the dynamical characteristics of the object being handled by the hand. With this device attached to the hand, a subject manipulated mass and spring objects under varying conditions. We were able to identify and estimate the weight of two physical mass objects (0.44 kg: 29.3%±18.9% and 0.28 kg: 19.7%±10.6%) and the spring constant of a physical spring object (16.3%±12.6%). The system is a first attempt to quantify the interactions of the hand with the environment and has many potential applications in rehabilitation, ergonomics and sports. PMID:27898040

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot

PubMed Central

Zhang, Xianmin; Zheng, Yanglong; Ota, Jun; Huang, Yanjiang

2017-01-01

This paper focuses on peg-in-hole assembly based on a two-phase scheme and force/torque sensor (F/T sensor) for a compliant dual-arm robot, the Baxter robot. The coordinated operations of human beings in assembly applications are applied to the behaviors of the robot. A two-phase assembly scheme is proposed to overcome the inaccurate positioning of the compliant dual-arm robot. The position and orientation of assembly pieces are adjusted respectively in an active compliant manner according to the forces and torques derived by a six degrees-of-freedom (6-DOF) F/T sensor. Experiments are conducted to verify the effectiveness and efficiency of the proposed assembly scheme. The performances of the dual-arm robot are consistent with those of human beings in the peg-in-hole assembly process. The peg and hole with 0.5 mm clearance for round pieces and square pieces can be assembled successfully. PMID:28862691

Peg-in-Hole Assembly Based on Two-phase Scheme and F/T Sensor for Dual-arm Robot.

PubMed

Zhang, Xianmin; Zheng, Yanglong; Ota, Jun; Huang, Yanjiang

2017-09-01

This paper focuses on peg-in-hole assembly based on a two-phase scheme and force/torque sensor (F/T sensor) for a compliant dual-arm robot, the Baxter robot. The coordinated operations of human beings in assembly applications are applied to the behaviors of the robot. A two-phase assembly scheme is proposed to overcome the inaccurate positioning of the compliant dual-arm robot. The position and orientation of assembly pieces are adjusted respectively in an active compliant manner according to the forces and torques derived by a six degrees-of-freedom (6-DOF) F/T sensor. Experiments are conducted to verify the effectiveness and efficiency of the proposed assembly scheme. The performances of the dual-arm robot are consistent with those of human beings in the peg-in-hole assembly process. The peg and hole with 0.5 mm clearance for round pieces and square pieces can be assembled successfully.

Quantitative method for gait pattern detection based on fiber Bragg grating sensors

NASA Astrophysics Data System (ADS)

Ding, Lei; Tong, Xinglin; Yu, Lie

2017-03-01

This paper presents a method that uses fiber Bragg grating (FBG) sensors to distinguish the temporal gait patterns in gait cycles. Unlike most conventional methods that focus on electronic sensors to collect those physical quantities (i.e., strains, forces, pressure, displacements, velocity, and accelerations), the proposed method utilizes the backreflected peak wavelength from FBG sensors to describe the motion characteristics in human walking. Specifically, the FBG sensors are sensitive to external strain with the result that their backreflected peak wavelength will be shifted according to the extent of the influence of external strain. Therefore, when subjects walk in different gait patterns, the strains on FBG sensors will be different such that the magnitude of the backreflected peak wavelength varies. To test the reliability of the FBG sensor platform for gait pattern detection, the gold standard method using force-sensitive resistors (FSRs) for defining gait patterns is introduced as a reference platform. The reliability of the FBG sensor platform is determined by comparing the detection results between the FBG sensors and FSRs platforms. The experimental results show that the FBG sensor platform is reliable in gait pattern detection and gains high reliability when compared with the reference platform.

A high performance sensor for triaxial cutting force measurement in turning.

PubMed

Zhao, You; Zhao, Yulong; Liang, Songbo; Zhou, Guanwu

2015-04-03

This paper presents a high performance triaxial cutting force sensor with excellent accuracy, favorable natural frequency and acceptable cross-interference for high speed turning process. Octagonal ring is selected as sensitive element of the designed sensor, which is drawn inspiration from ring theory. A novel structure of two mutual-perpendicular octagonal rings is proposed and three Wheatstone full bridge circuits are specially organized in order to obtain triaxial cutting force components and restrain cross-interference. Firstly, the newly developed sensor is tested in static calibration; test results indicate that the sensor possesses outstanding accuracy in the range of 0.38%-0.83%. Secondly, impacting modal tests are conducted to identify the natural frequencies of the sensor in triaxial directions (i.e., 1147 Hz, 1122 Hz and 2035 Hz), which implies that the devised sensor can be used for cutting force measurement in a high speed lathe when the spindle speed does not exceed 17,205 rev/min in continuous cutting condition. Finally, an application of the sensor in turning process is operated to show its performance for real-time cutting force measurement; the measured cutting forces demonstrate a good accordance with the variation of cutting parameters. Thus, the developed sensor possesses perfect properties and it gains great potential for real-time cutting force measurement in turning.

A High Performance Sensor for Triaxial Cutting Force Measurement in Turning

PubMed Central

Zhao, You; Zhao, Yulong; Liang, Songbo; Zhou, Guanwu

2015-01-01

This paper presents a high performance triaxial cutting force sensor with excellent accuracy, favorable natural frequency and acceptable cross-interference for high speed turning process. Octagonal ring is selected as sensitive element of the designed sensor, which is drawn inspiration from ring theory. A novel structure of two mutual-perpendicular octagonal rings is proposed and three Wheatstone full bridge circuits are specially organized in order to obtain triaxial cutting force components and restrain cross-interference. Firstly, the newly developed sensor is tested in static calibration; test results indicate that the sensor possesses outstanding accuracy in the range of 0.38%–0.83%. Secondly, impacting modal tests are conducted to identify the natural frequencies of the sensor in triaxial directions (i.e., 1147 Hz, 1122 Hz and 2035 Hz), which implies that the devised sensor can be used for cutting force measurement in a high speed lathe when the spindle speed does not exceed 17,205 rev/min in continuous cutting condition. Finally, an application of the sensor in turning process is operated to show its performance for real-time cutting force measurement; the measured cutting forces demonstrate a good accordance with the variation of cutting parameters. Thus, the developed sensor possesses perfect properties and it gains great potential for real-time cutting force measurement in turning. PMID:25855035

Fiber optic micro sensor for the measurement of tendon forces

PubMed Central

2012-01-01

A fiber optic sensor developed for the measurement of tendon forces was designed, numerically modeled, fabricated, and experimentally evaluated. The sensor incorporated fiber Bragg gratings and micro-fabricated stainless steel housings. A fiber Bragg grating is an optical device that is spectrally sensitive to axial strain. Stainless steel housings were designed to convert radial forces applied to the housing into axial forces that could be sensed by the fiber Bragg grating. The metal housings were fabricated by several methods including laser micromachining, swaging, and hydroforming. Designs are presented that allow for simultaneous temperature and force measurements as well as for simultaneous resolution of multi-axis forces. The sensor was experimentally evaluated by hydrostatic loading and in vitro testing. A commercial hydraulic burst tester was used to provide uniform pressures on the sensor in order to establish the linearity, repeatability, and accuracy characteristics of the sensor. The in vitro experiments were performed in excised tendon and in a dynamic gait simulator to simulate biological conditions. In both experimental conditions, the sensor was found to be a sensitive and reliable method for acquiring minimally invasive measurements of soft tissue forces. Our results suggest that this sensor will prove useful in a variety of biomechanical measurements. PMID:23033868

16 CFR § 1211.13 - Inherent force activated secondary door sensors.

Code of Federal Regulations, 2013 CFR

2013-01-01

... sensors. § 1211.13 Section § 1211.13 Commercial Practices CONSUMER PRODUCT SAFETY COMMISSION CONSUMER... Standard § 1211.13 Inherent force activated secondary door sensors. (a) Normal operation test. (1) A force activated door sensor of a door system installed according to the installation instructions shall actuate...

Wireless Sensor Network Applications for the Combat Air Forces

DTIC Science & Technology

2006-06-13

WIRELESS SENSOR NETWORK APPLICATIONS FOR THE COMBAT AIR FORCES GRADUATE RESEARCH PROJECT...Government. AFIT/IC4/ENG/06-05 WIRELESS SENSOR NETWORK APPLICATIONS FOR THE COMBAT AIR FORCES GRADUATE RESEARCH PROJECT Presented to the...Major, USAF June 2006 APPROVED FOR PUBLIC RELEASE; DISTRIBUTION UNLIMITED AFIT/IC4/ENG/06-05 WIRELESS SENSOR NETWORK APPLICATIONS

Thermal effects on nonlinear vibration of a carbon nanotube-based mass sensor using finite element analysis

NASA Astrophysics Data System (ADS)

Kang, Dong-Keun; Kim, Chang-Wan; Yang, Hyun-Ik

2017-01-01

In the present study we carried out a dynamic analysis of a CNT-based mass sensor by using a finite element method (FEM)-based nonlinear analysis model of the CNT resonator to elucidate the combined effects of thermal effects and nonlinear oscillation behavior upon the overall mass detection sensitivity. Mass sensors using carbon nanotube (CNT) resonators provide very high sensing performance. Because CNT-based resonators can have high aspect ratios, they can easily exhibit nonlinear oscillation behavior due to large displacements. Also, CNT-based devices may experience high temperatures during their manufacture and operation. These geometrical nonlinearities and temperature changes affect the sensing performance of CNT-based mass sensors. However, it is very hard to find previous literature addressing the detection sensitivity of CNT-based mass sensors including considerations of both these nonlinear behaviors and thermal effects. We modeled the nonlinear equation of motion by using the von Karman nonlinear strain-displacement relation, taking into account the additional axial force associated with the thermal effect. The FEM was employed to solve the nonlinear equation of motion because it can effortlessly handle the more complex geometries and boundary conditions. A doubly clamped CNT resonator actuated by distributed electrostatic force was the configuration subjected to the numerical experiments. Thermal effects upon the fundamental resonance behavior and the shift of resonance frequency due to attached mass, i.e., the mass detection sensitivity, were examined in environments of both high and low (or room) temperature. The fundamental resonance frequency increased with decreasing temperature in the high temperature environment, and increased with increasing temperature in the low temperature environment. The magnitude of the shift in resonance frequency caused by an attached mass represents the sensing performance of a mass sensor, i.e., its mass detection sensitivity, and it can be seen that this shift is affected by the temperature change and the amount of electrostatic force. The thermal effects on the mass detection sensitivity are intensified in the linear oscillation regime and increase with increasing CNT length; this intensification can either improve or worsen the detection sensitivity.

A Three-Axis Force Sensor for Dual Finger Haptic Interfaces

PubMed Central

Fontana, Marco; Marcheschi, Simone; Salsedo, Fabio; Bergamasco, Massimo

2012-01-01

In this work we present the design process, the characterization and testing of a novel three-axis mechanical force sensor. This sensor is optimized for use in closed-loop force control of haptic devices with three degrees of freedom. In particular the sensor has been conceived for integration with a dual finger haptic interface that aims at simulating forces that occur during grasping and surface exploration. The sensing spring structure has been purposely designed in order to match force and layout specifications for the application. In this paper the design of the sensor is presented, starting from an analytic model that describes the characteristic matrix of the sensor. A procedure for designing an optimal overload protection mechanism is proposed. In the last part of the paper the authors describe the experimental characterization and the integrated test on a haptic hand exoskeleton showing the improvements in the controller performances provided by the inclusion of the force sensor. PMID:23202012

Development of optical fiber Bragg grating force-reflection sensor system of medical application for safe minimally invasive robotic surgery

NASA Astrophysics Data System (ADS)

Song, Hoseok; Kim, Kiyoung; Lee, Jungju

2011-07-01

Force feedback plays a very important role in medical surgery. In minimally invasive surgery (MIS), however, the very long and stiff bars of surgical instruments greatly diminish force feedback for the surgeon. In the case of minimally invasive robotic surgery (MIRS), force feedback is totally eliminated. Previous researchers have reported that the absence of force feedback increased the average force magnitude applied to the tissue by at least 50%, and increased the peak force magnitude by at least a factor of two. Therefore, it is very important to provide force information in MIRS. Recently, many sensors are being developed for MIS and MIRS, but some obstacles to their application in actual medical surgery must be surmounted. The most critical problems are size limit and sterilizability. Optical fiber sensors are among the most suitable sensors for the surgical environment. The optical fiber Bragg grating (FBG) sensor, in particular, offers an important additional advantage over other optical fiber sensors in that it is not influenced by the intensity of the light source. In this paper, we present the initial results of a study on the application of a FBG sensor to measure reflected forces in MIRS environments and suggest the possibility of successful application to MIRS systems.

Wireless measurement of elastic and plastic deformation by a metamaterial-based sensor.

PubMed

Ozbey, Burak; Demir, Hilmi Volkan; Kurc, Ozgur; Erturk, Vakur B; Altintas, Ayhan

2014-10-20

We report remote strain and displacement measurement during elastic and plastic deformation using a metamaterial-based wireless and passive sensor. The sensor is made of a comb-like nested split ring resonator (NSRR) probe operating in the near-field of an antenna, which functions as both the transmitter and the receiver. The NSRR probe is fixed on a standard steel reinforcing bar (rebar), and its frequency response is monitored telemetrically by a network analyzer connected to the antenna across the whole stress-strain curve. This wireless measurement includes both the elastic and plastic region deformation together for the first time, where wired technologies, like strain gauges, typically fail to capture. The experiments are further repeated in the presence of a concrete block between the antenna and the probe, and it is shown that the sensing system is capable of functioning through the concrete. The comparison of the wireless sensor measurement with those undertaken using strain gauges and extensometers reveals that the sensor is able to measure both the average strain and the relative displacement on the rebar as a result of the applied force in a considerably accurate way. The performance of the sensor is tested for different types of misalignments that can possibly occur due to the acting force. These results indicate that the metamaterial-based sensor holds great promise for its accurate, robust and wireless measurement of the elastic and plastic deformation of a rebar, providing beneficial information for remote structural health monitoring and post-earthquake damage assessment.

Kestrel: force protection and Intelligence, Surveillance, and Reconnaissance (ISR) persistent surveillance on aerostats

NASA Astrophysics Data System (ADS)

Luber, David R.; Marion, John E.; Fields, David

2012-05-01

Logos Technologies has developed and fielded the Kestrel system, an aerostat-based, wide area persistent surveillance system dedicated to force protection and ISR mission execution operating over forward operating bases. Its development included novel imaging and stabilization capability for day/night operations on military aerostat systems. The Kestrel system's contribution is a substantial enhancement to aerostat-based, force protection systems which to date have relied on narrow field of view ball gimbal sensors to identify targets of interest. This inefficient mechanism to conduct wide area field of view surveillance is greatly enhanced by Kestrel's ability to maintain a constant motion imagery stare of the entire forward operating base (FOB) area. The Kestrel airborne sensor enables 360° coverage out to extended ranges which covers a city sized area at moderate resolution, while cueing a narrow field of view sensor to provide high resolution imagery of targets of interest. The ground station exploitation system enables operators to autonomously monitor multiple regions of interest in real time, and allows for backtracking through the recorded imagery, while continuing to monitor ongoing activity. Backtracking capability allows operators to detect threat networks, their CONOPS, and locations of interest. Kestrel's unique advancement has already been utilized successfully in OEF operations.

Performance capabilities of a JPL dual-arm advanced teleoperation system

NASA Technical Reports Server (NTRS)

Szakaly, Z. F.; Bejczy, A. K.

1991-01-01

The system comprises: (1) two PUMA 560 robot arms, each equipped with the latest JPL developed smart hands which contain 3-D force/moment and grasp force sensors; (2) two general purpose force reflecting hand controllers; (3) a NS32016 microprocessors based distributed computing system together with JPL developed universal motor controllers; (4) graphics display of sensor data; (5) capabilities for time delay experiments; and (6) automatic data recording capabilities. Several different types of control modes are implemented on this system using different feedback control techniques. Some of the control modes and the related feedback control techniques are described, and the achievable control performance for tracking position and force trajectories are reported. The interaction between position and force trajectory tracking is illustrated. The best performance is obtained by using a novel, task space error feedback technique.

The design and implementation of a windowing interface pinch force measurement system

NASA Astrophysics Data System (ADS)

Ho, Tze-Yee; Chen, Yuanu-Joan; Chung, Chin-Teng; Hsiao, Ming-Heng

2010-02-01

This paper presents a novel windowing interface pinch force measurement system that is basically based on an USB (Universal Series Bus) microcontroller which mainly processes the sensing data from the force sensing resistance sensors mounted on five digits. It possesses several friendly functions, such as the value and curve trace of the applied force by a hand injured patient displayed in real time on a monitoring screen, consequently, not only the physician can easily evaluate the effect of hand injury rehabilitation, but also the patients get more progressive during the hand physical therapy by interacting with the screen of pinch force measurement. In order to facilitate the pinch force measurement system and make it friendly, the detail hardware design and software programming flowchart are described in this paper. Through a series of carefully and detailed experimental tests, first of all, the relationship between the applying force and the FSR sensors are measured and verified. Later, the different type of pinch force measurements are verified by the oscilloscope and compared with the corresponding values and waveform traces in the window interface display panel to obtain the consistency. Finally, a windowing interface pinch force measurement system based on the USB microcontroller is implemented and demonstrated. The experimental results show the verification and feasibility of the designed system.

Novel Low-Cost Sensor for Human Bite Force Measurement

PubMed Central

Fastier-Wooller, Jarred; Phan, Hoang-Phuong; Dinh, Toan; Nguyen, Tuan-Khoa; Cameron, Andrew; Öchsner, Andreas; Dao, Dzung Viet

2016-01-01

This paper presents the design and development of a low cost and reliable maximal voluntary bite force sensor which can be manufactured in-house by using an acrylic laser cutting machine. The sensor has been designed for ease of fabrication, assembly, calibration, and safe use. The sensor is capable of use within an hour of commencing production, allowing for rapid prototyping/modifications and practical implementation. The measured data shows a good linear relationship between the applied force and the electrical resistance of the sensor. The output signal has low drift, excellent repeatability, and a large measurable range of 0 to 700 N. A high signal-to-noise response to human bite forces was observed, indicating the high potential of the proposed sensor for human bite force measurement. PMID:27509496

Three-axis force sensor with fiber Bragg grating.

PubMed

Hyundo Choi; Yoan Lim; Junhyung Kim

2017-07-01

Haptic feedback is critical for many surgical tasks, and it replicates force reflections at the surgical site. To meet the force reflection requirements, we propose a force sensor with an optical fiber Bragg grating (FBG) for robotic surgery. The force sensor can calculate three directional forces of an instrument from the strain of three FBGs, even under electromagnetic interference. A flexible ring-shape structure connects an instrument tip and fiber strain gages to sense three directional force. And a stopper mechanism is added in the structure to avoid plastic deformation under unexpected large force on the instrument tip. The proposed sensor is experimentally verified to have a sensing range from -12 N to 12 N, and its sensitivity was less than 0.06 N.

A Systems Architecture and Advanced Sensors Application for Real-Time Aircraft Structural Health Monitoring

DTIC Science & Technology

2011-03-01

DEPARTMENT OF THE AIR FORCE AIR UNIVERSITY AIR FORCE INSTITUTE OF TECHNOLOGY Wright-Patterson Air Force Base, Ohio APPROVED FOR PUBLIC RELEASE...position of the United States Air Force, Department of Defense, or the United States Government. This material is declared a work of the United...Management Graduate School of Engineering and Management Air Force Institute of Technology Air University Air Education and Training Command In

Measurement of Forces and Moments Transmitted to the Residual Limb

DTIC Science & Technology

2009-08-01

prosthesis alignment, socket pressure, gait, force and moment sensors 16. SECURITY CLASSIFICATION OF: U 17. LIMITATION OF ABSTRACT 18. NUMBER... prosthesis to measure the forces and moments at the base of the socket and to use these measurements to estimate the forces transmitted to the residual limb...BODY – EACH TASK IN STATEMENT OF WORK Task 1. To instrument a transtibial prosthesis with a tri-axial transducer to measure the forces and

Compliant tactile sensor for generating a signal related to an applied force

NASA Technical Reports Server (NTRS)

Torres-Jara, Eduardo (Inventor)

2012-01-01

Tactile sensor. The sensor includes a compliant convex surface disposed above a sensor array, the sensor array adapted to respond to deformation of the convex surface to generate a signal related to an applied force vector.

Optimizing qPlus sensor assemblies for simultaneous scanning tunneling and noncontact atomic force microscopy operation based on finite element method analysis

DOE PAGES

Dagdeviren, Omur E.; Schwarz, Udo D.

2017-03-20

Quartz tuning forks that have a probe tip attached to the end of one of its prongs while the other prong is arrested to a holder (“qPlus” configuration) have gained considerable popularity in recent years for high-resolution atomic force microscopy imaging. The small size of the tuning forks and the complexity of the sensor architecture, however, often impede predictions on how variations in the execution of the individual assembly steps affect the performance of the completed sensor. Extending an earlier study that provided numerical analysis of qPlus-style setups without tips, this work quantifies the influence of tip attachment on themore » operational characteristics of the sensor. The results using finite element modeling show in particular that for setups that include a metallic tip that is connected via a separate wire to enable the simultaneous collection of local forces and tunneling currents, the exact realization of this wire connection has a major effect on sensor properties such as spring constant, quality factor, resonance frequency, and its deviation from an ideal vertical oscillation.« less

Optimizing qPlus sensor assemblies for simultaneous scanning tunneling and noncontact atomic force microscopy operation based on finite element method analysis

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dagdeviren, Omur E.; Schwarz, Udo D.

Quartz tuning forks that have a probe tip attached to the end of one of its prongs while the other prong is arrested to a holder (“qPlus” configuration) have gained considerable popularity in recent years for high-resolution atomic force microscopy imaging. The small size of the tuning forks and the complexity of the sensor architecture, however, often impede predictions on how variations in the execution of the individual assembly steps affect the performance of the completed sensor. Extending an earlier study that provided numerical analysis of qPlus-style setups without tips, this work quantifies the influence of tip attachment on themore » operational characteristics of the sensor. The results using finite element modeling show in particular that for setups that include a metallic tip that is connected via a separate wire to enable the simultaneous collection of local forces and tunneling currents, the exact realization of this wire connection has a major effect on sensor properties such as spring constant, quality factor, resonance frequency, and its deviation from an ideal vertical oscillation.« less

Flexible strain sensor based on carbon nanotube rubber composites

NASA Astrophysics Data System (ADS)

Kim, Jin-Ho; Kim, Young-Ju; Baek, Woon Kyung; Lim, Kwon Taek; Kang, Inpil

2010-04-01

Electrically conducting rubber composites (CRC) with carbon nanotubes (CNTs) filler have received much attention as potential materials for sensors. In this work, Ethylene propylene diene M-class rubber (EPDM)/CNT composites as a novel nano sensory material were prepared to develop flexible strain sensors that can measure large deformation of flexible structures. The EPDM/CNT composites were prepared by using a Brabender mixer with multi-walled CNTs and organo-clay. A strain sensor made of EPDM/CNT composite was attached to the surface of a flexible beam and change of resistance of the strain sensor was measured with respect to the beam deflection. Resistance of the sensor was change quite linearly under the bending and compressive large beam deflection. Upon external forces, CRC deformation takes place with the micro scale change of inter-electrical condition in rubber matrix due to the change of contact resistance, and CRC reveals macro scale piezoresistivity. It is anticipated that the CNT/EPDM fibrous strain sensor can be eligible to develop a biomimetic artificial neuron that can continuously sense deformation, pressure and shear force.

Soft Pushing Operation with Dual Compliance Controllers Based on Estimated Torque and Visual Force

NASA Astrophysics Data System (ADS)

Muis, Abdul; Ohnishi, Kouhei

Sensor fusion extends robot ability to perform more complex tasks. An interesting application in such an issue is pushing operation, in which through multi-sensor, the robot moves an object by pushing it. Generally, a pushing operation consists of “approaching, touching, and pushing"(1). However, most researches in this field are dealing with how the pushed object follows the predefined trajectory. In which, the implication as the robot body or the tool-tip hits an object is neglected. Obviously on collision, the robot momentum may crash sensor, robot's surface or even the object. For that reason, this paper proposes a soft pushing operation with dual compliance controllers. Mainly, a compliance control is a control system with trajectory compensation so that the external force may be followed. In this paper, the first compliance controller is driven by estimated external force based on reaction torque observer(2), which compensates contact sensation. The other one compensates non-contact sensation. Obviously, a contact sensation, acquired from force sensor either reaction torque observer of an object, is measurable once the robot touched the object. Therefore, a non-contact sensation is introduced before touching an object, which is realized with visual sensor in this paper. Here, instead of using visual information as command reference, the visual information such as depth, is treated as virtual force for the second compliance controller. Thus, having contact and non-contact sensation, the robot will be compliant with wider sensation. This paper considers a heavy mobile manipulator and a heavy object, which have significant momentum on touching stage. A chopstick is attached on the object side to show the effectiveness of the proposed method. Here, both compliance controllers adjust the mobile manipulator command reference to provide soft pushing operation. Finally, the experimental result shows the validity of the proposed method.

Contact Sensing from Force Measurements

DTIC Science & Technology

1990-10-01

themselves. Their approach has been reconsidered bv Tsujimura and Yabuta [1C)8,8]. OkadA 1100(l prQent#,A a suspension-cell based tactile sensor, very...with an intrinsic tactile sensor. and the reconstruction of their surface profile has been described by Brock and Chiu [1985], and later by Tsujimura and

Evaluating and improving the performance of thin film force sensors within body and device interfaces.

PubMed

Likitlersuang, Jirapat; Leineweber, Matthew J; Andrysek, Jan

2017-10-01

Thin film force sensors are commonly used within biomechanical systems, and at the interface of the human body and medical and non-medical devices. However, limited information is available about their performance in such applications. The aims of this study were to evaluate and determine ways to improve the performance of thin film (FlexiForce) sensors at the body/device interface. Using a custom apparatus designed to load the sensors under simulated body/device conditions, two aspects were explored relating to sensor calibration and application. The findings revealed accuracy errors of 23.3±17.6% for force measurements at the body/device interface with conventional techniques of sensor calibration and application. Applying a thin rigid disc between the sensor and human body and calibrating the sensor using compliant surfaces was found to substantially reduce measurement errors to 2.9±2.0%. The use of alternative calibration and application procedures is recommended to gain acceptable measurement performance from thin film force sensors in body/device applications. Copyright © 2017 IPEM. Published by Elsevier Ltd. All rights reserved.

Development of Wearable Sheet-Type Shear Force Sensor and Measurement System that is Insusceptible to Temperature and Pressure.

PubMed

Toyama, Shigeru; Tanaka, Yasuhiro; Shirogane, Satoshi; Nakamura, Takashi; Umino, Tokio; Uehara, Ryo; Okamoto, Takuma; Igarashi, Hiroshi

2017-07-31

A sheet-type shear force sensor and a measurement system for the sensor were developed. The sensor has an original structure where a liquid electrolyte is filled in a space composed of two electrode-patterned polymer films and an elastic rubber ring. When a shear force is applied on the surface of the sensor, the two electrode-patterned films mutually move so that the distance between the internal electrodes of the sensor changes, resulting in current increase or decrease between the electrodes. Therefore, the shear force can be calculated by monitoring the current between the electrodes. Moreover, it is possible to measure two-dimensional shear force given that the sensor has multiple electrodes. The diameter and thickness of the sensor head were 10 mm and 0.7 mm, respectively. Additionally, we also developed a measurement system that drives the sensor, corrects the baseline of the raw sensor output, displays data, and stores data as a computer file. Though the raw sensor output was considerably affected by the surrounding temperature, the influence of temperature was drastically decreased by introducing a simple arithmetical calculation. Moreover, the influence of pressure simultaneously decreased after the same calculation process. A demonstrative measurement using the sensor revealed the practical usefulness for on-site monitoring.

Electrodes for Semiconductor Gas Sensors

PubMed Central

Lee, Sung Pil

2017-01-01

The electrodes of semiconductor gas sensors are important in characterizing sensors based on their sensitivity, selectivity, reversibility, response time, and long-term stability. The types and materials of electrodes used for semiconductor gas sensors are analyzed. In addition, the effect of interfacial zones and surface states of electrode–semiconductor interfaces on their characteristics is studied. This study describes that the gas interaction mechanism of the electrode–semiconductor interfaces should take into account the interfacial zone, surface states, image force, and tunneling effect. PMID:28346349

An Improved Tibial Force Sensor to Compute Contact Forces and Contact Locations In Vitro After Total Knee Arthroplasty.

PubMed

Roth, Joshua D; Howell, Stephen M; Hull, Maury L

2017-04-01

Contact force imbalance and contact kinematics (i.e., motion of the contact location in each compartment during flexion) of the tibiofemoral joint are both important predictors of a patient's outcome following total knee arthroplasty (TKA). Previous tibial force sensors have limitations in that they either did not determine contact forces and contact locations independently in the medial and lateral compartments or only did so within restricted areas of the tibial insert, which prevented them from thoroughly evaluating contact force imbalance and contact kinematics in vitro. Accordingly, the primary objective of this study was to present the design and verification of an improved tibial force sensor which overcomes these limitations. The improved tibial force sensor consists of a modified tibial baseplate which houses independent medial and lateral arrays of three custom tension-compression transducers each. This sensor is interchangeable with a standard tibial component because it accommodates tibial articular surface inserts with a range of sizes and thicknesses. This sensor was verified by applying known loads at known locations over the entire surface of the tibial insert to determine the errors in the computed contact force and contact location in each compartment. The root-mean-square errors (RMSEs) in contact force are ≤ 6.1 N which is 1.4% of the 450 N full-scale output. The RMSEs in contact location are ≤ 1.6 mm. This improved tibial force sensor overcomes the limitations of the previous sensors and therefore should be useful for in vitro evaluation of new alignment goals, new surgical techniques, and new component designs in TKA.

Effect of angular velocity on sensors based on morphology dependent resonances.

PubMed

Ali, Amir R; Ioppolo, Tindaro

2014-04-22

We carried out an analysis to investigate the morphology dependent optical resonances shift (MDR) of a rotating spherical resonator. The spinning resonator experiences an elastic deformation due to the centrifugal force acting on it, leading to a shift in its MDR. Experiments are also carried out to demonstrate the MDR shifts of a spinning polydimethylsiloxane (PDMS) microsphere. The experimental results agree well with the analytical prediction. These studies demonstrated that spinning sensor based on MDR may experience sufficient shift in the optical resonances, therefore interfering with its desirable operational sensor design. Also the results show that angular velocity sensors could be designed using this principle.

Air Force Research Laboratory Sensors Directorate Leadership Legacy, 1960-2011

DTIC Science & Technology

2011-03-01

AFRL -RY-WP-TM-2011-1017 AIR FORCE RESEARCH LABORATORY SENSORS DIRECTORATE LEADERSHIP LEGACY, 1960-2011 Compiled by Raymond C. Rang...Structures Divi- sion, Space Vehicles Directorate, Air Force Research Laboratory , Kirtland AFB, N.M. 7. March 1998 - July 1999, Chief, Integration and... Research Laboratory ( AFRL ), and Deputy Director of the Sensors Direc- torate, Air Force Research

Three Realizations and Comparison of Hardware for Piezoresistive Tactile Sensors

PubMed Central

Vidal-Verdú, Fernando; Oballe-Peinado, Óscar; Sánchez-Durán, José A.; Castellanos-Ramos, Julián; Navas-González, Rafael

2011-01-01

Tactile sensors are basically arrays of force sensors that are intended to emulate the skin in applications such as assistive robotics. Local electronics are usually implemented to reduce errors and interference caused by long wires. Realizations based on standard microcontrollers, Programmable Systems on Chip (PSoCs) and Field Programmable Gate Arrays (FPGAs) have been proposed by the authors for the case of piezoresistive tactile sensors. The solution employing FPGAs is especially relevant since their performance is closer to that of Application Specific Integrated Circuits (ASICs) than that of the other devices. This paper presents an implementation of such an idea for a specific sensor. For the purpose of comparison, the circuitry based on the other devices is also made for the same sensor. This paper discusses the implementation issues, provides details regarding the design of the hardware based on the three devices and compares them. PMID:22163797

Spring constant measurement using a MEMS force and displacement sensor utilizing paralleled piezoresistive cantilevers

NASA Astrophysics Data System (ADS)

Kohyama, Sumihiro; Takahashi, Hidetoshi; Yoshida, Satoru; Onoe, Hiroaki; Hirayama-Shoji, Kayoko; Tsukagoshi, Takuya; Takahata, Tomoyuki; Shimoyama, Isao

2018-04-01

This paper reports on a method to measure a spring constant on site using a micro electro mechanical systems (MEMS) force and displacement sensor. The proposed sensor consists of a force-sensing cantilever and a displacement-sensing cantilever. Each cantilever is composed of two beams with a piezoresistor on the sidewall for measuring the in-plane lateral directional force and displacement. The force resolution and displacement resolution of the fabricated sensor were less than 0.8 µN and 0.1 µm, respectively. We measured the spring constants of two types of hydrogel microparticles to demonstrate the effectiveness of the proposed sensor, with values of approximately 4.3 N m-1 and 15.1 N m-1 obtained. The results indicated that the proposed sensor is effective for on-site spring constant measurement.

Piezoresistive cantilever force-clamp system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Park, Sung-Jin; Petzold, Bryan C.; Pruitt, Beth L.

2011-04-15

We present a microelectromechanical device-based tool, namely, a force-clamp system that sets or ''clamps'' the scaled force and can apply designed loading profiles (e.g., constant, sinusoidal) of a desired magnitude. The system implements a piezoresistive cantilever as a force sensor and the built-in capacitive sensor of a piezoelectric actuator as a displacement sensor, such that sample indentation depth can be directly calculated from the force and displacement signals. A programmable real-time controller operating at 100 kHz feedback calculates the driving voltage of the actuator. The system has two distinct modes: a force-clamp mode that controls the force applied to amore » sample and a displacement-clamp mode that controls the moving distance of the actuator. We demonstrate that the system has a large dynamic range (sub-nN up to tens of {mu}N force and nm up to tens of {mu}m displacement) in both air and water, and excellent dynamic response (fast response time, <2 ms and large bandwidth, 1 Hz up to 1 kHz). In addition, the system has been specifically designed to be integrated with other instruments such as a microscope with patch-clamp electronics. We demonstrate the capabilities of the system by using it to calibrate the stiffness and sensitivity of an electrostatic actuator and to measure the mechanics of a living, freely moving Caenorhabditis elegans nematode.« less

Piezoresistive cantilever force-clamp system

PubMed Central

Park, Sung-Jin; Petzold, Bryan C.; Goodman, Miriam B.; Pruitt, Beth L.

2011-01-01

We present a microelectromechanical device-based tool, namely, a force-clamp system that sets or “clamps” the scaled force and can apply designed loading profiles (e.g., constant, sinusoidal) of a desired magnitude. The system implements a piezoresistive cantilever as a force sensor and the built-in capacitive sensor of a piezoelectric actuator as a displacement sensor, such that sample indentation depth can be directly calculated from the force and displacement signals. A programmable real-time controller operating at 100 kHz feedback calculates the driving voltage of the actuator. The system has two distinct modes: a force-clamp mode that controls the force applied to a sample and a displacement-clamp mode that controls the moving distance of the actuator. We demonstrate that the system has a large dynamic range (sub-nN up to tens of μN force and nm up to tens of μm displacement) in both air and water, and excellent dynamic response (fast response time, <2 ms and large bandwidth, 1 Hz up to 1 kHz). In addition, the system has been specifically designed to be integrated with other instruments such as a microscope with patch-clamp electronics. We demonstrate the capabilities of the system by using it to calibrate the stiffness and sensitivity of an electrostatic actuator and to measure the mechanics of a living, freely moving Caenorhabditis elegans nematode. PMID:21529009

Development of a film sensor for static and dynamic force measurement

NASA Astrophysics Data System (ADS)

Castellini, P.; Montanini, R.; Revel, G. M.

2002-09-01

In this work an innovative double-layer film sensor for the measurement of forces is presented. The sensor is a thin film (thickness below 1 mm) based on a "sandwich" structure composed of two sensing elements glued together: one layer is a capacitive film and the other is a piezoelectric film. Both the layers are sensitive to compression loads, but they are suitable for working in different frequency ranges. In fact, while the capacitive element is capable of measuring from dc up to about 400 Hz, on the contrary the piezoelectric film works in the high frequency range. The output signals of both the sensors are acquired and then filtered and processed in order to achieve a single output signal. The piezocapacitive sensor has been developed in order to synthesize, in a small and cheap device, the capability to measure compression forces in a wide range of frequencies. The sensor is very small and has many potential applications, such as in the field of modal analysis. In particular, the very small thickness allows to insert it into a composite material to measure actual loads and excitations, as well as on the surface or between different components of a more complex system in order to obtain a smart structure. This article describes the realization of the sensor and the adopted signal processing strategies. The metrological characterization procedure is discussed and results are shown for both static and dynamic calibration of the film sensor. Finally, a simple application, that highlights the benefits of the sensor, is presented.

Balance Improvement Effects of Biofeedback Systems with State-of-the-Art Wearable Sensors: A Systematic Review.

PubMed

Ma, Christina Zong-Hao; Wong, Duo Wai-Chi; Lam, Wing Kai; Wan, Anson Hong-Ping; Lee, Winson Chiu-Chun

2016-03-25

Falls and fall-induced injuries are major global public health problems. Balance and gait disorders have been the second leading cause of falls. Inertial motion sensors and force sensors have been widely used to monitor both static and dynamic balance performance. Based on the detected performance, instant visual, auditory, electrotactile and vibrotactile biofeedback could be provided to augment the somatosensory input and enhance balance control. This review aims to synthesize the research examining the effect of biofeedback systems, with wearable inertial motion sensors and force sensors, on balance performance. Randomized and non-randomized clinical trials were included in this review. All studies were evaluated based on the methodological quality. Sample characteristics, device design and study characteristics were summarized. Most previous studies suggested that biofeedback devices were effective in enhancing static and dynamic balance in healthy young and older adults, and patients with balance and gait disorders. Attention should be paid to the choice of appropriate types of sensors and biofeedback for different intended purposes. Maximizing the computing capacity of the micro-processer, while minimizing the size of the electronic components, appears to be the future direction of optimizing the devices. Wearable balance-improving devices have their potential of serving as balance aids in daily life, which can be used indoors and outdoors.

Balance Improvement Effects of Biofeedback Systems with State-of-the-Art Wearable Sensors: A Systematic Review

PubMed Central

Ma, Christina Zong-Hao; Wong, Duo Wai-Chi; Lam, Wing Kai; Wan, Anson Hong-Ping; Lee, Winson Chiu-Chun

2016-01-01

Falls and fall-induced injuries are major global public health problems. Balance and gait disorders have been the second leading cause of falls. Inertial motion sensors and force sensors have been widely used to monitor both static and dynamic balance performance. Based on the detected performance, instant visual, auditory, electrotactile and vibrotactile biofeedback could be provided to augment the somatosensory input and enhance balance control. This review aims to synthesize the research examining the effect of biofeedback systems, with wearable inertial motion sensors and force sensors, on balance performance. Randomized and non-randomized clinical trials were included in this review. All studies were evaluated based on the methodological quality. Sample characteristics, device design and study characteristics were summarized. Most previous studies suggested that biofeedback devices were effective in enhancing static and dynamic balance in healthy young and older adults, and patients with balance and gait disorders. Attention should be paid to the choice of appropriate types of sensors and biofeedback for different intended purposes. Maximizing the computing capacity of the micro-processer, while minimizing the size of the electronic components, appears to be the future direction of optimizing the devices. Wearable balance-improving devices have their potential of serving as balance aids in daily life, which can be used indoors and outdoors. PMID:27023558

An implementation of sensor-based force feedback in a compact laparoscopic surgery robot.

PubMed

Lee, Duk-Hee; Choi, Jaesoon; Park, Jun-Woo; Bach, Du-Jin; Song, Seung-Jun; Kim, Yoon-Ho; Jo, Yungho; Sun, Kyung

2009-01-01

Despite the rapid progress in the clinical application of laparoscopic surgery robots, many shortcomings have not yet been fully overcome, one of which is the lack of reliable haptic feedback. This study implemented a force-feedback structure in our compact laparoscopic surgery robot. The surgery robot is a master-slave configuration robot with 5 DOF (degree of freedom corresponding laparoscopic surgical motion. The force-feedback implementation was made in the robot with torque sensors and controllers installed in the pitch joint of the master and slave robots. A simple dynamic model of action-reaction force in the slave robot was used, through which the reflective force was estimated and fed back to the master robot. The results showed the system model could be identified with significant fidelity and the force feedback at the master robot was feasible. However, the qualitative human assessment of the fed-back force showed only limited level of object discrimination ability. Further developments are underway with this result as a framework.

Acquisition and Neural Network Prediction of 3D Deformable Object Shape Using a Kinect and a Force-Torque Sensor.

PubMed

Tawbe, Bilal; Cretu, Ana-Maria

2017-05-11

The realistic representation of deformations is still an active area of research, especially for deformable objects whose behavior cannot be simply described in terms of elasticity parameters. This paper proposes a data-driven neural-network-based approach for capturing implicitly and predicting the deformations of an object subject to external forces. Visual data, in the form of 3D point clouds gathered by a Kinect sensor, is collected over an object while forces are exerted by means of the probing tip of a force-torque sensor. A novel approach based on neural gas fitting is proposed to describe the particularities of a deformation over the selectively simplified 3D surface of the object, without requiring knowledge of the object material. An alignment procedure, a distance-based clustering, and inspiration from stratified sampling support this process. The resulting representation is denser in the region of the deformation (an average of 96.6% perceptual similarity with the collected data in the deformed area), while still preserving the object's overall shape (86% similarity over the entire surface) and only using on average of 40% of the number of vertices in the mesh. A series of feedforward neural networks is then trained to predict the mapping between the force parameters characterizing the interaction with the object and the change in the object shape, as captured by the fitted neural gas nodes. This series of networks allows for the prediction of the deformation of an object when subject to unknown interactions.

Development of Si neural probe with piezoresistive force sensor for minimally invasive and precise monitoring of insertion forces

NASA Astrophysics Data System (ADS)

Harashima, Takuya; Morikawa, Takumi; Kino, Hisashi; Fukushima, Takafumi; Tanaka, Tetsu

2017-04-01

A Si neural probe is one of the most important tools for neurophysiology and brain science because of its various functions such as optical stimulation and drug delivery. However, the Si neural probe is not robust compared with a metal tetrode, and could be broken by mechanical stress caused by insertion to the brain. Therefore, the Si neural probe becomes more useful if it has a stress sensor that can measure mechanical forces applied to the probe so as not to be broken. In this paper, we proposed and fabricated the Si neural probe with a piezoresistive force sensor for minimally invasive and precise monitoring of insertion forces. The fabricated piezoresistive force sensor accurately measured forces and successfully detected insertion events without buckling or bending in the shank of the Si neural probe. This Si neural probe with a piezoresistive force sensor has become one of the most versatile tools for neurophysiology and brain science.

Intrinsic embedded sensors for polymeric mechatronics: flexure and force sensing.

PubMed

Jentoft, Leif P; Dollar, Aaron M; Wagner, Christopher R; Howe, Robert D

2014-02-25

While polymeric fabrication processes, including recent advances in additive manufacturing, have revolutionized manufacturing, little work has been done on effective sensing elements compatible with and embedded within polymeric structures. In this paper, we describe the development and evaluation of two important sensing modalities for embedding in polymeric mechatronic and robotic mechanisms: multi-axis flexure joint angle sensing utilizing IR phototransistors, and a small (12 mm), three-axis force sensing via embedded silicon strain gages with similar performance characteristics as an equally sized metal element based sensor.

Intrinsic Embedded Sensors for Polymeric Mechatronics: Flexure and Force Sensing

PubMed Central

Jentoft, Leif P.; Dollar, Aaron M.; Wagner, Christopher R.; Howe, Robert D.

2014-01-01

While polymeric fabrication processes, including recent advances in additive manufacturing, have revolutionized manufacturing, little work has been done on effective sensing elements compatible with and embedded within polymeric structures. In this paper, we describe the development and evaluation of two important sensing modalities for embedding in polymeric mechatronic and robotic mechanisms: multi-axis flexure joint angle sensing utilizing IR phototransistors, and a small (12 mm), three-axis force sensing via embedded silicon strain gages with similar performance characteristics as an equally sized metal element based sensor. PMID:24573310

A wearable pressure sensor based on ultra-violet/ozone microstructured carbon nanotube/polydimethylsiloxane arrays for electronic skins.

PubMed

Yu, Guohui; Hu, Jingdong; Tan, Jianping; Gao, Yang; Lu, Yongfeng; Xuan, Fuzhen

2018-03-16

Pressure sensors with high performance (e.g., a broad pressure sensing range, high sensitivities, rapid response/relaxation speeds, temperature-stable sensing), as well as a cost-effective and highly efficient fabrication method are highly desired for electronic skins. In this research, a high-performance pressure sensor based on microstructured carbon nanotube/polydimethylsiloxane arrays was fabricated using an ultra-violet/ozone (UV/O 3 ) microengineering technique. The UV/O 3 microengineering technique is controllable, cost-effective, and highly efficient since it is conducted at room temperature in an ambient environment. The pressure sensor offers a broad pressure sensing range (7 Pa-50 kPa), a sensitivity of ∼ -0.101 ± 0.005 kPa -1 (<1 kPa), a fast response/relaxation speed of ∼10 ms, a small dependence on temperature variation, and a good cycling stability (>5000 cycles), which is attributed to the UV/O 3 engineered microstructures that amplify and transfer external applied forces and rapidly store/release the energy during the PDMS deformation. The sensors developed show the capability to detect external forces and monitor human health conditions, promising for the potential applications in electronic skin.

Numerical performance analysis of quartz tuning fork-based force sensors

NASA Astrophysics Data System (ADS)

Dagdeviren, Omur E.; Schwarz, Udo D.

2017-01-01

Quartz tuning fork-based force sensors where one prong is immobilized onto a holder while the other one is allowed to oscillate freely (‘qPlus’ configuration) are in widespread use for high-resolution scanning probe microscopy applications. Due to the small size of the tuning forks (≈3 mm) and the complexity of the sensor assemblies, the reliable and repeatable manufacturing of the sensors has been challenging. In this paper, we investigate the contribution of the amount and location of the epoxy glue used to attach the tuning fork to its holder on the sensor’s performance. Towards this end, we use finite element analysis to model the entire sensor assembly and to perform static and dynamic numerical simulations. Our analysis reveals that increasing the thickness of the epoxy layer between prong and holder results in a decrease of the sensor’s spring constant, eigenfrequency, and quality factor while showing an increasing deviation from oscillation in its primary modal shape. Adding epoxy at the sides of the tuning fork also leads to a degradation of the quality factor even though in this case, spring constant and eigenfrequency rise in tandem with a lessening of the deviation from its ideal modal shape.

A wearable pressure sensor based on ultra-violet/ozone microstructured carbon nanotube/polydimethylsiloxane arrays for electronic skins

NASA Astrophysics Data System (ADS)

Yu, Guohui; Hu, Jingdong; Tan, Jianping; Gao, Yang; Lu, Yongfeng; Xuan, Fuzhen

2018-03-01

Pressure sensors with high performance (e.g., a broad pressure sensing range, high sensitivities, rapid response/relaxation speeds, temperature-stable sensing), as well as a cost-effective and highly efficient fabrication method are highly desired for electronic skins. In this research, a high-performance pressure sensor based on microstructured carbon nanotube/polydimethylsiloxane arrays was fabricated using an ultra-violet/ozone (UV/O3) microengineering technique. The UV/O3 microengineering technique is controllable, cost-effective, and highly efficient since it is conducted at room temperature in an ambient environment. The pressure sensor offers a broad pressure sensing range (7 Pa-50 kPa), a sensitivity of ˜ -0.101 ± 0.005 kPa-1 (<1 kPa), a fast response/relaxation speed of ˜10 ms, a small dependence on temperature variation, and a good cycling stability (>5000 cycles), which is attributed to the UV/O3 engineered microstructures that amplify and transfer external applied forces and rapidly store/release the energy during the PDMS deformation. The sensors developed show the capability to detect external forces and monitor human health conditions, promising for the potential applications in electronic skin.

Development of CMOS MEMS inductive type tactile sensor with the integration of chrome steel ball force interface

NASA Astrophysics Data System (ADS)

Yeh, Sheng-Kai; Chang, Heng-Chung; Fang, Weileun

2018-04-01

This study presents an inductive tactile sensor with a chrome steel ball sensing interface based on the commercially available standard complementary metal-oxide-semiconductor (CMOS) process (the TSMC 0.18 µm 1P6M CMOS process). The tactile senor has a deformable polymer layer as the spring of the device and no fragile suspended thin film structures are required. As a tactile force is applied on the chrome steel ball, the polymer would deform. The distance between the chrome steel ball and the sensing coil would changed. Thus, the tactile force can be detected by the inductance change of the sensing coil. In short, the chrome steel ball acts as a tactile bump as well as the sensing interface. Experimental results show that the proposed inductive tactile sensor has a sensing range of 0-1.4 N with a sensitivity of 9.22(%/N) and nonlinearity of 2%. Preliminary wireless sensing test is also demonstrated. Moreover, the influence of the process and material issues on the sensor performances have also been investigated.

A wearable and highly sensitive pressure sensor with ultrathin gold nanowires

NASA Astrophysics Data System (ADS)

Gong, Shu; Schwalb, Willem; Wang, Yongwei; Chen, Yi; Tang, Yue; Si, Jye; Shirinzadeh, Bijan; Cheng, Wenlong

2014-02-01

Ultrathin gold nanowires are mechanically flexible yet robust, which are novel building blocks with potential applications in future wearable optoelectronic devices. Here we report an efficient, low-cost fabrication strategy to construct a highly sensitive, flexible pressure sensor by sandwiching ultrathin gold nanowire-impregnated tissue paper between two thin polydimethylsiloxane sheets. The entire device fabrication process is scalable, enabling facile large-area integration and patterning for mapping spatial pressure distribution. Our gold nanowires-based pressure sensors can be operated at a battery voltage of 1.5 V with low energy consumption (<30 μW), and are able to detect pressing forces as low as 13 Pa with fast response time (<17 ms), high sensitivity (>1.14 kPa-1) and high stability (>50,000 loading-unloading cycles). In addition, our sensor can resolve pressing, bending, torsional forces and acoustic vibrations. The superior sensing properties in conjunction with mechanical flexibility and robustness enabled real-time monitoring of blood pulses as well as detection of small vibration forces from music.

Grasp Assist Device with Automatic Mode Control Logic

NASA Technical Reports Server (NTRS)

Laske, Evan (Inventor); Davis, Donald R. (Inventor); Ihrke, Chris A. (Inventor)

2018-01-01

A system includes a glove, sensors, actuator assemblies, and controller. The sensors include load sensors which measure an actual grasping force and attitude sensors which determine a glove attitude. The actuator assembly provides a grasp assist force to the glove. Respective locations of work cells in the work environment and permitted work tasks for each work cell are programmed into the controller. The controller detects the glove location and attitude. A work task is selected by the controller for the location. The controller calculates a required grasp assist force using measured actual grasping forces from the load sensors. The required grasp assist force is applied via the glove using the actuator assembly to thereby assist the operator in performing the identified work task.

Multianalyte biosensor based on pH-sensitive ZnO electrolyte–insulator–semiconductor structures

DOE Office of Scientific and Technical Information (OSTI.GOV)

Haur Kao, Chyuan; Chun Liu, Che; Ueng, Herng-Yih

2014-05-14

Multianalyte electrolyte–insulator–semiconductor (EIS) sensors with a ZnO sensing membrane annealed on silicon substrate for use in pH sensing were fabricated. Material analyses were conducted using X-ray diffraction and atomic force microscopy to identify optimal treatment conditions. Sensing performance for various ions of Na{sup +}, K{sup +}, urea, and glucose was also tested. Results indicate that an EIS sensor with a ZnO membrane annealed at 600 °C exhibited good performance with high sensitivity and a low drift rate compared with all other reported ZnO-based pH sensors. Furthermore, based on well-established pH sensing properties, pH-ion-sensitive field-effect transistor sensors have also been developed formore » use in detecting urea and glucose ions. ZnO-based EIS sensors show promise for future industrial biosensing applications.« less

Structural Health Monitoring Using Textile Reinforcement Structures with Integrated Optical Fiber Sensors

PubMed Central

Bremer, Kort; Weigand, Frank; Zheng, Yulong; Alwis, Lourdes Shanika; Helbig, Reinhard; Roth, Bernhard

2017-01-01

Optical fiber-based sensors “embedded” in functionalized carbon structures (FCSs) and textile net structures (TNSs) based on alkaline-resistant glass are introduced for the purpose of structural health monitoring (SHM) of concrete-based structures. The design aims to monitor common SHM parameters such as strain and cracks while at the same time acting as a structural strengthening mechanism. The sensor performances of the two systems are characterized in situ using Mach-Zehnder interferometric (MZI) and optical attenuation measurement techniques, respectively. For this purpose, different FCS samples were subjected to varying elongation using a tensile testing machine by carefully incrementing the applied force, and good correlation between the applied force and measured length change was observed. For crack detection, the functionalized TNSs were embedded into a concrete block which was then exposed to varying load using the three-point flexural test until destruction. Promising results were observed, identifying that the location of the crack can be determined using the conventional optical time domain reflectometry (OTDR) technique. The embedded sensors thus evaluated show the value of the dual achievement of the schemes proposed in obtaining strain/crack measurement while being utilized as strengthening agents as well. PMID:28208636

Use of force sensors to detect and analyse lameness in dairy cows.

PubMed

Kujala, M; Pastell, M; Soveri, T

2008-03-22

Force sensors were used to detect lameness in dairy cows in two trials. In the first trial, leg weights were recorded during approximately 12,000 milkings with balances built into the floor of the milking robot. Cows that put less weight on one leg or kicked frequently during milking were checked first with a locomotion scoring system and then with a clinical inspection. A locomotion score of more than 2 was considered lame, and these cows' hooves were examined at hoof trimming to determine the cause and to identify any hoof lesions. In the second trial 315 locomotion scores were recorded and compared with force sensor data. The force sensors proved to be a good method for recognising lameness. Computer curves drawn from force sensor data helped to find differences between leg weights, thus indicating lameness and its duration. Sole ulcers and white line disease were identified more quickly by force sensors than by locomotion scoring, but joint problems were more easily detected by locomotion scoring.

Novel ammonia sensor based on polyaniline/polylactic acid composite films

NASA Astrophysics Data System (ADS)

Sotirov, S.; Bodurov, I.; Marudova, M.

2017-01-01

We propose a new type of ammonia sensor based on composite film between polyaniline (emeraldine base) dissolved in dimethylformamide, and poly(DL-lactic) acid dissolved in chloroform. The two solutions were mixed in weight ratio of the components 1:1 and cast on Al2O3 substrate, on which silver electrodes were deposited previously. The active layer structure and morphology were examined by atomic force microscopy. The sensor resistance at constant humidity and different ammonia concentrations was measured. It was found that an increase in the ammonia concentration leads to resistance increase. This result is explained in the terms of ionic interactions between the polyaniline and the ammonia, which change the permittivity of the sensor active media. A response between 2% and 590% was shown depending on the ammonia concentration. The sensor is reversible and possesses response time of typically 100 s. Based on the changes of the sensor resistance, ammonia concentration from 10 ppm to 1000 ppm could be detected.

An MRI-Guided Telesurgery System Using a Fabry-Perot Interferometry Force Sensor and a Pneumatic Haptic Device.

PubMed

Su, Hao; Shang, Weijian; Li, Gang; Patel, Niravkumar; Fischer, Gregory S

2017-08-01

This paper presents a surgical master-slave teleoperation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. The slave robot consists of a piezoelectrically actuated 6-degree-of-freedom (DOF) robot for needle placement with an integrated fiber optic force sensor (1-DOF axial force measurement) using the Fabry-Perot interferometry (FPI) sensing principle; it is configured to operate inside the bore of the MRI scanner during imaging. By leveraging the advantages of pneumatic and piezoelectric actuation in force and position control respectively, we have designed a pneumatically actuated master robot (haptic device) with strain gauge based force sensing that is configured to operate the slave from within the scanner room during imaging. The slave robot follows the insertion motion of the haptic device while the haptic device displays the needle insertion force as measured by the FPI sensor. Image interference evaluation demonstrates that the telesurgery system presents a signal to noise ratio reduction of less than 17% and less than 1% geometric distortion during simultaneous robot motion and imaging. Teleoperated needle insertion and rotation experiments were performed to reach 10 targets in a soft tissue-mimicking phantom with 0.70 ± 0.35 mm Cartesian space error.

Method for lateral force calibration in atomic force microscope using MEMS microforce sensor.

PubMed

Dziekoński, Cezary; Dera, Wojciech; Jarząbek, Dariusz M

2017-11-01

In this paper we present a simple and direct method for the lateral force calibration constant determination. Our procedure does not require any knowledge about material or geometrical parameters of an investigated cantilever. We apply a commercially available microforce sensor with advanced electronics for direct measurement of the friction force applied by the cantilever's tip to a flat surface of the microforce sensor measuring beam. Due to the third law of dynamics, the friction force of the equal value tilts the AFM cantilever. Therefore, torsional (lateral force) signal is compared with the signal from the microforce sensor and the lateral force calibration constant is determined. The method is easy to perform and could be widely used for the lateral force calibration constant determination in many types of atomic force microscopes. Copyright © 2017 Elsevier B.V. All rights reserved.

Force Sensing Resistor (FSR): a brief overview and the low-cost sensor for active compliance control

NASA Astrophysics Data System (ADS)

Sadun, A. S.; Jalani, J.; Sukor, J. A.

2016-07-01

Force Sensing Resistors (FSR) sensors are devices that allow measuring static and dynamic forces applied to a contact surface. Their range of responses is basically depending on the variation of its electric resistance. In general, Flexiforce and Interlink are two common types of FSR sensors that are available, cheap and easily found in the market. Studies have shown that the FSR sensors are usually applied for robotic grippers and for biomechanical fields. This paper provides a brief overview of the application of the FSR sensors. Subsequently, two different set of experiments are carried out to test the effectiveness of the Flexiforce and Interlink sensors. First, the hardness detector system (Case Study A) and second, the force-position control system (Case Study B). The hardware used for the experiment was developed from low-cost materials. The results revealed that both FSR sensors are sufficient and reliable to provide a good sensing modality particularly for measuring force. Apart from the low-cost sensors, essentially, the FSR sensors are very useful devices that able to provide a good active compliance control, particularly for the grasping robotic hand.

Sensor apparatus using an electrochemical cell

DOEpatents

Thakur, Mrinal

2002-01-01

A novel technology for sensing mechanical quantities such as force, stress, strain, pressure and acceleration has been invented. This technology is based on a change in the electrochemically generated voltage (electromotive force) with application of force, stress, strain, pressure or acceleration. The change in the voltage is due to a change in the internal resistance of the electrochemical cell with a change in the relative position or orientation of the electrodes (anode and cathode) in the cell. The signal to be detected (e.g. force, stress, strain, pressure or acceleration) is applied to one of the electrodes to cause a change in the relative position or orientation between the electrodes. Various materials, solid, semisolid, gel, paste or liquid can be utilized as the electrolyte. The electrolyte must be an ion conductor. The examples of solid electrolytes include specific polymer conductors, polymer composites, ion conducting glasses and ceramics. The electrodes are made of conductors such as metals with dissimilar electronegativities. Significantly enhanced sensitivities, up to three orders of magnitude higher than that of comparable commercial sensors, are obtained. The materials are substantially less expensive than commercially used materials for mechanical sensors.

Force estimation from OCT volumes using 3D CNNs.

PubMed

Gessert, Nils; Beringhoff, Jens; Otte, Christoph; Schlaefer, Alexander

2018-07-01

Estimating the interaction forces of instruments and tissue is of interest, particularly to provide haptic feedback during robot-assisted minimally invasive interventions. Different approaches based on external and integrated force sensors have been proposed. These are hampered by friction, sensor size, and sterilizability. We investigate a novel approach to estimate the force vector directly from optical coherence tomography image volumes. We introduce a novel Siamese 3D CNN architecture. The network takes an undeformed reference volume and a deformed sample volume as an input and outputs the three components of the force vector. We employ a deep residual architecture with bottlenecks for increased efficiency. We compare the Siamese approach to methods using difference volumes and two-dimensional projections. Data were generated using a robotic setup to obtain ground-truth force vectors for silicon tissue phantoms as well as porcine tissue. Our method achieves a mean average error of [Formula: see text] when estimating the force vector. Our novel Siamese 3D CNN architecture outperforms single-path methods that achieve a mean average error of [Formula: see text]. Moreover, the use of volume data leads to significantly higher performance compared to processing only surface information which achieves a mean average error of [Formula: see text]. Based on the tissue dataset, our methods shows good generalization in between different subjects. We propose a novel image-based force estimation method using optical coherence tomography. We illustrate that capturing the deformation of subsurface structures substantially improves force estimation. Our approach can provide accurate force estimates in surgical setups when using intraoperative optical coherence tomography.

Design, implementation and evaluation of an independent real-time safety layer for medical robotic systems using a force-torque-acceleration (FTA) sensor.

PubMed

Richter, Lars; Bruder, Ralf

2013-05-01

Most medical robotic systems require direct interaction or contact with the robot. Force-Torque (FT) sensors can easily be mounted to the robot to control the contact pressure. However, evaluation is often done in software, which leads to latencies. To overcome that, we developed an independent safety system, named FTA sensor, which is based on an FT sensor and an accelerometer. An embedded system (ES) runs a real-time monitoring system for continuously checking of the readings. In case of a collision or error, it instantaneously stops the robot via the robot's external emergency stop. We found that the ES implementing the FTA sensor has a maximum latency of [Formula: see text] ms to trigger the robot's emergency stop. For the standard settings in the application of robotized transcranial magnetic stimulation, the robot will stop after at most 4 mm. Therefore, it works as an independent safety layer preventing patient and/or operator from serious harm.

Joint Force Quarterly. Issue 72, 1st Quarter 2014

DTIC Science & Technology

2014-01-01

assumptions. Planners may assume a sensor is adequate for finding IEDs but must develop a feedback loop that focuses on the interplay of enemy and friendly...AD challenge: how to maintain sensor and weapons density at distance, over time, without forward bases or aircraft carriers. Overcoming this...capabilities such as cyber warfare.3 It also requires unconventional thinking about how the U.S. military Services combine sensors , weapons, and platforms to

A comparison of force sensing techniques for planetary manipulation

NASA Technical Reports Server (NTRS)

Helmick, Daniel; Okon, Avi; DiCicco, Matt

2006-01-01

Five techniques for sensing forces with a manipulator are compared analytically and experimentally. The techniques compared are: a six-axis wrist force/torque sensor, joint torque sensors, link strain gauges, motor current sensors, and flexibility modeling. The accuracy and repeatability fo each technique is quantified and compared.

Fully printed flexible fingerprint-like three-axis tactile and slip force and temperature sensors for artificial skin.

PubMed

Harada, Shingo; Kanao, Kenichiro; Yamamoto, Yuki; Arie, Takayuki; Akita, Seiji; Takei, Kuniharu

2014-12-23

A three-axis tactile force sensor that determines the touch and slip/friction force may advance artificial skin and robotic applications by fully imitating human skin. The ability to detect slip/friction and tactile forces simultaneously allows unknown objects to be held in robotic applications. However, the functionalities of flexible devices have been limited to a tactile force in one direction due to difficulties fabricating devices on flexible substrates. Here we demonstrate a fully printed fingerprint-like three-axis tactile force and temperature sensor for artificial skin applications. To achieve economic macroscale devices, these sensors are fabricated and integrated using only printing methods. Strain engineering enables the strain distribution to be detected upon applying a slip/friction force. By reading the strain difference at four integrated force sensors for a pixel, both the tactile and slip/friction forces can be analyzed simultaneously. As a proof of concept, the high sensitivity and selectivity for both force and temperature are demonstrated using a 3×3 array artificial skin that senses tactile, slip/friction, and temperature. Multifunctional sensing components for a flexible device are important advances for both practical applications and basic research in flexible electronics.

Direct Aerosol Radiative Forcing from Combined A-Train Observations - Preliminary Comparisons with AeroCom Models and Pathways to Observationally Based All-sky Estimates

NASA Astrophysics Data System (ADS)

Redemann, J.; Livingston, J. M.; Shinozuka, Y.; Kacenelenbogen, M. S.; Russell, P. B.; LeBlanc, S. E.; Vaughan, M.; Ferrare, R. A.; Hostetler, C. A.; Rogers, R. R.; Burton, S. P.; Torres, O.; Remer, L. A.; Stier, P.; Schutgens, N.

2014-12-01

We describe a technique for combining CALIOP aerosol backscatter, MODIS spectral AOD (aerosol optical depth), and OMI AAOD (absorption aerosol optical depth) retrievals for the purpose of estimating full spectral sets of aerosol radiative properties, and ultimately for calculating the 3-D distribution of direct aerosol radiative forcing. We present results using one year of data collected in 2007 and show comparisons of the aerosol radiative property estimates to collocated AERONET retrievals. Use of the recently released MODIS Collection 6 data for aerosol optical depths derived with the dark target and deep blue algorithms has extended the coverage of the multi-sensor estimates towards higher latitudes. Initial calculations of seasonal clear-sky aerosol radiative forcing based on our multi-sensor aerosol retrievals compare well with over-ocean and top of the atmosphere IPCC-2007 model-based results, and with more recent assessments in the "Climate Change Science Program Report: Atmospheric Aerosol Properties and Climate Impacts" (2009). For the first time, we present comparisons of our multi-sensor aerosol direct radiative forcing estimates to values derived from a subset of models that participated in the latest AeroCom initiative. We discuss the major challenges that exist in extending our clear-sky results to all-sky conditions. On the basis of comparisons to suborbital measurements, we present some of the limitations of the MODIS and CALIOP retrievals in the presence of adjacent or underlying clouds. Strategies for meeting these challenges are discussed.

Cantilever arrayed blood pressure sensor for arterial applanation tonometry.

PubMed

Lee, Byeungleul; Jeong, Jinwoo; Kim, Jinseok; Kim, Bonghwan; Chun, Kukjin

2014-03-01

The authors developed a cantilever-arrayed blood pressure sensor array fabricated by (111) silicon bulk-micromachining for the non-invasive and continuous measurement of blood pressure. The blood pressure sensor measures the blood pressure based on the change in the resistance of the piezoresistor on a 5-microm-thick-arrayed perforated membrane and 20-microm-thick metal pads. The length and the width of the unit membrane are 210 and 310 microm, respectively. The width of the insensible zone between the adjacent units is only 10 microm. The resistance change over contact force was measured to verify the performance. The good linearity of the result confirmed that the polydimethylsiloxane package transfers the forces appropriately. The measured sensitivity was about 4.5%/N. The maximum measurement range and the resolution of the fabricated blood pressure sensor were greater than 900 mmHg (= 120 kPa) and less than 1 mmHg (= 133.3 Pa), respectively.

Comparison and experimental validation of two potential resonant viscosity sensors in the kilohertz range

NASA Astrophysics Data System (ADS)

Lemaire, Etienne; Heinisch, Martin; Caillard, Benjamin; Jakoby, Bernhard; Dufour, Isabelle

2013-08-01

Oscillating microstructures are well established and find application in many fields. These include force sensors, e.g. AFM micro-cantilevers or accelerometers based on resonant suspended plates. This contribution presents two vibrating mechanical structures acting as force sensors in liquid media in order to measure hydrodynamic interactions. Rectangular cross section microcantilevers as well as circular cross section wires are investigated. Each structure features specific benefits, which are discussed in detail. Furthermore, their mechanical parameters and their deflection in liquids are characterized. Finally, an inverse analytical model is applied to calculate the complex viscosity near the resonant frequency for both types of structures. With this approach it is possible to determine rheological parameters in the kilohertz range in situ within a few seconds. The monitoring of the complex viscosity of yogurt during the fermentation process is used as a proof of concept to qualify at least one of the two sensors in opaque mixtures.

Sensorization of a surgical robotic instrument for force sensing

NASA Astrophysics Data System (ADS)

Shahzada, Kaspar S.; Yurkewich, Aaron; Xu, Ran; Patel, Rajni V.

2016-03-01

This paper presents the development and application of an approach for sensorizing a surgical robotic instrument for two degree-of-freedom (DOF) lateral force sensing. The sensorized instrument is compatible with the da Vinci® Surgical System and can be used for skills assessment and force control in specific surgical tasks. The sensing technology utilizes a novel layout of four fiber Bragg grating (FBG) sensors attached to the shaft of a da Vinci® surgical instrument. The two cross-section layout is insensitive to error caused by combined force and torque loads, and the orientation of the sensors minimizes the condition number of the instrument's compliance matrix. To evaluate the instrument's sensing capabilities, its performance was tested using a commercially available force-torque sensor, and showed a resolution of 0.05N at 1 kHz sampling rate. The performance of the sensorized instrument was evaluated by performing three surgical tasks on phantom tissue using the da Vinci® system with the da Vinci Research Kit (dVRK): tissue palpation, knot tightening during suturing and Hem-O-Lok® tightening during knotless suturing. The tasks were designed to demonstrate the robustness of the sensorized force measurement approach. The paper reports the results of further evaluation by a group of expert and novice surgeons performing the three tasks mentioned above.

Sensing Performance Analysis on Quartz Tuning Fork-Probe at the High Order Vibration Mode for Multi-Frequency Scanning Probe Microscopy

PubMed Central

Gao, Fengli; Li, Xide

2018-01-01

Multi-frequency scanning near-field optical microscopy, based on a quartz tuning fork-probe (QTF-p) sensor using the first two orders of in-plane bending symmetrical vibration modes, has recently been developed. This method can simultaneously achieve positional feedback (based on the 1st in-plane mode called the low mode) and detect near-field optically induced forces (based on the 2nd in-plane mode called the high mode). Particularly, the high mode sensing performance of the QTF-p is an important issue for characterizing the tip-sample interactions and achieving higher resolution microscopic imaging but the related researches are insufficient. Here, we investigate the vibration performance of QTF-p at high mode based on the experiment and finite element method. The frequency spectrum characteristics are obtained by our homemade laser Doppler vibrometer system. The effects of the properties of the connecting glue layer and the probe features on the dynamic response of the QTF-p sensor at the high mode are investigated for optimization design. Finally, compared with the low mode, an obvious improvement of quality factor, of almost 50%, is obtained at the high mode. Meanwhile, the QTF-p sensor has a high force sensing sensitivity and a large sensing range at the high mode, indicating a broad application prospect for force sensing. PMID:29364847

Finding the Effective Mass and Spring Constant of a Force Probe from Simple Harmonic Motion

NASA Astrophysics Data System (ADS)

Greene, Nathaniel R.; Gill, Tom; Eyerly, Stephen

2016-03-01

Force probes are versatile tools in the physics lab, but their internal workings can introduce artifacts when measuring rapidly changing forces. The Dual-Range Force Sensor by Vernier (Fig. 1) uses strain gage technology to measure force, based on the bending of a beam. Strain gages along the length of the beam change resistance as the beam bends (Fig. 2). The elasticity of the beam leads to oscillations that persist after being excited by an impulsive force. How quickly the force probe freely returns to zero is thus related to the rigidity of the beam and the total mass attached to it. By varying the added mass and measuring the resulting frequency of the probe's internal free oscillations, the effective mass and spring constant of the probe's moveable parts can be found. Weighing of the probe parts and conducting a Hooke's law experiment provide static verification of these parameters. Study of the force sensor's behavior helps students to learn about damped harmonic motion, mathematical modeling, and the limitations of measuring devices.

Flexure mechanism-based parallelism measurements for chip-on-glass bonding

NASA Astrophysics Data System (ADS)

Jung, Seung Won; Yun, Won Soo; Jin, Songwan; Kim, Bo Sun; Jeong, Young Hun

2011-08-01

Recently, liquid crystal displays (LCDs) have played vital roles in a variety of electronic devices such as televisions, cellular phones, and desktop/laptop monitors because of their enhanced volume, performance, and functionality. However, there is still a need for thinner LCD panels due to the trend of miniaturization in electronic applications. Thus, chip-on-glass (COG) bonding has become one of the most important aspects in the LCD panel manufacturing process. In this study, a novel sensor was developed to measure the parallelism between the tooltip planes of the bonding head and the backup of the COG main bonder, which has previously been estimated by prescale pressure films in industry. The sensor developed in this study is based on a flexure mechanism, and it can measure the total pressing force and the inclination angles in two directions that satisfy the quantitative definition of parallelism. To improve the measurement accuracy, the sensor was calibrated based on the estimation of the total pressing force and the inclination angles using the least-squares method. To verify the accuracy of the sensor, the estimation results for parallelism were compared with those from prescale pressure film measurements. In addition, the influence of parallelism on the bonding quality was experimentally demonstrated. The sensor was successfully applied to the measurement of parallelism in the COG-bonding process with an accuracy of more than three times that of the conventional method using prescale pressure films.

Throughput, latency and cost comparisons of microcontroller-based implementations of wireless sensor network (WSN) in high jump sports

NASA Astrophysics Data System (ADS)

Ahmad, Afandi; Roslan, Muhammad Faris; Amira, Abbes

2017-09-01

In high jump sports, approach take-off speed and force during the take-off are two (2) main important parts to gain maximum jump. To measure both parameters, wireless sensor network (WSN) that contains microcontroller and sensor are needed to describe the results of speed and force for jumpers. Most of the microcontroller exhibit transmission issues in terms of throughput, latency and cost. Thus, this study presents the comparison of wireless microcontrollers in terms of throughput, latency and cost, and the microcontroller that have best performances and cost will be implemented in high jump wearable device. In the experiments, three (3) parts have been integrated - input, process and output. Force (for ankle) and global positioning system (GPS) sensor (for body waist) acts as an input for data transmission. These data were then being processed by both microcontrollers, ESP8266 and Arduino Yun Mini to transmit the data from sensors to the server (host-PC) via message queuing telemetry transport (MQTT) protocol. The server acts as receiver and the results was calculated from the MQTT log files. At the end, results obtained have shown ESP8266 microcontroller had been chosen since it achieved high throughput, low latency and 11 times cheaper in term of prices compared to Arduino Yun Mini microcontroller.

Tactile sensor of hardness recognition based on magnetic anomaly detection

NASA Astrophysics Data System (ADS)

Xue, Lingyun; Zhang, Dongfang; Chen, Qingguang; Rao, Huanle; Xu, Ping

2018-03-01

Hardness, as one kind of tactile sensing, plays an important role in the field of intelligent robot application such as gripping, agricultural harvesting, prosthetic hand and so on. Recently, with the rapid development of magnetic field sensing technology with high performance, a number of magnetic sensors have been developed for intelligent application. The tunnel Magnetoresistance(TMR) based on magnetoresistance principal works as the sensitive element to detect the magnetic field and it has proven its excellent ability of weak magnetic detection. In the paper, a new method based on magnetic anomaly detection was proposed to detect the hardness in the tactile way. The sensor is composed of elastic body, ferrous probe, TMR element, permanent magnet. When the elastic body embedded with ferrous probe touches the object under the certain size of force, deformation of elastic body will produce. Correspondingly, the ferrous probe will be forced to displace and the background magnetic field will be distorted. The distorted magnetic field was detected by TMR elements and the output signal at different time can be sampled. The slope of magnetic signal with the sampling time is different for object with different hardness. The result indicated that the magnetic anomaly sensor can recognize the hardness rapidly within 150ms after the tactile moment. The hardness sensor based on magnetic anomaly detection principal proposed in the paper has the advantages of simple structure, low cost, rapid response and it has shown great application potential in the field of intelligent robot.

Comparison of optical and electrical measurements of the pantograph-catenary contact force

NASA Astrophysics Data System (ADS)

Bocciolone, Marco; Bucca, Giuseppe; Collina, Andrea; Comolli, Lorenzo

2010-09-01

In railway engineering the monitoring of contact force between pantograph and catenary gives information about the interaction between the two systems and it is useful to check the status of the overhead line. Indeed the failure of the catenary is one of the main causes of out of order problems. This study was conducted in a test campaign on an underground train instrumented with sensors able to monitor the line status. One of the more important measured quantities is the pantograph contact force, and two measurement systems were implemented: one optical and another electrical. The optical one was based on FBG sensors applied on the pantograph collector strip; the electrical one was based on two load cells positioned at the sides of the collector strip. The in-line measurements show that the optical solution is very promising, providing very reliable results that can be successfully used in the monitoring application, allowing the determination of the critical point in the line. The thermal compensation of any FBG sensors is a known problem and here is no exception: a thermal compensator was used to get also mean value measurements and the results are discussed.

Measurement agreement between a newly developed sensing insole and traditional laboratory-based method for footstrike pattern detection in runners

PubMed Central

Cheung, Roy T. H.; An, Winko W.; Au, Ivan P. H.; Zhang, Janet H.; Chan, Zoe Y. S.; Man, Alfred; Lau, Fannie O. Y.; Lam, Melody K. Y.; Lau, K. K.; Leung, C. Y.; Tsang, N. W.; Sze, Louis K. Y.; Lam, Gilbert W. K.

2017-01-01

This study introduced a novel but simple method to continuously measure footstrike patterns in runners using inexpensive force sensors. Two force sensing resistors were firmly affixed at the heel and second toe of both insoles to collect the time signal of foot contact. A total of 109 healthy young adults (42 males and 67 females) were recruited in this study. They ran on an instrumented treadmill at 0°, +10°, and -10° inclinations and attempted rearfoot, midfoot, and forefoot landings using real time visual biofeedback. Intra-step strike index and onset time difference between two force sensors were measured and analyzed with univariate linear regression. We analyzed 25,655 footfalls and found that onset time difference between two sensors explained 80–84% of variation in the prediction model of strike index (R-squared = 0.799–0.836, p<0.001). However, the time windows to detect footstrike patterns on different surface inclinations were not consistent. These findings may allow laboratory-based gait retraining to be implemented in natural running environments to aid in both injury prevention and performance enhancement. PMID:28599003

Smart Hand For Manipulators

NASA Astrophysics Data System (ADS)

Fiorini, Paolo

1987-10-01

Sensor based, computer controlled end effectors for mechanical arms are receiving more and more attention in the robotics industry, because commonly available grippers are only adequate for simple pick and place tasks. This paper describes the current status of the research at JPL on a smart hand for a Puma 560 robot arm. The hand is a self contained, autonomous system, capable of executing high level commands from a supervisory computer. The mechanism consists of parallel fingers, powered by a DC motor, and controlled by a microprocessor embedded in the hand housing. Special sensors are integrated in the hand for measuring the grasp force of the fingers, and for measuring forces and torques applied between the arm and the surrounding environment. Fingers can be exercised under position, velocity and force control modes. The single-chip microcomputer in the hand executes the tasks of communication, data acquisition and sensor based motor control, with a sample cycle of 2 ms and a transmission rate of 9600 baud. The smart hand described in this paper represents a new development in the area of end effector design because of its multi-functionality and autonomy. It will also be a versatile test bed for experimenting with advanced control schemes for dexterous manipulation.

An Ambulatory System for Gait Monitoring Based on Wireless Sensorized Insoles.

PubMed

González, Iván; Fontecha, Jesús; Hervás, Ramón; Bravo, José

2015-07-09

A new gait phase detection system for continuous monitoring based on wireless sensorized insoles is presented. The system can be used in gait analysis mobile applications, and it is designed for real-time demarcation of gait phases. The system employs pressure sensors to assess the force exerted by each foot during walking. A fuzzy rule-based inference algorithm is implemented on a smartphone and used to detect each of the gait phases based on the sensor signals. Additionally, to provide a solution that is insensitive to perturbations caused by non-walking activities, a probabilistic classifier is employed to discriminate walking forward from other low-level activities, such as turning, walking backwards, lateral walking, etc. The combination of these two algorithms constitutes the first approach towards a continuous gait assessment system, by means of the avoidance of non-walking influences.

Design and Analysis of a Sensor System for Cutting Force Measurement in Machining Processes

PubMed Central

Liang, Qiaokang; Zhang, Dan; Coppola, Gianmarc; Mao, Jianxu; Sun, Wei; Wang, Yaonan; Ge, Yunjian

2016-01-01

Multi-component force sensors have infiltrated a wide variety of automation products since the 1970s. However, one seldom finds full-component sensor systems available in the market for cutting force measurement in machine processes. In this paper, a new six-component sensor system with a compact monolithic elastic element (EE) is designed and developed to detect the tangential cutting forces Fx, Fy and Fz (i.e., forces along x-, y-, and z-axis) as well as the cutting moments Mx, My and Mz (i.e., moments about x-, y-, and z-axis) simultaneously. Optimal structural parameters of the EE are carefully designed via simulation-driven optimization. Moreover, a prototype sensor system is fabricated, which is applied to a 5-axis parallel kinematic machining center. Calibration experimental results demonstrate that the system is capable of measuring cutting forces and moments with good linearity while minimizing coupling error. Both the Finite Element Analysis (FEA) and calibration experimental studies validate the high performance of the proposed sensor system that is expected to be adopted into machining processes. PMID:26751451

Design and Analysis of a Sensor System for Cutting Force Measurement in Machining Processes.

PubMed

Liang, Qiaokang; Zhang, Dan; Coppola, Gianmarc; Mao, Jianxu; Sun, Wei; Wang, Yaonan; Ge, Yunjian

2016-01-07

Multi-component force sensors have infiltrated a wide variety of automation products since the 1970s. However, one seldom finds full-component sensor systems available in the market for cutting force measurement in machine processes. In this paper, a new six-component sensor system with a compact monolithic elastic element (EE) is designed and developed to detect the tangential cutting forces Fx, Fy and Fz (i.e., forces along x-, y-, and z-axis) as well as the cutting moments Mx, My and Mz (i.e., moments about x-, y-, and z-axis) simultaneously. Optimal structural parameters of the EE are carefully designed via simulation-driven optimization. Moreover, a prototype sensor system is fabricated, which is applied to a 5-axis parallel kinematic machining center. Calibration experimental results demonstrate that the system is capable of measuring cutting forces and moments with good linearity while minimizing coupling error. Both the Finite Element Analysis (FEA) and calibration experimental studies validate the high performance of the proposed sensor system that is expected to be adopted into machining processes.

Global versus local mechanisms of temperature sensing in ion channels.

PubMed

Arrigoni, Cristina; Minor, Daniel L

2018-05-01

Ion channels turn diverse types of inputs, ranging from neurotransmitters to physical forces, into electrical signals. Channel responses to ligands generally rely on binding to discrete sensor domains that are coupled to the portion of the channel responsible for ion permeation. By contrast, sensing physical cues such as voltage, pressure, and temperature arises from more varied mechanisms. Voltage is commonly sensed by a local, domain-based strategy, whereas the predominant paradigm for pressure sensing employs a global response in channel structure to membrane tension changes. Temperature sensing has been the most challenging response to understand and whether discrete sensor domains exist for pressure and temperature has been the subject of much investigation and debate. Recent exciting advances have uncovered discrete sensor modules for pressure and temperature in force-sensitive and thermal-sensitive ion channels, respectively. In particular, characterization of bacterial voltage-gated sodium channel (BacNa V ) thermal responses has identified a coiled-coil thermosensor that controls channel function through a temperature-dependent unfolding event. This coiled-coil thermosensor blueprint recurs in other temperature sensitive ion channels and thermosensitive proteins. Together with the identification of ion channel pressure sensing domains, these examples demonstrate that "local" domain-based solutions for sensing force and temperature exist and highlight the diversity of both global and local strategies that channels use to sense physical inputs. The modular nature of these newly discovered physical signal sensors provides opportunities to engineer novel pressure-sensitive and thermosensitive proteins and raises new questions about how such modular sensors may have evolved and empowered ion channel pores with new sensibilities.

CNT coated thread micro-electro-mechanical system for finger proprioception sensing

NASA Astrophysics Data System (ADS)

Shafi, A. A.; Wicaksono, D. H. B.

2017-04-01

In this paper, we aim to fabricate cotton thread based sensor for proprioceptive application. Cotton threads are utilized as the structural component of flexible sensors. The thread is coated with multi-walled carbon nanotube (MWCNT) dispersion by using facile conventional dipping-drying method. The electrical characterization of the coated thread found that the resistance per meter of the coated thread decreased with increasing the number of dipping. The CNT coated thread sensor works based on piezoresistive theory in which the resistance of the coated thread changes when force is applied. This thread sensor is sewed on glove at the index finger between middle and proximal phalanx parts and the resistance change is measured upon grasping mechanism. The thread based microelectromechanical system (MEMS) enables the flexible sensor to easily fit perfectly on the finger joint and gives reliable response as proprioceptive sensing.

Magnetic force driven six degree-of-freedom active vibration isolation system using a phase compensated velocity sensor.

PubMed

Kim, Yongdae; Kim, Sangyoo; Park, Kyihwan

2009-04-01

A six-axis active vibration isolation system (AVIS) is developed using voice coil actuators. Point contact configuration is employed to have an easy assembly of eight voice coil actuators to an upper and a base plates. The velocity sensor, using an electromagnetic principle that is commonly used in the vibration control, is investigated since its phase lead characteristic causes an instability problem for a low frequency vibration. The performances of the AVIS are investigated in the frequency domain and finally validated by comparing with the passive isolation system using the atomic force microscope images.

Evaluation and optimization of quartz resonant-frequency retuned fork force sensors with high Q factors, and the associated electric circuits, for non-contact atomic force microscopy.

PubMed

Ooe, Hiroaki; Fujii, Mikihiro; Tomitori, Masahiko; Arai, Toyoko

2016-02-01

High-Q factor retuned fork (RTF) force sensors made from quartz tuning forks, and the electric circuits for the sensors, were evaluated and optimized to improve the performance of non-contact atomic force microscopy (nc-AFM) performed under ultrahigh vacuum (UHV) conditions. To exploit the high Q factor of the RTF sensor, the oscillation of the RTF sensor was excited at its resonant frequency, using a stray capacitance compensation circuit to cancel the excitation signal leaked through the stray capacitor of the sensor. To improve the signal-to-noise (S/N) ratio in the detected signal, a small capacitor was inserted before the input of an operational (OP) amplifier placed in an UHV chamber, which reduced the output noise from the amplifier. A low-noise, wideband OP amplifier produced a superior S/N ratio, compared with a precision OP amplifier. The thermal vibrational density spectra of the RTF sensors were evaluated using the circuit. The RTF sensor with an effective spring constant value as low as 1000 N/m provided a lower minimum detection limit for force differentiation. A nc-AFM image of a Si(111)-7 × 7 surface was produced with atomic resolution using the RTF sensor in a constant frequency shift mode; tunneling current and energy dissipation images with atomic resolution were also simultaneously produced. The high-Q factor RTF sensor showed potential for the high sensitivity of energy dissipation as small as 1 meV/cycle and the high-resolution analysis of non-conservative force interactions.

Fabrication of All-SiC Fiber-Optic Pressure Sensors for High-Temperature Applications

PubMed Central

Jiang, Yonggang; Li, Jian; Zhou, Zhiwen; Jiang, Xinggang; Zhang, Deyuan

2016-01-01

Single-crystal silicon carbide (SiC)-based pressure sensors can be used in harsh environments, as they exhibit stable mechanical and electrical properties at elevated temperatures. A fiber-optic pressure sensor with an all-SiC sensor head was fabricated and is herein proposed. SiC sensor diaphragms were fabricated via an ultrasonic vibration mill-grinding (UVMG) method, which resulted in a small grinding force and low surface roughness. The sensor head was formed by hermetically bonding two layers of SiC using a nickel diffusion bonding method. The pressure sensor illustrated a good linearity in the range of 0.1–0.9 MPa, with a resolution of 0.27% F.S. (full scale) at room temperature. PMID:27763494

Fabrication of All-SiC Fiber-Optic Pressure Sensors for High-Temperature Applications.

PubMed

Jiang, Yonggang; Li, Jian; Zhou, Zhiwen; Jiang, Xinggang; Zhang, Deyuan

2016-10-17

Single-crystal silicon carbide (SiC)-based pressure sensors can be used in harsh environments, as they exhibit stable mechanical and electrical properties at elevated temperatures. A fiber-optic pressure sensor with an all-SiC sensor head was fabricated and is herein proposed. SiC sensor diaphragms were fabricated via an ultrasonic vibration mill-grinding (UVMG) method, which resulted in a small grinding force and low surface roughness. The sensor head was formed by hermetically bonding two layers of SiC using a nickel diffusion bonding method. The pressure sensor illustrated a good linearity in the range of 0.1-0.9 MPa, with a resolution of 0.27% F.S. (full scale) at room temperature.

A buoyancy-based fiber Bragg grating tilt sensor

NASA Astrophysics Data System (ADS)

Maheshwari, Muneesh; Yang, Yaowen; Chaturvedi, Tanmay

2017-04-01

In this paper, a novel design of fiber Bragg grating tilt sensor is proposed. This tilt sensor exhibits high angle sensitivity and resolution. The presented tilt sensor works on the principle of the force of buoyancy in a liquid. It has certain advantages over the other designs of tilt sensors. The temperature effect can be easily compensated by using an un-bonded or free FBG. An analytical model is established which correlates the Bragg wavelength (λB) with the angle of inclination. This model is then validated by the experiment, where the experimental and analytical results are found in good agreement with each other.

A magnetostatic-coupling based remote query sensor for environmental monitoring

NASA Technical Reports Server (NTRS)

Grimes, C. A.; Stoyanov, P. G.; Liu, Y.; Tong, C.; Ong, K. G.; Loiselle, K.; Shaw, M.; Doherty, S. A.; Seitz, W. R.

1999-01-01

A new type of in situ, remotely monitored magnetism-based sensor is presented that is comprised of an array of magnetically soft, magnetostatically-coupled ferromagnetic thin-film elements or particles combined with a chemically responsive material that swells or shrinks in response to the analyte of interest. As the chemically responsive material changes size the distance between the ferromagnetic elements changes, altering the inter-element magnetostatic coupling. This in turn changes the coercive force of the sensor, the amplitude of the voltage spikes detected in nearby pick-up coils upon magnetization reversal and the number of higher-order harmonics generated by the flux reversal. Since the sensor is monitored through changes in magnetic flux, no physical connections such as wires or cables are needed to obtain sensor information, nor is line of sight alignment required as with laser telemetry; the sensors can be detected from within sealed, opaque or thin metallic enclosures.

Improved Force-And-Torque Sensor Assembly

NASA Technical Reports Server (NTRS)

Bamford, Robert M.

1991-01-01

Improved sensor assembly measures forces and torques of interaction between supporting and supported object. Measures all three components of force and all three components of torque. Force measurements uncoupled from torque measurements. Price for improved measurement capability, complexity and flexibility, excessive in some applications.

Feature-Enhanced, Model-Based Sparse Aperture Imaging

DTIC Science & Technology

2008-03-01

See additional restrictions described on inside pages STINFO COPY AIR FORCE RESEARCH LABORATORY SENSORS DIRECTORATE WRIGHT...AND ADDRESS(ES) 8. PERFORMING ORGANIZATION Massachusetts Institute of Technology Laboratory for Information and Decision Systems 77 Massachusetts...Avenue Cambridge, MA 02139 REPORT NUMBER 9. SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES) Air Force Research Laboratory 10

Nanomanipulation and Lithography for Carbon Nanotube Based Nondestructive Evaluation Sensor Development

NASA Technical Reports Server (NTRS)

Wincheski, Buzz; Smits, Jan; Namkung, Min; Ingram, JoAnne; Watkins, Neal; Jordan, Jeffrey D.; Louie, Richard

2002-01-01

Carbon nanotubes (CNTs) offer great potential for advanced sensor development due to the unique electronic transport properties of the material. However, a significant obstacle to the realization of practical CNT devices is the formation of reliable and reproducible CNT to metallic contacts. In this work, scanning probe techniques are explored for both fabrication of metallic junctions and positioning of singlewalled CNTs across these junctions. The use of a haptic force feedback interface to a scanning probe microscope is used to enable movement of nanotubes over micron length scales with nanometer precision. In this case, imaging of the surface is performed with light or intermittent contact to the surface. Increased tip-to-sample interaction forces are then applied to either create junctions or position CNTs. The effect of functionalization of substrate surfaces on the movement and tribology of the materials is also studied. The application of these techniques to the fabrication of CNT-based sensors for nondestructive evaluation applications is discussed.

Can a virtual reality assessment of fine motor skill predict successful central line insertion?

PubMed

Mohamadipanah, Hossein; Parthiban, Chembian; Nathwani, Jay; Rutherford, Drew; DiMarco, Shannon; Pugh, Carla

2016-10-01

Due to the increased use of peripherally inserted central catheter lines, central lines are not performed as frequently. The aim of this study is to evaluate whether a virtual reality (VR)-based assessment of fine motor skills can be used as a valid and objective assessment of central line skills. Surgical residents (N = 43) from 7 general surgery programs performed a subclavian central line in a simulated setting. Then, they participated in a force discrimination task in a VR environment. Hand movements from the subclavian central line simulation were tracked by electromagnetic sensors. Gross movements as monitored by the electromagnetic sensors were compared with the fine motor metrics calculated from the force discrimination tasks in the VR environment. Long periods of inactivity (idle time) during needle insertion and lack of smooth movements, as detected by the electromagnetic sensors, showed a significant correlation with poor force discrimination in the VR environment. Also, long periods of needle insertion time correlated to the poor performance in force discrimination in the VR environment. This study shows that force discrimination in a defined VR environment correlates to needle insertion time, idle time, and hand smoothness when performing subclavian central line placement. Fine motor force discrimination may serve as a valid and objective assessment of the skills required for successful needle insertion when placing central lines. Copyright © 2016 Elsevier Inc. All rights reserved.

Novel techniques for optical sensor using single core multi-layer structures for electric field detection

NASA Astrophysics Data System (ADS)

Ali, Amir R.; Kamel, Mohamed A.

2017-05-01

This paper studies the effect of the electrostriction force on the single optical dielectric core coated with multi-layers based on whispering gallery mode (WGM). The sensing element is a dielectric core made of polymeric material coated with multi-layers having different dielectric and mechanical properties. The external electric field deforming the sensing element causing shifts in its WGM spectrum. The multi-layer structures will enhance the body and the pressure forces acting on the core of the sensing element. Due to the gradient on the dielectric permittivity; pressure forces at the interface between every two layers will be created. Also, the gradient on Young's modulus will affect the overall stiffness of the optical sensor. In turn the sensitivity of the optical sensor to the electric field will be increased when the materials of each layer selected properly. A mathematical model is used to test the effect for that multi-layer structures. Two layering techniques are considered to increase the sensor's sensitivity; (i) Pressure force enhancement technique; and (ii) Young's modulus reduction technique. In the first technique, Young's modulus is kept constant for all layers, while the dielectric permittivity is varying. In this technique the results will be affected by the value dielectric permittivity of the outer medium surrounding the cavity. If the medium's dielectric permittivity is greater than that of the cavity, then the ascending ordered layers of the cavity will yield the highest sensitivity (the core will have the smallest dielectric permittivity) to the applied electric field and vice versa. In the second technique, Young's modulus is varying along the layers, while the dielectric permittivity has a certain constant value per layer. On the other hand, the descending order will enhance the sensitivity in the second technique. Overall, results show the multi-layer cavity based on these techniques will enhance the sensitivity compared to the typical polymeric optical sensor.

Flexible force sensors for e-textiles

NASA Astrophysics Data System (ADS)

Carvalho, H.; Yao, Y.; Gonçalves, L. M.

2017-10-01

This paper presents the development of inexpensive, lightweight, flexible polymer-based piezoresistive sensors appropriate for integration in e-textiles. The transducing element used is a volume-conductive carbon impregnated black polypropylene/polyethylene film with commercial names Velostat (from 3M) or Linqstat (from Caplinq). The objective is to investigate on the influence of different sensor constructions, varying film thicknesses, electrode materials and encapsulations on sensor performance. Furthermore, ways of integrating the sensors into textile products, as well as potential applications are also studied. In this paper, the behaviour of the sensors under different cyclic compression loads, applied at different speeds, is presented. Sensors using three different electrode materials are tested. The results show significant influence of sensor construction and electrode material on the static and dynamic performance of the devices.

An eight-legged tactile sensor to estimate coefficient of static friction.

PubMed

Wei Chen; Rodpongpun, Sura; Luo, William; Isaacson, Nathan; Kark, Lauren; Khamis, Heba; Redmond, Stephen J

2015-08-01

It is well known that a tangential force larger than the maximum static friction force is required to initiate the sliding motion between two objects, which is governed by a material constant called the coefficient of static friction. Therefore, knowing the coefficient of static friction is of great importance for robot grippers which wish to maintain a stable and precise grip on an object during various manipulation tasks. Importantly, it is most useful if grippers can estimate the coefficient of static friction without having to explicitly explore the object first, such as lifting the object and reducing the grip force until it slips. A novel eight-legged sensor, based on simplified theoretical principles of friction is presented here to estimate the coefficient of static friction between a planar surface and the prototype sensor. Each of the sensor's eight legs are straight and rigid, and oriented at a specified angle with respect to the vertical, allowing it to estimate one of five ranges (5 = 8/2 + 1) that the coefficient of static friction can occupy. The coefficient of friction can be estimated by determining whether the legs have slipped or not when pressed against a surface. The coefficients of static friction between the sensor and five different materials were estimated and compared to a measurement from traditional methods. A least-squares linear fit of the sensor estimated coefficient showed good correlation with the reference coefficient with a gradient close to one and an r(2) value greater than 0.9.

Development of a directional sensitive pressure and shear sensor

NASA Astrophysics Data System (ADS)

Wang, Wei-Chih; Dee, Jeffrey; Ledoux, William; Sangeorzan, Bruce; Reinhall, Per G.

2002-06-01

Diabetes mellitus is a disease that impacts the lives of millions of people around the world. Lower limb complications associated with diabetes include the development of plantar ulcers that can lead to infection and subsequent amputation. Shear stress is thought to be a major contributing factor to ulcer development, but due in part to technical difficulties with transducing shear stress, there is no widely used shear measurement sensor. As such, we are currently developing a directionally sensitive pressure/shear sensor based on fiber optic technology. The pressure/shear sensor consists of an array of optical fibers lying in perpendicular rows and columns separated by elastomeric pads. A map of pressure and shear stress is constructed based on observed macro bending through the intensity attenuation from the physical deformation of two adjacent perpendicular fibers. The sensor has been shown to have low noise and responded linearly to applied loads. The smallest detectable force on each sensor element based on the current setup is ~0.1 lbs. (0.4N). The smallest area we have resolved in our mesh sensor is currently ~1 cm2.

An Ambulatory System for Gait Monitoring Based on Wireless Sensorized Insoles

PubMed Central

González, Iván; Fontecha, Jesús; Hervás, Ramón; Bravo, José

2015-01-01

A new gait phase detection system for continuous monitoring based on wireless sensorized insoles is presented. The system can be used in gait analysis mobile applications, and it is designed for real-time demarcation of gait phases. The system employs pressure sensors to assess the force exerted by each foot during walking. A fuzzy rule-based inference algorithm is implemented on a smartphone and used to detect each of the gait phases based on the sensor signals. Additionally, to provide a solution that is insensitive to perturbations caused by non-walking activities, a probabilistic classifier is employed to discriminate walking forward from other low-level activities, such as turning, walking backwards, lateral walking, etc. The combination of these two algorithms constitutes the first approach towards a continuous gait assessment system, by means of the avoidance of non-walking influences. PMID:26184199

Flexural Vibration Test of a Cantilever Beam with a Force Sensor: Fast Determination of Young's Modulus

ERIC Educational Resources Information Center

Digilov, Rafael M.

2008-01-01

We describe a simple and very inexpensive undergraduate laboratory experiment for fast determination of Young's modulus at moderate temperatures with the aid of a force sensor. A strip-shaped specimen rigidly bolted to the force sensor forms a clamped-free cantilever beam. Placed in a furnace, it is subjected to free-bending vibrations followed by…

A force vector and surface orientation sensor for intelligent grasping

NASA Technical Reports Server (NTRS)

Mcglasson, W. D.; Lorenz, R. D.; Duffie, N. A.; Gale, K. L.

1991-01-01

The paper discusses a force vector and surface orientation sensor suitable for intelligent grasping. The use of a novel four degree-of-freedom force vector robotic fingertip sensor allows efficient, real time intelligent grasping operations. The basis of sensing for intelligent grasping operations is presented and experimental results demonstrate the accuracy and ease of implementation of this approach.

The U.S.-China Military Scorecard: Forces, Geography, and the Evolving Balance of Power, 1996-2017

DTIC Science & Technology

2015-01-01

forces. The Base Force study (1990), the Bottom- Up Review (1993), the Commission on the Roles and Missions of the Armed Forces (1995), the first...Report on the Bottom- Up Review , Washington, D.C.: Office of the Secretary of Defense, October 1993; Commission on the Roles and Missions of the...could be used to counter the sensors carried onboard the ASBMs. Other counters may be passive in nature , including strict emission control on the part

Characterizing left-right gait balance using footstep-induced structural vibrations

NASA Astrophysics Data System (ADS)

Fagert, Jonathon; Mirshekari, Mostafa; Pan, Shijia; Zhang, Pei; Noh, Hae Young

2017-04-01

In this paper, we introduce a method for estimating human left/right walking gait balance using footstep-induced structural vibrations. Understanding human gait balance is an integral component of assessing gait, neurological and musculoskeletal conditions, overall health status, and risk of falls. Existing techniques utilize pressure- sensing mats, wearable devices, and human observation-based assessment by healthcare providers. These existing methods are collectively limited in their operation and deployment; often requiring dense sensor deployment or direct user interaction. To address these limitations, we utilize footstep-induced structural vibration responses. Based on the physical insight that the vibration energy is a function of the force exerted by a footstep, we calculate the vibration signal energy due to a footstep and use it to estimate the footstep force. By comparing the footstep forces while walking, we determine balance. This approach enables non-intrusive gait balance assessment using sparsely deployed sensors. The primary research challenge is that the floor vibration signal energy is also significantly affected by the distance between the footstep location and the vibration sensor; this function is unclear in real-world scenarios and is a mixed function of wave propagation and structure-dependent properties. We overcome this challenge through footstep localization and incorporating structural factors into an analytical force-energy-distance function. This function is estimated through a nonlinear least squares regression analysis. We evaluate the performance of our method with a real-world deployment in a campus building. Our approach estimates footstep forces with a RMSE of 61.0N (8% of participant's body weight), representing a 1.54X improvement over the baseline.

Controlling Force and Depth in Friction Stir Welding

NASA Technical Reports Server (NTRS)

Adams, Glynn; Loftus, Zachary; McCormac, Nathan; Venable, Richard

2005-01-01

Feedback control of the penetration force applied to a pin tool in friction stir welding has been found to be a robust and reliable means for controlling the depth of penetration of the tool. This discovery has made it possible to simplify depth control and to weld with greater repeatability, even on workpieces with long weld joints. Prior to this discovery, depths of penetration in friction stir welding were controlled by hard-tooled roller assemblies or by depth actuators controlled by feedback from such external sensors as linear variable-differential transformers or laser-based devices. These means of control are limited: A hard-tooled roller assembly confines a pin tool to a preset depth that cannot be changed easily during the welding process. A measurement by an external sensor is only an indirect indicative of the depth of penetration, and computations to correlate such a measurement with a depth of penetration are vulnerable to error. The present force-feedback approach exploits the proportionality between the depth and the force of penetration Unlike a depth measurement taken by an external sensor, a force measurement can be direct because it can be taken by a sensor coupled directly to the pin tool. The reading can be processed through a modern electronic servo control system to control an actuator to keep the applied penetration force at the desired level. In comparison with the older depth-control methods described above, this method offers greater sensitivity to plasticizing of the workpiece metal and is less sensitive to process noise, resulting in a more consistent process. In an experiment, a tapered panel was friction stir welded while controlling the force of penetration according to this method. The figure is a plot of measurements taken during the experiment, showing that force was controlled with a variation of 200 lb (890 N), resulting in control of the depth of penetration with a variation of 0.004 in. (0.1 mm).

Force-Induced Rupture of a DNA Duplex: From Fundamentals to Force Sensors.

PubMed

Mosayebi, Majid; Louis, Ard A; Doye, Jonathan P K; Ouldridge, Thomas E

2015-12-22

The rupture of double-stranded DNA under stress is a key process in biophysics and nanotechnology. In this article, we consider the shear-induced rupture of short DNA duplexes, a system that has been given new importance by recently designed force sensors and nanotechnological devices. We argue that rupture must be understood as an activated process, where the duplex state is metastable and the strands will separate in a finite time that depends on the duplex length and the force applied. Thus, the critical shearing force required to rupture a duplex depends strongly on the time scale of observation. We use simple models of DNA to show that this approach naturally captures the observed dependence of the force required to rupture a duplex within a given time on duplex length. In particular, this critical force is zero for the shortest duplexes, before rising sharply and then plateauing in the long length limit. The prevailing approach, based on identifying when the presence of each additional base pair within the duplex is thermodynamically unfavorable rather than allowing for metastability, does not predict a time-scale-dependent critical force and does not naturally incorporate a critical force of zero for the shortest duplexes. We demonstrate that our findings have important consequences for the behavior of a new force-sensing nanodevice, which operates in a mixed mode that interpolates between shearing and unzipping. At a fixed time scale and duplex length, the critical force exhibits a sigmoidal dependence on the fraction of the duplex that is subject to shearing.

A method for the on-site determination of prestressing forces using long-gauge fiber optic strain sensors

NASA Astrophysics Data System (ADS)

Abdel-Jaber, H.; Glisic, B.

2014-07-01

Structural health monitoring (SHM) consists of the continuous or periodic measurement of structural parameters and their analysis with the aim of deducing information about the performance and health condition of a structure. The significant increase in the construction of prestressed concrete bridges motivated this research on an SHM method for the on-site determination of the distribution of prestressing forces along prestressed concrete beam structures. The estimation of the distribution of forces is important as it can give information regarding the overall performance and structural integrity of the bridge. An inadequate transfer of the designed prestressing forces to the concrete cross-section can lead to a reduced capacity of the bridge and consequently malfunction or failure at lower loads than predicted by design. This paper researches a universal method for the determination of the distribution of prestressing forces along concrete beam structures at the time of transfer of the prestressing force (e.g., at the time of prestressing or post-tensioning). The method is based on the use of long-gauge fiber optic sensors, and the sensor network is similar (practically identical) to the one used for damage identification. The method encompasses the determination of prestressing forces at both healthy and cracked cross-sections, and for the latter it can yield information about the condition of the cracks. The method is validated on-site by comparison to design forces through the application to two structures: (1) a deck-stiffened arch and (2) a curved continuous girder. The uncertainty in the determination of prestressing forces was calculated and the comparison with the design forces has shown very good agreement in most of the structures’ cross-sections, but also helped identify some unusual behaviors. The method and its validation are presented in this paper.

Shear sensing based on a microstrip patch antenna

NASA Astrophysics Data System (ADS)

Mohammad, I.; Huang, H.

2012-10-01

A microstrip patch antenna sensor was studied for shear sensing with a targeted application of measuring plantar shear distribution on a diabetic foot. The antenna shear sensor consists of three components, namely an antenna patch, a soft foam substrate and a slotted ground plane. The resonant frequency of the antenna sensor is sensitive to the overlapping length between the slot in the ground plane and the antenna patch. A shear force applied along the direction of the slot deforms the foam substrate and causes a change in the overlapping length, which can be detected from the antenna frequency shift. The antenna shear sensor was designed based on simulated antenna frequency response and validated by experiments. Experimental results indicated that the antenna sensor exhibits high sensitivity to shear deformation and responds to the applied shear loads with excellent linearity and repeatability.

Flexural impact force absorption of mouthguard materials using film sensor system.

PubMed

Reza, Fazal; Churei, Hiroshi; Takahashi, Hidekazu; Iwasaki, Naohiko; Ueno, Toshiaki

2014-06-01

Several methods have been used to measure the impact force absorption capacities of mouthguard materials; however, the relationships among these measurement systems have not been clearly determined. The purpose of the present study was to evaluate the impact force-absorbing capability of materials using a drop-ball system with film sensors and load cells to clarify the relationship between these two sensor systems. Disk-shaped specimens (1, 2, and 3 mm thick) were prepared using three commercial thermoplastic mouthguard materials (Bioplast, Impact Guard, MG 21) and one experimental mouthguard material [mixture of Poly (ethyl methacrylate)]. Impact force was applied by letting a stainless steel ball drop free-fall onto the specimens and then measuring the impact load under each specimen using a film sensor system and a load cell sensor system. The total load measured with the film sensor system decreased with an increase in mouthguard thickness, while almost none of the transmitted impact forces measured with the load cell system were statistically different. The film sensor system was considered to be superior to the load cell system because the maximum stress and stress area could be determined. © 2013 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Principles and Applications of the qPlus Sensor

NASA Astrophysics Data System (ADS)

Giessibl, Franz J.

The concept of the atomic force microscope (AFM) is a very simple one: map the surface of a sample by a sharp probe that scans over the surface similar to the finger of a blind person that reads Braille characters. In AFM, the role of that finger is taken by the probe tip that senses the presence of the sample surface by detecting the force between the tip of the probe and a sample. The qPlus sensor is a self sensing cantilever based on a quartz tuning fork that supplements the traditional microfabricated cantilevers made of silicon. Quartz tuning forks are used in the watch industry in quantities of billions annually, with the positive effects on quality and perfection. Three properties of these quartz-based sensors simplify the AFM significantly: (1) the piezoelectricity of quartz allows simple self sensing, (2) the mechanical properties of quartz show very small variations with temperature, and (3) the given stiffness of many quartz tuning forks is close to the ideal stiffness of cantilevers. The key properties of the qPlus sensor are a large stiffness that allows small amplitude operation, the large size that allows to mount single-crystal probe tips, and the self-sensing piezoelectric detection mechanism.

Modeling Electronic Skin Response to Normal Distributed Force

PubMed Central

Seminara, Lucia

2018-01-01

The reference electronic skin is a sensor array based on PVDF (Polyvinylidene fluoride) piezoelectric polymers, coupled to a rigid substrate and covered by an elastomer layer. It is first evaluated how a distributed normal force (Hertzian distribution) is transmitted to an extended PVDF sensor through the elastomer layer. A simplified approach based on Boussinesq’s half-space assumption is used to get a qualitative picture and extensive FEM simulations allow determination of the quantitative response for the actual finite elastomer layer. The ultimate use of the present model is to estimate the electrical sensor output from a measure of a basic mechanical action at the skin surface. However this requires that the PVDF piezoelectric coefficient be known a-priori. This was not the case in the present investigation. However, the numerical model has been used to fit experimental data from a real skin prototype and to estimate the sensor piezoelectric coefficient. It turned out that this value depends on the preload and decreases as a result of PVDF aging and fatigue. This framework contains all the fundamental ingredients of a fully predictive model, suggesting a number of future developments potentially useful for skin design and validation of the fabrication technology. PMID:29401692

Modeling Electronic Skin Response to Normal Distributed Force.

PubMed

Seminara, Lucia

2018-02-03

The reference electronic skin is a sensor array based on PVDF (Polyvinylidene fluoride) piezoelectric polymers, coupled to a rigid substrate and covered by an elastomer layer. It is first evaluated how a distributed normal force (Hertzian distribution) is transmitted to an extended PVDF sensor through the elastomer layer. A simplified approach based on Boussinesq's half-space assumption is used to get a qualitative picture and extensive FEM simulations allow determination of the quantitative response for the actual finite elastomer layer. The ultimate use of the present model is to estimate the electrical sensor output from a measure of a basic mechanical action at the skin surface. However this requires that the PVDF piezoelectric coefficient be known a-priori. This was not the case in the present investigation. However, the numerical model has been used to fit experimental data from a real skin prototype and to estimate the sensor piezoelectric coefficient. It turned out that this value depends on the preload and decreases as a result of PVDF aging and fatigue. This framework contains all the fundamental ingredients of a fully predictive model, suggesting a number of future developments potentially useful for skin design and validation of the fabrication technology.

An Inkjet Printed Piezoresistive Back to Back Tactile Sensor for Endosurgical Palpation Applications (Postprint)

DTIC Science & Technology

2017-02-23

elements linked back-to- back for force and displacement detection, respectively. Experimental results indicate the sensor registers 2.1 and 5.3 mN force...feedback from the fat and muscle tissues of pig, respectively, when pressed to the tissues with the same 100 μm displacement . This difference of ∼2.5...back-to-back for force and displacement detection, respectively. Experimental results indicate the sensor registers 2.1 and 5.3 mN force feedback from

Fusion of intraoperative force sensoring, surface reconstruction and biomechanical modeling

NASA Astrophysics Data System (ADS)

Röhl, S.; Bodenstedt, S.; Küderle, C.; Suwelack, S.; Kenngott, H.; Müller-Stich, B. P.; Dillmann, R.; Speidel, S.

2012-02-01

Minimally invasive surgery is medically complex and can heavily benefit from computer assistance. One way to help the surgeon is to integrate preoperative planning data into the surgical workflow. This information can be represented as a customized preoperative model of the surgical site. To use it intraoperatively, it has to be updated during the intervention due to the constantly changing environment. Hence, intraoperative sensor data has to be acquired and registered with the preoperative model. Haptic information which could complement the visual sensor data is still not established. In addition, biomechanical modeling of the surgical site can help in reflecting the changes which cannot be captured by intraoperative sensors. We present a setting where a force sensor is integrated into a laparoscopic instrument. In a test scenario using a silicone liver phantom, we register the measured forces with a reconstructed surface model from stereo endoscopic images and a finite element model. The endoscope, the instrument and the liver phantom are tracked with a Polaris optical tracking system. By fusing this information, we can transfer the deformation onto the finite element model. The purpose of this setting is to demonstrate the principles needed and the methods developed for intraoperative sensor data fusion. One emphasis lies on the calibration of the force sensor with the instrument and first experiments with soft tissue. We also present our solution and first results concerning the integration of the force sensor as well as accuracy to the fusion of force measurements, surface reconstruction and biomechanical modeling.

Integrated quantum photonic sensor based on Hong-Ou-Mandel interference.

PubMed

Basiri-Esfahani, Sahar; Myers, Casey R; Armin, Ardalan; Combes, Joshua; Milburn, Gerard J

2015-06-15

Photonic-crystal-based integrated optical systems have been used for a broad range of sensing applications with great success. This has been motivated by several advantages such as high sensitivity, miniaturization, remote sensing, selectivity and stability. Many photonic crystal sensors have been proposed with various fabrication designs that result in improved optical properties. In parallel, integrated optical systems are being pursued as a platform for photonic quantum information processing using linear optics and Fock states. Here we propose a novel integrated Fock state optical sensor architecture that can be used for force, refractive index and possibly local temperature detection. In this scheme, two coupled cavities behave as an "effective beam splitter". The sensor works based on fourth order interference (the Hong-Ou-Mandel effect) and requires a sequence of single photon pulses and consequently has low pulse power. Changes in the parameter to be measured induce variations in the effective beam splitter reflectivity and result in changes to the visibility of interference. We demonstrate this generic scheme in coupled L3 photonic crystal cavities as an example and find that this system, which only relies on photon coincidence detection and does not need any spectral resolution, can estimate forces as small as 10(-7) Newtons and can measure one part per million change in refractive index using a very low input power of 10(-10)W. Thus linear optical quantum photonic architectures can achieve comparable sensor performance to semiclassical devices.

16 CFR 1211.13 - Inherent force activated secondary door sensors.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 16 Commercial Practices 2 2010-01-01 2010-01-01 false Inherent force activated secondary door... § 1211.13 Inherent force activated secondary door sensors. (a) Normal operation test. (1) A force... when the door applies a 15 pound (66.7 N) or less force in the down or closing direction and when the...

Microfabricated Tactile Sensors for Biomedical Applications: A Review

PubMed Central

Saccomandi, Paola; Schena, Emiliano; Oddo, Calogero Maria; Zollo, Loredana; Silvestri, Sergio; Guglielmelli, Eugenio

2014-01-01

During the last decades, tactile sensors based on different sensing principles have been developed due to the growing interest in robotics and, mainly, in medical applications. Several technological solutions have been employed to design tactile sensors; in particular, solutions based on microfabrication present several attractive features. Microfabrication technologies allow for developing miniaturized sensors with good performance in terms of metrological properties (e.g., accuracy, sensitivity, low power consumption, and frequency response). Small size and good metrological properties heighten the potential role of tactile sensors in medicine, making them especially attractive to be integrated in smart interfaces and microsurgical tools. This paper provides an overview of microfabricated tactile sensors, focusing on the mean principles of sensing, i.e., piezoresistive, piezoelectric and capacitive sensors. These sensors are employed for measuring contact properties, in particular force and pressure, in three main medical fields, i.e., prosthetics and artificial skin, minimal access surgery and smart interfaces for biomechanical analysis. The working principles and the metrological properties of the most promising tactile, microfabricated sensors are analyzed, together with their application in medicine. Finally, the new emerging technologies in these fields are briefly described. PMID:25587432

Microfabricated tactile sensors for biomedical applications: a review.

PubMed

Saccomandi, Paola; Schena, Emiliano; Oddo, Calogero Maria; Zollo, Loredana; Silvestri, Sergio; Guglielmelli, Eugenio

2014-12-01

During the last decades, tactile sensors based on different sensing principles have been developed due to the growing interest in robotics and, mainly, in medical applications. Several technological solutions have been employed to design tactile sensors; in particular, solutions based on microfabrication present several attractive features. Microfabrication technologies allow for developing miniaturized sensors with good performance in terms of metrological properties (e.g., accuracy, sensitivity, low power consumption, and frequency response). Small size and good metrological properties heighten the potential role of tactile sensors in medicine, making them especially attractive to be integrated in smart interfaces and microsurgical tools. This paper provides an overview of microfabricated tactile sensors, focusing on the mean principles of sensing, i.e., piezoresistive, piezoelectric and capacitive sensors. These sensors are employed for measuring contact properties, in particular force and pressure, in three main medical fields, i.e., prosthetics and artificial skin, minimal access surgery and smart interfaces for biomechanical analysis. The working principles and the metrological properties of the most promising tactile, microfabricated sensors are analyzed, together with their application in medicine. Finally, the new emerging technologies in these fields are briefly described.

Elastomeric Sensing of Pressure with Liquid Metal and Wireless Inductive Coupling

NASA Technical Reports Server (NTRS)

Dick, Jacob; Zou, Xiyue; Hogan, Ben; Tumalle, Jonathan; Etikyala, Sowmith; Fung, Diego; Charles, Watley; Gu, Tianye; Hull, Patrick V.; Mazzeo, Aaron D.

2017-01-01

This project describes resistance-based soft sensors filled with liquid metal, which permit measurements of large strains (0 percent to 110 percent), associated with small forces of less than 30 Newtons. This work also demonstrates a methodology for wireless transfer of these strain measurements without connected electrodes. These sensors allow intermittent detection of pressure on soft membranes with low force. Adapting these sensors for passive wireless pressure sensing will eliminate the need for embedded batteries, and will allow the sensors to transmit pressure data through non-conductive materials including glass and acrylic. The absence of batteries allows us to embed these sensors into materials for long-term use because the sensors only use passive analog circuit elements. We found the oxidation of the liquid metal (eutectic gallium indium) plays a role in the repeatability of the soft sensors. We investigated how the oxidation layer affected the behavior of the sensor by encapsulating materials (silicone, fluorosilicone, and PVC) with varied permeabilities to oxygen. We measured the effects of mechanical loading on the oxidation layer and the effects of wireless inductive coupling on the oxidation layer. We concluded our research by investigating the effects of embedding self-resonant circuits into polydimethylsiloxane (PDMS). Efforts to design engineered systems with soft materials are a growing field with progress in soft robotics, epidermal electronics, and wearable electronics. In the field of soft robotics, PDMS-based grippers are capable of picking up delicate objects because their form-fitting properties allow them to conform to the shape of objects more easily than conventional robotic grippers. Epidermal devices also use PDMS as a substrate to hold electronic components such as radios, sensors, and power supply circuits. Additionally, PDMS-based soft sensors can monitor human motion with liquid metal embedded within micro-channels. Passive wireless sensors have applications in structural health monitoring and medical health monitoring. Doctors can take wireless blood pressure measurements inside arteries to monitor the progression of heart disease. Glaucoma patients can use this technology to monitor the pressure in their eyes to track the progression of the disease.

Atomic force microscope based on vertical silicon probes

NASA Astrophysics Data System (ADS)

Walter, Benjamin; Mairiaux, Estelle; Faucher, Marc

2017-06-01

A family of silicon micro-sensors for Atomic Force Microscope (AFM) is presented that allows to operate with integrated transducers from medium to high frequencies together with moderate stiffness constants. The sensors are based on Micro-Electro-Mechanical-Systems technology. The vertical design specifically enables a long tip to oscillate perpendicularly to the surface to be imaged. The tip is part of a resonator including quasi-flexural composite beams, and symmetrical transducers that can be used as piezoresistive detector and/or electro-thermal actuator. Two vertical probes (Vprobes) were operated up to 4.3 MHz with stiffness constants 150 N/m to 500 N/m and the capability to oscillate from 10 pm to 90 nm. AFM images of several samples both in amplitude modulation (tapping-mode) and in frequency modulation were obtained.

Structural design and output characteristic analysis of magnetostrictive tactile sensor for robotic applications

NASA Astrophysics Data System (ADS)

Zheng, Wendong; Wang, Bowen; Liu, Huaping; Li, Yunkai; Zhao, Ran; Weng, Ling; Zhang, Changgeng

2018-05-01

A novel magnetostrictive tactile sensor has been designed according to the transduction mechanism of cilia and Villari effect of iron-gallium alloy. The tactile sensor consists of a Galfenol beam, a pair of permanent magnets, a Hall sensor and a signal processing system. Compared with the conventional tactile sensor, our proposed tactile sensor can not only detect the contact-force, but also sense stiffness of an object. The performance and measurement range of tactile sensor have theoretically been analyzed and experimentally investigated. The results have revealed that the sensibility of tactile sensor for sensing force is up to 22.81mV/N at applied bias magnetic field of 2.56kA/m. Moreover, the sensor can effectively discriminate objects with different stiffness. The sensor is characterized by high sensitivity, good linearity, and quick response. It has the potential of being miniaturized and integrated into the finger of a robotic hand to realize force sensing and object recognition in real-time.

Innovative Interactive Lecture Demonstrations Using Wireless Force Sensors and Accelerometers for Introductory Physics Courses

NASA Astrophysics Data System (ADS)

Yoder, G.; Cook, J.

2010-12-01

Interactive lecture demonstrations1-6 (ILDs) are a powerful tool designed to help instructors bring state-of-the-art teaching pedagogies into the college-level introductory physics classroom. ILDs have been shown to improve students' conceptual understanding, and many examples have been created and published by Sokoloff and Thornton.6 We have used the new technology of Vernier's Wireless Dynamics Sensor System (WDSS)7 to develop three new ILDs for the first-semester introductory physics (calculus-based or algebra-based) classroom. These three are the Force Board, to demonstrate the vector nature of forces, addition of vectors, and the first condition of equilibrium; the Torque Board, to demonstrate torque and the second condition for equilibrium; and the Circular Motion Board, to discover the nature of the acceleration an object exhibiting uniform circular motion. With the WDSS, all three of these ILDs are easy to set up and use in any classroom or laboratory situation, and allow more instructors to utilize the technique of interactive lecture demonstrations.

Investigation of Electrostatic Accelerometer in HUST for Space Science Missions

NASA Astrophysics Data System (ADS)

Bai, Yanzheng; Hu, Ming; Li, Gui; Liu, Li; Qu, Shaobo; Wu, Shuchao; Zhou, Zebing

2014-05-01

High-precision electrostatic accelerometers are significant payload in CHAMP, GRACE and GOCE gravity missions to measure the non-gravitational forces. In our group, space electrostatic accelerometer and inertial sensor based on the capacitive sensors and electrostatic control technique has been investigated for space science research in China such as testing of equivalence principle (TEPO), searching non-Newtonian force in micrometer range, satellite Earth's field recovery and so on. In our group, a capacitive position sensor with a resolution of 10-7pF/Hz1/2 and the μV/Hz1/2 level electrostatic actuator are developed. The fiber torsion pendulum facility is adopt to measure the parameters of the electrostatic controlled inertial sensor such as the resolution, and the electrostatic stiffness, the cross couple between different DOFs. Meanwhile, high voltage suspension and free fall methods are applied to verify the function of electrostatic accelerometer. Last, the engineering model of electrostatic accelerometer has been developed and tested successfully in space and preliminary results are present.

Lateral position detection and control for friction stir systems

DOEpatents

Fleming, Paul; Lammlein, David; Cook, George E.; Wilkes, Don Mitchell; Strauss, Alvin M.; Delapp, David; Hartman, Daniel A.

2010-12-14

A friction stir system for processing at least a first workpiece includes a spindle actuator coupled to a rotary tool comprising a rotating member for contacting and processing the first workpiece. A detection system is provided for obtaining information related to a lateral alignment of the rotating member. The detection system comprises at least one sensor for measuring a force experienced by the rotary tool or a parameter related to the force experienced by the rotary tool during processing, wherein the sensor provides sensor signals. A signal processing system is coupled to receive and analyze the sensor signals and determine a lateral alignment of the rotating member relative to a selected lateral position, a selected path, or a direction to decrease a lateral distance relative to the selected lateral position or selected path. In one embodiment, the friction stir system can be embodied as a closed loop tracking system, such as a robot-based tracked friction stir welding (FSW) or friction stir processing (FSP) system.

Nanospectrofluorometry inside single living cell by scanning near-field optical microscopy

NASA Astrophysics Data System (ADS)

Lei, F. H.; Shang, G. Y.; Troyon, M.; Spajer, M.; Morjani, H.; Angiboust, J. F.; Manfait, M.

2001-10-01

Near-field fluorescence spectra with subdiffraction limit spatial resolution have been taken in the proximity of mitochondrial membrane inside breast adenocarcinoma cells (MCF7) treated with the fluorescent dye (JC-1) by using a scanning near-field optical microscope coupled with a confocal laser microspectrofluorometer. The probe-sample distance control is based on a piezoelectric bimorph shear force sensor having a static spring constant k=5 μN/nm and a quality factor Q=40 in a physiological medium of viscosity η=1.0 cp. The sensitivity of the force sensor has been tested by imaging a MCF7 cell surface.

Manipulation based on sensor-directed control: An integrated end effector and touch sensing system

NASA Technical Reports Server (NTRS)

Hill, J. W.; Sword, A. J.

1973-01-01

A hand/touch sensing system is described that, when mounted on a position-controlled manipulator, greatly expands the kinds of automated manipulation tasks that can be undertaken. Because of the variety of coordinate conversions, control equations, and completion criteria, control is necessarily dependent upon a small digital computer. The sensing system is designed both to be rugged and to sense the necessary touch and force information required to execute a wide range of manipulation tasks. The system consists of a six-axis wrist sensor, external touch sensors, and a pair of matrix jaw sensors. Details of the construction of the particular sensors, the integration of the end effector into the sensor system, and the control algorithms for using the sensor outputs to perform manipulation tasks automatically are discussed.

Ductile cutting of silicon microstructures with surface inclination measurement and compensation by using a force sensor integrated single point diamond tool

NASA Astrophysics Data System (ADS)

Chen, Yuan-Liu; Cai, Yindi; Shimizu, Yuki; Ito, So; Gao, Wei; Ju, Bing-Feng

2016-02-01

This paper presents a measurement and compensation method of surface inclination for ductile cutting of silicon microstructures by using a diamond tool with a force sensor based on a four-axis ultra-precision lathe. The X- and Y-directional inclinations of a single crystal silicon workpiece with respect to the X- and Y-motion axes of the lathe slides were measured respectively by employing the diamond tool as a touch-trigger probe, in which the tool-workpiece contact is sensitively detected by monitoring the force sensor output. Based on the measurement results, fabrication of silicon microstructures can be thus carried out directly along the tilted silicon workpiece by compensating the cutting motion axis to be parallel to the silicon surface without time-consuming pre-adjustment of the surface inclination or turning of a flat surface. A diamond tool with a negative rake angle was used in the experiment for superior ductile cutting performance. The measurement precision by using the diamond tool as a touch-trigger probe was investigated. Experiments of surface inclination measurement and ultra-precision ductile cutting of a micro-pillar array and a micro-pyramid array with inclination compensation were carried out respectively to demonstrate the feasibility of the proposed method.

Design and Development of a Three-Component Force Sensor for Milling Process Monitoring

PubMed Central

Li, Yingxue; Zhao, Yulong; Fei, Jiyou; Qin, Yafei; Zhao, You; Cai, Anjiang; Gao, Song

2017-01-01

A strain-type three-component table dynamometer is presented in this paper, which reduces output errors produced by cutting forces imposed on the different milling positions of a workpiece. A sensor structure with eight parallel elastic beams is proposed, and sensitive regions and Wheastone measuring circuits are also designed in consideration of eliminating the influences of the eccentric forces. To evaluate the sensor decoupling performance, both of the static calibration and dynamic milling test were implemented in different positions of the workpiece. Static experiment results indicate that the maximal deviation between the measured forces and the standard inputs is 4.58%. Milling tests demonstrate that with same machining parameters, the differences of the measured forces between different milling positions derived by the developed sensor are no larger than 6.29%. In addition, the natural frequencies of the dynamometer are kept higher than 2585.5 Hz. All the measuring results show that as a strain-type dynamometer, the developed force sensor has an improved eccentric decoupling accuracy with natural frequencies not much decreased, which owns application potential in milling process monitoring. PMID:28441354

Artificial sensory hairs based on the flow sensitive receptor hairs of crickets

NASA Astrophysics Data System (ADS)

Dijkstra, M.; van Baar, J. J.; Wiegerink, R. J.; Lammerink, T. S. J.; de Boer, J. H.; Krijnen, G. J. M.

2005-07-01

This paper presents the modelling, design, fabrication and characterization of flow sensors based on the wind-receptor hairs of crickets. Cricket sensory hairs are highly sensitive to drag-forces exerted on the hair shaft. Artificial sensory hairs have been realized in SU-8 on suspended SixNy membranes. The movement of the membranes is detected capacitively. Capacitance versus voltage, frequency dependence and directional sensitivity measurements have been successfully carried out on fabricated sensor arrays, showing the viability of the concept.

Probing biomolecular interaction forces using an anharmonic acoustic technique for selective detection of bacterial spores.

PubMed

Ghosh, Sourav K; Ostanin, Victor P; Johnson, Christian L; Lowe, Christopher R; Seshia, Ashwin A

2011-11-15

Receptor-based detection of pathogens often suffers from non-specific interactions, and as most detection techniques cannot distinguish between affinities of interactions, false positive responses remain a plaguing reality. Here, we report an anharmonic acoustic based method of detection that addresses the inherent weakness of current ligand dependant assays. Spores of Bacillus subtilis (Bacillus anthracis simulant) were immobilized on a thickness-shear mode AT-cut quartz crystal functionalized with anti-spore antibody and the sensor was driven by a pure sinusoidal oscillation at increasing amplitude. Biomolecular interaction forces between the coupled spores and the accelerating surface caused a nonlinear modulation of the acoustic response of the crystal. In particular, the deviation in the third harmonic of the transduced electrical response versus oscillation amplitude of the sensor (signal) was found to be significant. Signals from the specifically-bound spores were clearly distinguishable in shape from those of the physisorbed streptavidin-coated polystyrene microbeads. The analytical model presented here enables estimation of the biomolecular interaction forces from the measured response. Thus, probing biomolecular interaction forces using the described technique can quantitatively detect pathogens and distinguish specific from non-specific interactions, with potential applicability to rapid point-of-care detection. This also serves as a potential tool for rapid force-spectroscopy, affinity-based biomolecular screening and mapping of molecular interaction networks. Copyright © 2011 Elsevier B.V. All rights reserved.

Unsteady Aerodynamic Force Sensing from Measured Strain

NASA Technical Reports Server (NTRS)

Pak, Chan-Gi

2016-01-01

A simple approach for computing unsteady aerodynamic forces from simulated measured strain data is proposed in this study. First, the deflection and slope of the structure are computed from the unsteady strain using the two-step approach. Velocities and accelerations of the structure are computed using the autoregressive moving average model, on-line parameter estimator, low-pass filter, and a least-squares curve fitting method together with analytical derivatives with respect to time. Finally, aerodynamic forces over the wing are computed using modal aerodynamic influence coefficient matrices, a rational function approximation, and a time-marching algorithm. A cantilevered rectangular wing built and tested at the NASA Langley Research Center (Hampton, Virginia, USA) in 1959 is used to validate the simple approach. Unsteady aerodynamic forces as well as wing deflections, velocities, accelerations, and strains are computed using the CFL3D computational fluid dynamics (CFD) code and an MSC/NASTRAN code (MSC Software Corporation, Newport Beach, California, USA), and these CFL3D-based results are assumed as measured quantities. Based on the measured strains, wing deflections, velocities, accelerations, and aerodynamic forces are computed using the proposed approach. These computed deflections, velocities, accelerations, and unsteady aerodynamic forces are compared with the CFL3D/NASTRAN-based results. In general, computed aerodynamic forces based on the lifting surface theory in subsonic speeds are in good agreement with the target aerodynamic forces generated using CFL3D code with the Euler equation. Excellent aeroelastic responses are obtained even with unsteady strain data under the signal to noise ratio of -9.8dB. The deflections, velocities, and accelerations at each sensor location are independent of structural and aerodynamic models. Therefore, the distributed strain data together with the current proposed approaches can be used as distributed deflection, velocity, and acceleration sensors. This research demonstrates the feasibility of obtaining induced drag and lift forces through the use of distributed sensor technology with measured strain data. An active induced drag control system thus can be designed using the two computed aerodynamic forces, induced drag and lift, to improve the fuel efficiency of an aircraft. Interpolation elements between structural finite element grids and the CFD grids and centroids are successfully incorporated with the unsteady aeroelastic computation scheme. The most critical technology for the success of the proposed approach is the robust on-line parameter estimator, since the least-squares curve fitting method depends heavily on aeroelastic system frequencies and damping factors.

Phase measurement by using a forced delay-line oscillator and its application for an acoustic fiber sensor.

PubMed

Fleyer, Michael; Horowitz, Moshe

2018-04-02

We demonstrate, theoretically and experimentally, a new method to measure small changes in the cavity length of oscillators. The method is based on the high sensitivity of the phase of forced delay-line oscillators to changes in their cavity length. The oscillator phase is directly detected by mixing the oscillator output with the injected signal. We describe a comprehensive theoretical model for studying the signal and the noise at the output of a general forced delay-line oscillator with an instantaneous gain saturation and an amplitude-to-phase conversion. The results indicate that the magnitude and the bandwidth of the oscillator response to a small perturbation can be controlled by adjusting the injection ratio and the injected frequency. For signals with a frequency that is smaller than the device bandwidth, the oscillator noise is dominated by the noise of the injected signal. This noise is highly suppressed by mixing the oscillator output with the injected signal. Hence, the device sensitivity at frequencies below its bandwidth is limited only by the internal noise that is added in a single roundtrip in the oscillator cavity. We demonstrate the use of a forced oscillator as an acoustic fiber sensor in an optoelectronic oscillator. A good agreement is obtained between theory and experiments. The magnitude of the output signal can be controlled by adjusting the injection ratio while the noise power at low frequencies is not enhanced as in sensors that are based on a free-running oscillator.

Automatic Line Calling Badminton System

NASA Astrophysics Data System (ADS)

Affandi Saidi, Syahrul; Adawiyah Zulkiplee, Nurabeahtul; Muhammad, Nazmizan; Sarip, Mohd Sharizan Md

2018-05-01

A system and relevant method are described to detect whether a projectile impact occurs on one side of a boundary line or the other. The system employs the use of force sensing resistor-based sensors that may be designed in segments or assemblies and linked to a mechanism with a display. An impact classification system is provided for distinguishing between various events, including a footstep, ball impact and tennis racquet contact. A sensor monitoring system is provided for determining the condition of sensors and providing an error indication if sensor problems exist. A service detection system is provided when the system is used for tennis that permits activation of selected groups of sensors and deactivation of others.

Piezoresistive in-line integrated force sensors for on-chip measurement and control

NASA Astrophysics Data System (ADS)

Teichert, Kendall; Waterfall, Tyler; Jensen, Brian; Howell, Larry; McLain, Tim

2007-04-01

This paper presents the design, fabrication, and testing of a force sensor for integrated use with thermomechanical in-plane microactuators. The force sensor is designed to be integrated with the actuator and fabricated in the same batch fabrication process. This sensor uses the piezoresistive property of silicon as a sensing signal by directing the actuation force through two thin legs, producing a tensile stress. This tensile load produces a resistance change in the thin legs by the piezoresistive effect. The resistance change is linearly correlated with the applied force. The device presented was designed by considering both its piezoresistive sensitivity and out-of- plane torsional stability. A design trade-off exists between these two objectives in that longer legs are more sensitive yet less stable. Fabrication of the sensor design was done using the MUMPs process. This paper presents experimental results from this device and a basic model for comparison with previously attained piezoresistive data. The results validate the concept of integral sensing using the piezoresistive property of silicon.

Performance of a novel micro force vector sensor and outlook into its biomedical applications

NASA Astrophysics Data System (ADS)

Meiss, Thorsten; Rossner, Tim; Minamisava Faria, Carlos; Völlmeke, Stefan; Opitz, Thomas; Werthschützky, Roland

2011-05-01

For the HapCath system, which provides haptic feedback of the forces acting on a guide wire's tip during vascular catheterization, very small piezoresistive force sensors of 200•200•640μm3 have been developed. This paper focuses on the characterization of the measurement performance and on possible new applications. Besides the determination of the dynamic measurement performance, special focus is put onto the results of the 3- component force vector calibration. This article addresses special advantageous characteristics of the sensor, but also the limits of applicability will be addressed. As for the special characteristics of the sensor, the second part of the article demonstrates new applications which can be opened up with the novel force sensor, like automatic navigation of medical or biological instruments without impacting surrounding tissue, surface roughness evaluation in biomedical systems, needle insertion with tactile or higher level feedback, or even building tactile hairs for artificial organisms.

Kalman filter-based EM-optical sensor fusion for needle deflection estimation.

PubMed

Jiang, Baichuan; Gao, Wenpeng; Kacher, Daniel; Nevo, Erez; Fetics, Barry; Lee, Thomas C; Jayender, Jagadeesan

2018-04-01

In many clinical procedures such as cryoablation that involves needle insertion, accurate placement of the needle's tip at the desired target is the major issue for optimizing the treatment and minimizing damage to the neighboring anatomy. However, due to the interaction force between the needle and tissue, considerable error in intraoperative tracking of the needle tip can be observed as needle deflects. In this paper, measurements data from an optical sensor at the needle base and a magnetic resonance (MR) gradient field-driven electromagnetic (EM) sensor placed 10 cm from the needle tip are used within a model-integrated Kalman filter-based sensor fusion scheme. Bending model-based estimations and EM-based direct estimation are used as the measurement vectors in the Kalman filter, thus establishing an online estimation approach. Static tip bending experiments show that the fusion method can reduce the mean error of the tip position estimation from 29.23 mm of the optical sensor-based approach to 3.15 mm of the fusion-based approach and from 39.96 to 6.90 mm, at the MRI isocenter and the MRI entrance, respectively. This work established a novel sensor fusion scheme that incorporates model information, which enables real-time tracking of needle deflection with MRI compatibility, in a free-hand operating setup.

Pseudo-Hall Effect in Graphite on Paper Based Four Terminal Devices for Stress Sensing Applications

NASA Astrophysics Data System (ADS)

Qamar, Afzaal; Sarwar, Tuba; Dinh, Toan; Foisal, A. R. M.; Phan, Hoang-Phuong; Viet Dao, Dzung

2017-04-01

A cost effective and easy to fabricate stress sensor based on pseudo-Hall effect in Graphite on Paper (GOP) has been presented in this article. The four terminal devices were developed by pencil drawing with hand on to the paper substrate. The stress was applied to the paper containing four terminal devices with the input current applied at two terminals and the offset voltage observed at other two terminals called pseudo-Hall effect. The GOP stress sensor showed significant response to the applied stress which was smooth and linear. These results showed that the pseudo-Hall effect in GOP based four terminal devices can be used for cost effective, flexible and easy to make stress, strain or force sensors.

Polydimethylsiloxane pressure sensors for force analysis in tension band wiring of the olecranon.

PubMed

Zens, Martin; Goldschmidtboeing, Frank; Wagner, Ferdinand; Reising, Kilian; Südkamp, Norbert P; Woias, Peter

2016-11-14

Several different surgical techniques are used in the treatment of olecranon fractures. Tension band wiring is one of the most preferred options by surgeons worldwide. The concept of this technique is to transform a tensile force into a compression force that adjoins two surfaces of a fractured bone. Currently, little is known about the resulting compression force within a fracture. Sensor devices are needed that directly transduce the compression force into a measurement quality. This allows the comparison of different surgical techniques. Ideally the sensor devices ought to be placed in the gap between the fractured segments. The design, development and characterization of miniaturized pressure sensors fabricated entirely from polydimethylsiloxane (PDMS) for a placement within a fracture is presented. The pressure sensors presented in this work are tested, calibrated and used in an experimental in vitro study. The pressure sensors are highly sensitive with an accuracy of approximately 3 kPa. A flexible fabrication process for various possible applications is described. The first in vitro study shows that using a single-twist or double-twist technique in tension band wiring of the olecranon has no significant effect on the resulting compression forces. The in vitro study shows the feasibility of the proposed measurement technique and the results of a first exemplary study.

[How much pressure is applied on the eye balls during craniotomy?: Measurement with FlexiForce contact surface force sensor].

PubMed

Okada, Takeshi; Ishikawa, Tatsuya; Nishimura, Hiromi; Suzuki, Akifumi

2012-12-01

Visual loss following craniotomy is a serious postoperative complication in which elevation of ocular pressure during retraction of the skin flap may cause retinal ischemia. We reported that continuous monitoring of extraocular pressure with the FlexiForce sensor may avoid excessive skin flap retraction during craniotomy and thus prevent ocular complications. Between January 2008 and December 2011, we analyzed data from 46 consecutive patients for whom continuous monitoring of extraocular pressure with FlexiForce sensor was performed. This sensor continuously displays the compressive force, allowing surgeons to check values on the monitor at any time. An alarm sounds if 50 gf is exceeded. We analyzed the temporal course of extraocular pressure and the relationship with patient characteristics. No visual complications were encountered in this patient series. Maximum compressive force during craniotomy was 35.8±27.2 gf, with increases typically seen when surgeons used hooks or drills. However, due to the alarm, no prolonged periods of high force were noted in any patient. Effective methods for reducing force were: (1) taking off hooks on the compressive side; (2) changing the direction of hook tension; and (3) placing cushions such as gauze under the side of the skin flap. Maximum compressive force during microsurgery was 21.8±18.4 gf, and correlated with the beginning force of microsurgery. Compressive force was greatly reduced compared to the force reported previously. The etiologies of visual disability are not fully understood, but this sensor may be helpful in reducing extraocular compression.

Miniaturized force/torque sensor for in vivo measurements of tissue characteristics.

PubMed

Hessinger, M; Pilic, T; Werthschutzky, R; Pott, P P

2016-08-01

This paper presents the development of a surgical instrument to measure interaction forces/torques with organic tissue during operation. The focus is on the design progress of the sensor element, consisting of a spoke wheel deformation element with a diameter of 12 mm and eight inhomogeneous doped piezoresistive silicon strain gauges on an integrated full-bridge assembly with an edge length of 500 μm. The silicon chips are contacted to flex-circuits via flip chip and bonded on the substrate with a single component adhesive. A signal processing board with an 18 bit serial A/D converter is integrated into the sensor. The design concept of the handheld surgical sensor device consists of an instrument coupling, the six-axis sensor, a wireless communication interface and battery. The nominal force of the sensing element is 10 N and the nominal torque is 1 N-m in all spatial directions. A first characterization of the force sensor results in a maximal systematic error of 4.92 % and random error of 1.13 %.

Multi-Spectral Image Analysis for Improved Space Object Characterization

NASA Astrophysics Data System (ADS)

Duggin, M.; Riker, J.; Glass, W.; Bush, K.; Briscoe, D.; Klein, M.; Pugh, M.; Engberg, B.

The Air Force Research Laboratory (AFRL) is studying the application and utility of various ground based and space-based optical sensors for improving surveillance of space objects in both Low Earth Orbit (LEO) and Geosynchronous Earth Orbit (GEO). At present, ground-based optical and radar sensors provide the bulk of remotely sensed information on satellites and space debris, and will continue to do so into the foreseeable future. However, in recent years, the Space Based Visible (SBV) sensor was used to demonstrate that a synthesis of space-based visible data with ground-based sensor data could provide enhancements to information obtained from any one source in isolation. The incentives for space-based sensing include improved spatial resolution due to the absence of atmospheric effects and cloud cover and increased flexibility for observations. Though ground-based optical sensors can use adaptive optics to somewhat compensate for atmospheric turbulence, cloud cover and absorption are unavoidable. With recent advances in technology, we are in a far better position to consider what might constitute an ideal system to monitor our surroundings in space. This work has begun at the AFRL using detailed optical sensor simulations and analysis techniques to explore the trade space involved in acquiring and processing data from a variety of hypothetical space-based and ground-based sensor systems. In this paper, we briefly review the phenomenology and trade space aspects of what might be required in order to use multiple band-passes, sensor characteristics, and observation and illumination geometries to increase our awareness of objects in space.

FBG-based sensorized light pipe for robotic intraocular illumination facilitates bimanual retinal microsurgery.

PubMed

Horise, Yuki; He, Xingchi; Gehlbach, Peter; Taylor, Russell; Iordachita, Iulian

2015-01-01

In retinal surgery, microsurgical instruments such as micro forceps, scissors and picks are inserted through the eye wall via sclerotomies. A handheld intraocular light source is typically used to visualize the tools during the procedure. Retinal surgery requires precise and stable tool maneuvers as the surgical targets are micro scale, fragile and critical to function. Retinal surgeons typically control an active surgical tool with one hand and an illumination source with the other. In this paper, we present a "smart" light pipe that enables true bimanual surgery via utilization of an active, robot-assisted source of targeted illumination. The novel sensorized smart light pipe measures the contact force between the sclerotomy and its own shaft, thereby accommodating the motion of the patient's eye. Forces at the point of contact with the sclera are detected by fiber Bragg grating (FBG) sensors on the light pipe. Our calibration and validation results demonstrate reliable measurement of the contact force as well as location of the sclerotomy. Preliminary experiments have been conducted to functionally evaluate robotic intraocular illumination.

High-performance optical projection controllable ZnO nanorod arrays for microweighing sensors.

PubMed

Wang, Hongbo; Jiang, Shulan; Zhang, Lei; Yu, Bingjun; Chen, Duoli; Yang, Weiqing; Qian, Linmao

2018-03-08

Optical microweighing sensors are an essential component of micro-force measurements in physical, chemical, and biological detection fields, although, their limited detection range (less than 15°) severely hinders their wide application. Such a limitation is mainly attributed to the essential restrictions of traditional light reflection and optical waveguide modes. Here, we report a high-performance optical microweighing sensor based on the synergistic effects of both a new optical projection mode and a ZnO nanorod array sensor. Ascribed to the unique configuration design of this sensing method, this optical microweighing sensor has a wide detection range (more than 80°) and a high sensitivity of 90 nA deg -1 , which is much larger than that of conventional microcantilever-based optical microweighing sensors. Furthermore, the location of the UV light source can be adjusted within a few millimeters, meaning that the microweighing sensor does not need repetitive optical calibration. More importantly, for low height and small incident angles of the UV light source, we can obtain highly sensitive microweighing properties on account of the highly sensitive ZnO nanorod array-based UV sensor. Therefore, this kind of large detection range, non-contact, and non-destructive microweighing sensor has potential applications in air quality monitoring and chemical and biological detection.

Unattended wireless proximity sensor networks for counterterrorism, force protection, littoral environments, PHM, and tamper monitoring ground applications

NASA Astrophysics Data System (ADS)

Forcier, Bob

2003-09-01

This paper describes a digital-ultrasonic ground network, which forms an unique "unattended mote sensor system" for monitoring the environment, personnel, facilities, vehicles, power generation systems or aircraft in Counter-Terrorism, Force Protection, Prognostic Health Monitoring (PHM) and other ground applications. Unattended wireless smart sensor/tags continuously monitor the environment and provide alerts upon changes or disruptions to the environment. These wireless smart sensor/tags are networked utilizing ultrasonic wireless motes, hybrid RF/Ultrasonic Network Nodes and Base Stations. The network is monitored continuously with a 24/7 remote and secure monitoring system. This system utilizes physical objects such as a vehicle"s structure or a building to provide the media for two way secure communication of key metrics and sensor data and eliminates the "blind spots" that are common in RF solutions because of structural elements of buildings, etc. The digital-ultrasonic sensors have networking capability and a 32-bit identifier, which provide a platform for a robust data acquisition (DAQ) for a large amount of sensors. In addition, the network applies a unique "signature" of the environment by comparing sensor-to-sensor data to pick up on minute changes, which would signal an invasion of unknown elements or signal a potential tampering in equipment or facilities. The system accommodates satellite and other secure network uplinks in either RF or UWB protocols. The wireless sensors can be dispersed by ground or air maneuvers. In addition, the sensors can be incorporated into the structure or surfaces of vehicles, buildings, or clothing of field personnel.

Calibration of force actuators on an adaptive secondary prototype.

PubMed

Ricci, Davide; Riccardi, Armando; Zanotti, Daniela

2008-07-10

In the context of the Large Binocular Telescope project, we present the results of force actuator calibrations performed on an adaptive secondary prototype called P45, a thin deformable glass with magnets glued onto its back. Electromagnetic actuators, controlled in a closed loop with a system of internal metrology based on capacitive sensors, continuously deform its shape to correct the distortions of the wavefront. Calibrations of the force actuators are needed because of the differences between driven forces and measured forces. We describe the calibration procedures and the results, obtained with errors of less than 1.5%.

CubeSat Attitude Determination and Helmholtz Cage Design

DTIC Science & Technology

2012-03-01

4.2.2. 3.6 CubeSat Components The CubeSat used in this experiment is commanded and controlled via the Arduino Mega board that is based on the ATmel...UNIVERSITY AIR FORCE INSTITUTE OF TECHNOLOGY Wright-Patterson Air Force Base , Ohio APPROVED FOR PUBLIC RELEASE; DISTRIBUTION UNLIMITED The views...ENY/12-M03 Abstract A method of 3-axis satellite attitude determination utilizing six body-fixed light sensors and a 3-axis magnetometer is analyzed. A

Fiber Bragg Grating based bite force measurement.

PubMed

Umesh, Sharath; Padma, Srivani; Asokan, Sundarrajan; Srinivas, Talabattula

2016-09-06

The present study reports an in vivo, novel methodology for the dynamic measurement of the bite force generated by individual tooth using a Fiber Bragg Grating Bite Force Recorder (FBGBFR). Bite force is considered as one of the major indicators of the functional state of the masticatory system, which is dependent on the craniomandibular structure comprising functional components such as muscles of mastication, joints and teeth. The proposed FBGBFR is an intra-oral device, developed for the transduction of the bite force exerted at the occlusal surface, into strain variations on a base plate, which in turn is sensed by the FBG sensor bonded over it. The FBGBFR is calibrated against a Micro Universal Testing Machine (UTM) for 0-900N range and the resolution of the developed FBGBFR is found to be 0.54N. 36 volunteers (20 males and 16 females) performed the bite force measurement test at molar, premolar and incisor tooth on either side of the dental arch and the obtained results show clinically relevant bite forces varying from 176N to 635N. The bite forces obtained from the current study for a substantial sample size, show that the bite forces increases along the dental arch from the incisors towards the molars and are found to be higher in male than in female. The FBG sensor element utilized in FBGBFR is electrically passive, which makes it a safe in vivo intra-oral device. Hence the FBGBFR is viable to be employed in clinical studies on biomechanics of oral function. Copyright © 2016 Elsevier Ltd. All rights reserved.

Direct Aerosol Radiative Forcing Based on Combined A-Train Observations: Towards All-sky Estimates and Attribution to Aerosol Type

NASA Technical Reports Server (NTRS)

Redemann, Jens; Shinozuka, Y.; Kacenelenbogen, M.; Russell, P.; Vaughan, M.; Ferrare, R.; Hostetler, C.; Rogers, R.; Burton, S.; Livingston, J.;

A self-calibrating multicomponent force/torque measuring system

NASA Astrophysics Data System (ADS)

Marangoni, Rafael R.; Schleichert, Jan; Rahneberg, Ilko; Hilbrunner, Falko; Fröhlich, Thomas

2018-07-01

A multicomponent self-calibrating force and torque sensor is presented. In this system, the principle of a Kibble balance is adapted for the traceable force and torque measurement in three orthogonal directions. The system has two operating modes: the velocity mode and the force/torque sensing mode. In the velocity mode, the calibration of the sensor is performed, while in the force/torque sensing mode, forces and torques are measured by using the principle of the electromagnetic force compensation. Details about the system are provided, with the main components of the sensor and a description of the operational procedure. A prototype of the system is currently being implemented for measuring forces and torques in a range of  ±2 N and  ±0.1 N · m respectively. A maximal relative expanded measurement uncertainty (k  =  2) of 1 · 10‑4 is expected for the force and torque measurements.

Human grasp assist device and method of use

NASA Technical Reports Server (NTRS)

Linn, Douglas Martin (Inventor); Ihrke, Chris A. (Inventor); Diftler, Myron A. (Inventor)

2012-01-01

A grasp assist device includes a glove portion having phalange rings, contact sensors for measuring a grasping force applied by an operator wearing the glove portion, and a tendon drive system (TDS). The device has flexible tendons connected to the phalange rings for moving the rings in response to feedback signals from the sensors. The TDS is connected to each of the tendons, and applies an augmenting tensile force thereto via a microcontroller adapted for determining the augmenting tensile force as a function of the grasping force. A method of augmenting a grasping force of an operator includes measuring the grasping force using the sensors, encoding the grasping force as the feedback signals, and calculating the augmenting tensile force as a function of the feedback signals using the microcontroller. The method includes energizing at least one actuator of a tendon drive system (TDS) to thereby apply the augmenting tensile force.

Design and test of a hybrid foot force sensing and GPS system for richer user mobility activity recognition.

PubMed

Zhang, Zelun; Poslad, Stefan

2013-11-01

Wearable and accompanied sensors and devices are increasingly being used for user activity recognition. However, typical GPS-based and accelerometer-based (ACC) methods face three main challenges: a low recognition accuracy; a coarse recognition capability, i.e., they cannot recognise both human posture (during travelling) and transportation mode simultaneously, and a relatively high computational complexity. Here, a new GPS and Foot-Force (GPS + FF) sensor method is proposed to overcome these challenges that leverages a set of wearable FF sensors in combination with GPS, e.g., in a mobile phone. User mobility activities that can be recognised include both daily user postures and common transportation modes: sitting, standing, walking, cycling, bus passenger, car passenger (including private cars and taxis) and car driver. The novelty of this work is that our approach provides a more comprehensive recognition capability in terms of reliably recognising both human posture and transportation mode simultaneously during travel. In addition, by comparing the new GPS + FF method with both an ACC method (62% accuracy) and a GPS + ACC based method (70% accuracy) as baseline methods, it obtains a higher accuracy (95%) with less computational complexity, when tested on a dataset obtained from ten individuals.

Customizable Optical Force Sensor for Fast Prototyping and Cost-Effective Applications.

PubMed

Díez, Jorge A; Catalán, José M; Blanco, Andrea; García-Perez, José V; Badesa, Francisco J; Gacía-Aracil, Nicolás

2018-02-07

This paper presents the development of an optical force sensor architecture directed to prototyping and cost-effective applications, where the actual force requirements are still not well defined or the most suitable commercial technologies would highly increase the cost of the device. The working principle of this sensor consists of determining the displacement of a lens by measuring the distortion of a refracted light beam. This lens is attached to an elastic interface whose elastic constant is known, allowing the estimation of the force that disturbs the optical system. In order to satisfy the requirements of the design process in an inexpensive way, this sensor can be built by fast prototyping technologies and using non-optical grade elements. To deal with the imperfections of this kind of manufacturing procedures and materials, four fitting models are proposed to calibrate the implemented sensor. In order to validate the system, two different sensor implementations with measurement ranges of ±45 N and ±10 N are tested with the proposed models, comparing the resulting force estimation with respect to an industrial-grade load cell. Results show that all models can estimate the loads with an error of about 6% of the measurement range.

Customizable Optical Force Sensor for Fast Prototyping and Cost-Effective Applications

PubMed Central

Díez, Jorge A.; Catalán, José M.; Blanco, Andrea; García-Perez, José V.; Badesa, Francisco J.

2018-01-01

This paper presents the development of an optical force sensor architecture directed to prototyping and cost-effective applications, where the actual force requirements are still not well defined or the most suitable commercial technologies would highly increase the cost of the device. The working principle of this sensor consists of determining the displacement of a lens by measuring the distortion of a refracted light beam. This lens is attached to an elastic interface whose elastic constant is known, allowing the estimation of the force that disturbs the optical system. In order to satisfy the requirements of the design process in an inexpensive way, this sensor can be built by fast prototyping technologies and using non-optical grade elements. To deal with the imperfections of this kind of manufacturing procedures and materials, four fitting models are proposed to calibrate the implemented sensor. In order to validate the system, two different sensor implementations with measurement ranges of ±45 N and ±10 N are tested with the proposed models, comparing the resulting force estimation with respect to an industrial-grade load cell. Results show that all models can estimate the loads with an error of about 6% of the measurement range. PMID:29414861

Force sensor using changes in magnetic flux

NASA Technical Reports Server (NTRS)

Pickens, Herman L. (Inventor); Richard, James A. (Inventor)

2012-01-01

A force sensor includes a magnetostrictive material and a magnetic field generator positioned in proximity thereto. A magnetic field is induced in and surrounding the magnetostrictive material such that lines of magnetic flux pass through the magnetostrictive material. A sensor positioned in the vicinity of the magnetostrictive material measures changes in one of flux angle and flux density when the magnetostrictive material experiences an applied force that is aligned with the lines of magnetic flux.

Tapping mode imaging with an interfacial force microscope

NASA Astrophysics Data System (ADS)

Warren, O. L.; Graham, J. F.; Norton, P. R.

1997-11-01

In their present embodiment, sensors used in interfacial force microscopy do not have the necessary mechanical bandwidth to be employed as free-running tapping mode devices. We describe an extremely stable method of obtaining tapping mode images using feedback on the sensor. Our method is immune to small dc drifts in the force signal, and the prospect of diminishing the risk of damaging fragile samples is realized. The feasibility of the technique is demonstrated by our imaging work on a Kevlar fiber-epoxy composite. We also present a model which accounts for the frequency dependence of the sensor in air when operating under closed loop control. A simplified force modulation model is investigated to explore the effect of contact on the closed loop response of the sensor.

Design and calibration of a six-axis MEMS sensor array for use in scoliosis correction surgery

NASA Astrophysics Data System (ADS)

Benfield, David; Yue, Shichao; Lou, Edmond; Moussa, Walied A.

2014-08-01

A six-axis sensor array has been developed to quantify the 3D force and moment loads applied in scoliosis correction surgery. Initially this device was developed to be applied during scoliosis correction surgery and augmented onto existing surgical instrumentation, however, use as a general load sensor is also feasible. The development has included the design, microfabrication, deployment and calibration of a sensor array. The sensor array consists of four membrane devices, each containing piezoresistive sensing elements, generating a total of 16 differential voltage outputs. The calibration procedure has made use of a custom built load application frame, which allows quantified forces and moments to be applied and compared to the outputs from the sensor array. Linear or non-linear calibration equations are generated to convert the voltage outputs from the sensor array back into 3D force and moment information for display or analysis.

SCALAR MULTI-PASS ATOMIC MAGNETOMETER

DTIC Science & Technology

2017-08-01

primarily by atomic shot noise. Furthermore, the spectrum of quantum spin noise provides information on the time correlation between the spins and...the resulting light to be shot -noise-limited both with and without the polarizer in place. Newer Vixar VCSELs with internal gratings on output...described on inside pages STINFO COPY AIR FORCE RESEARCH LABORATORY SENSORS DIRECTORATE WRIGHT-PATTERSON AIR FORCE BASE, OH 45433-7320

Direct-write nanoscale printing of nanogranular tunnelling strain sensors for sub-micrometre cantilevers

PubMed Central

Dukic, Maja; Winhold, Marcel; Schwalb, Christian H.; Adams, Jonathan D.; Stavrov, Vladimir; Huth, Michael; Fantner, Georg E.

2016-01-01

The sensitivity and detection speed of cantilever-based mechanical sensors increases drastically through size reduction. The need for such increased performance for high-speed nanocharacterization and bio-sensing, drives their sub-micrometre miniaturization in a variety of research fields. However, existing detection methods of the cantilever motion do not scale down easily, prohibiting further increase in the sensitivity and detection speed. Here we report a nanomechanical sensor readout based on electron co-tunnelling through a nanogranular metal. The sensors can be deposited with lateral dimensions down to tens of nm, allowing the readout of nanoscale cantilevers without constraints on their size, geometry or material. By modifying the inter-granular tunnel-coupling strength, the sensors' conductivity can be tuned by up to four orders of magnitude, to optimize their performance. We show that the nanoscale printed sensors are functional on 500 nm wide cantilevers and that their sensitivity is suited even for demanding applications such as atomic force microscopy. PMID:27666316

Model-Based Heterogeneous Data Fusion for Reliable Force Estimation in Dynamic Structures under Uncertainties

PubMed Central

Khodabandeloo, Babak; Melvin, Dyan; Jo, Hongki

2017-01-01

Direct measurements of external forces acting on a structure are infeasible in many cases. The Augmented Kalman Filter (AKF) has several attractive features that can be utilized to solve the inverse problem of identifying applied forces, as it requires the dynamic model and the measured responses of structure at only a few locations. But, the AKF intrinsically suffers from numerical instabilities when accelerations, which are the most common response measurements in structural dynamics, are the only measured responses. Although displacement measurements can be used to overcome the instability issue, the absolute displacement measurements are challenging and expensive for full-scale dynamic structures. In this paper, a reliable model-based data fusion approach to reconstruct dynamic forces applied to structures using heterogeneous structural measurements (i.e., strains and accelerations) in combination with AKF is investigated. The way of incorporating multi-sensor measurements in the AKF is formulated. Then the formulation is implemented and validated through numerical examples considering possible uncertainties in numerical modeling and sensor measurement. A planar truss example was chosen to clearly explain the formulation, while the method and formulation are applicable to other structures as well. PMID:29149088

Fabrication of strain gauge based sensors for tactile skins

NASA Astrophysics Data System (ADS)

Baptist, Joshua R.; Zhang, Ruoshi; Wei, Danming; Saadatzi, Mohammad Nasser; Popa, Dan O.

2017-05-01

Fabricating cost effective, reliable and functional sensors for electronic skins has been a challenging undertaking for the last several decades. Application of such skins include haptic interfaces, robotic manipulation, and physical human-robot interaction. Much of our recent work has focused on producing compliant sensors that can be easily formed around objects to sense normal, tension, or shear forces. Our past designs have involved the use of flexible sensors and interconnects fabricated on Kapton substrates, and piezoresistive inks that are 3D printed using Electro Hydro Dynamic (EHD) jetting onto interdigitated electrode (IDE) structures. However, EHD print heads require a specialized nozzle and the application of a high-voltage electric field; for which, tuning process parameters can be difficult based on the choice of inks and substrates. Therefore, in this paper we explore sensor fabrication techniques using a novel wet lift-off photolithographic technique for patterning the base polymer piezoresistive material, specifically Poly(3,4-ethylenedioxythiophene)-poly(styrenesulfonate) or PEDOT:PSS. Fabricated sensors are electrically and thermally characterized, and temperaturecompensated designs are proposed and validated. Packaging techniques for sensors in polymer encapsulants are proposed and demonstrated to produce a tactile interface device for a robot.

A Strain-Based Method to Estimate Slip Angle and Tire Working Conditions for Intelligent Tires Using Fuzzy Logic.

PubMed

Garcia-Pozuelo, Daniel; Yunta, Jorge; Olatunbosun, Oluremi; Yang, Xiaoguang; Diaz, Vicente

2017-04-16

Tires equipped with sensors, the so-called "intelligent tires", can provide vital information for control systems, drivers and external users. In this research, tire dynamic strain characteristics in cornering conditions are collected and analysed in relation to the variation of tire working conditions, such as inflation pressure, rolling speed, vertical load and slip angle. An experimental tire strain-based prototype and an indoor tire test rig are used to demonstrate the suitability of strain sensors to establish relations between strain data and lateral force. The results of experiments show that strain values drop sharply when lateral force is decreasing, which can be used to predict tire slip conditions. As a first approach to estimate some tire working conditions, such as the slip angle and vertical load, a fuzzy logic method has been developed. The simulation and test results confirm the feasibility of strain sensors and the proposed computational model to solve the non-linearity characteristics of the tires' parameters and turn tires into a source of useful information.

A Strain-Based Method to Estimate Slip Angle and Tire Working Conditions for Intelligent Tires Using Fuzzy Logic

PubMed Central

Garcia-Pozuelo, Daniel; Yunta, Jorge; Olatunbosun, Oluremi; Yang, Xiaoguang; Diaz, Vicente

2017-01-01

Tires equipped with sensors, the so-called “intelligent tires”, can provide vital information for control systems, drivers and external users. In this research, tire dynamic strain characteristics in cornering conditions are collected and analysed in relation to the variation of tire working conditions, such as inflation pressure, rolling speed, vertical load and slip angle. An experimental tire strain-based prototype and an indoor tire test rig are used to demonstrate the suitability of strain sensors to establish relations between strain data and lateral force. The results of experiments show that strain values drop sharply when lateral force is decreasing, which can be used to predict tire slip conditions. As a first approach to estimate some tire working conditions, such as the slip angle and vertical load, a fuzzy logic method has been developed. The simulation and test results confirm the feasibility of strain sensors and the proposed computational model to solve the non-linearity characteristics of the tires’ parameters and turn tires into a source of useful information. PMID:28420156

Development of esMOCA Biomechanic, Motion Capture Instrumentation for Biomechanics Analysis

NASA Astrophysics Data System (ADS)

Arendra, A.; Akhmad, S.

2018-01-01

This study aims to build motion capture instruments using inertial measurement unit sensors to assist in the analysis of biomechanics. Sensors used are accelerometer and gyroscope. Estimation of orientation sensors is done by digital motion processing in each sensor nodes. There are nine sensor nodes attached to the upper limbs. This sensor is connected to the pc via a wireless sensor network. The development of kinematics and inverse dynamamic models of the upper limb is done in simulink simmechanic. The kinematic model receives streaming data of sensor nodes mounted on the limbs. The output of the kinematic model is the pose of each limbs and visualized on display. The dynamic inverse model outputs the reaction force and reaction moment of each joint based on the limb motion input. Model validation in simulink with mathematical model of mechanical analysis showed results that did not differ significantly

Strain field reconstruction on composite spars based on the identification of equivalent load conditions

NASA Astrophysics Data System (ADS)

Airoldi, A.; Marelli, L.; Bettini, P.; Sala, G.; Apicella, A.

2017-04-01

Technologies based on optical fibers provide the possibility of installing relatively dense networks of sensors that can perform effective strain sensing functions during the operational life of structures. A contemporary trend is the increasing adoption of composite materials in aerospace constructions, which leads to structural architectures made of large monolithic elements. The paper is aimed at showing the feasibility of a detailed reconstruction of the strain field in a composite spar, which is based on the development of reference finite element models and the identification of load modes, consisting of a parameterized set of forces. The procedure is described and assessed in ideal conditions. Thereafter, a surrogate model is used to obtain realistic representation of the data acquired by the strain sensing system, so that the developed procedure is evaluated considering local effects due to the introduction of loads, significant modelling discrepancy in the development of the reference model and the presence of measurement noise. Results show that the method can obtain a robust and quite detailed reconstruction of strain fields, even at the level of local distributions, of the internal forces in the spars and of the displacements, by identifying an equivalent set of load parameters. Finally, the trade-off between the number of sensor and the accuracy, and the optimal position of the sensors for a given maximum number of sensors is evaluated by performing a multi-objective optimization, thus showing that even a relative dense network of externally applied sensors can be used to achieve good quality results.

Development and modification of a device for three-dimensional measurement of orthodontic force system: The V-bend system re-visited.

PubMed

Lai, WeiJen; Midorikawa, Yoshiyuki; Kanno, Zuisei; Takemura, Hiroshi; Suga, Kazuhiro; Soga, Kohei; Ono, Takashi; Uo, Motohiro

2016-12-01

We developed a device to evaluate the orthodontic force applied by systems requiring high operability. A life-sized, two-tooth model was designed, and the measurements were performed using a custom-made jointed attachment, referred to as an "action stick", to allow clearance for the oversized six-axis sensors. This tooth-sensor apparatus was accurately calibrated, and the error was limited. Vector analysis and rotating coordinate transformation were required to derive the force and moment at the tooth from the sensor readings. The device was then used to obtain measurements of the force and moment generated by the V-bend system. Our device was effective, providing results that were consistent with those of previous studies. This measurement device can be manufactured with force sensors of any size, and it can also be expanded to models with any number of teeth.

A noble technique a using force-sensing resistor for immobilization-device quality assurance: A feasibility study

NASA Astrophysics Data System (ADS)

Cho, Min-Seok; Kim, Tae-Ho; Kang, Seong-Hee; Kim, Dong-Su; Kim, Kyeong-Hyeon; Shin, Dong-Seok; Noh, Yu-Yun; Koo, Hyun-Jae; Cheon, Geum Seong; Suh, Tae Suk; Kim, Siyong

2016-03-01

Many studies have reported that a patient can move even when an immobilization device is used. Researchers have developed an immobilization-device quality-assurance (QA) system that evaluates the validity of immobilization devices. The QA system consists of force-sensing-resistor (FSR) sensor units, an electric circuit, a signal conditioning device, and a control personal computer (PC) with in-house software. The QA system is designed to measure the force between an immobilization device and a patient's skin by using the FSR sensor unit. This preliminary study aimed to evaluate the feasibility of using the QA system in radiation-exposure situations. When the FSR sensor unit was irradiated with a computed tomography (CT) beam and a treatment beam from a linear accelerator (LINAC), the stability of the output signal, the image artifact on the CT image, and changing the variation on the patient's dose were tested. The results of this study demonstrate that this system is promising in that it performed within the error range (signal variation on CT beam < 0.30 kPa, root-mean-square error (RMSE) of the two CT images according to presence or absence of the FSR sensor unit < 15 HU, signal variation on the treatment beam < 0.15 kPa, and dose difference between the presence and the absence of the FSR sensor unit < 0.02%). Based on the obtained results, we will volunteer tests to investigate the clinical feasibility of the QA system.

Relative hardness measurement of soft objects by a new fiber optic sensor

NASA Astrophysics Data System (ADS)

Ahmadi, Roozbeh; Ashtaputre, Pranav; Abou Ziki, Jana; Dargahi, Javad; Packirisamy, Muthukumaran

2010-06-01

The measurement of relative hardness of soft objects enables replication of human finger tactile perception capabilities. This ability has many applications not only in automation and robotics industry but also in many other areas such as aerospace and robotic surgery where a robotic tool interacts with a soft contact object. One of the practical examples of interaction between a solid robotic instrument and a soft contact object occurs during robotically-assisted minimally invasive surgery. Measuring the relative hardness of bio-tissue, while contacting the robotic instrument, helps the surgeons to perform this type of surgery more reliably. In the present work, a new optical sensor is proposed to measure the relative hardness of contact objects. In order to measure the hardness of a contact object, like a human finger, it is required to apply a small force/deformation to the object by a tactile sensor. Then, the applied force and resulting deformation should be recorded at certain points to enable the relative hardness measurement. In this work, force/deformation data for a contact object is recorded at certain points by the proposed optical sensor. Recorded data is used to measure the relative hardness of soft objects. Based on the proposed design, an experimental setup was developed and experimental tests were performed to measure the relative hardness of elastomeric materials. Experimental results verify the ability of the proposed optical sensor to measure the relative hardness of elastomeric samples.

Advanced Space-Based Detector Research at the Air Force Research Laboratory

DTIC Science & Technology

2009-03-04

purposes. The dark backgrounds place very stringent requirements on the noise characteristics of the sensor system, resulting in FPAs that must be...signal within a single pixel of a detector. 2. Optical signal amplification 2.1. Quantum interference Quantum well infrared photodetectors ( QWIPs ) are...are now extremely attractive for a growing number of sensor applications. Although considerable progress has been made in QWIPs , their relatively low

Microdot - A Four-Bit Microcontroller Designed for Distributed Low-End Computing in Satellites

NASA Astrophysics Data System (ADS)

2002-03-01

Many satellites are an integrated collection of sensors and actuators that require dedicated real-time control. For single processor systems, additional sensors require an increase in computing power and speed to provide the multi-tasking capability needed to service each sensor. Faster processors cost more and consume more power, which taxes a satellite's power resources and may lead to shorter satellite lifetimes. An alternative design approach is a distributed network of small and low power microcontrollers designed for space that handle the computing requirements of each individual sensor and actuator. The design of microdot, a four-bit microcontroller for distributed low-end computing, is presented. The design is based on previous research completed at the Space Electronics Branch, Air Force Research Laboratory (AFRL/VSSE) at Kirtland AFB, NM, and the Air Force Institute of Technology at Wright-Patterson AFB, OH. The Microdot has 29 instructions and a 1K x 4 instruction memory. The distributed computing architecture is based on the Philips Semiconductor I2C Serial Bus Protocol. A prototype was implemented and tested using an Altera Field Programmable Gate Array (FPGA). The prototype was operable to 9.1 MHz. The design was targeted for fabrication in a radiation-hardened-by-design gate-array cell library for the TSMC 0.35 micrometer CMOS process.

Nondestructive Estimation of Muscle Contributions to STS Training with Different Loadings Based on Wearable Sensor System

PubMed Central

2018-01-01

Partial body weight support or loading sit-to-stand (STS) rehabilitation can be useful for persons with lower limb dysfunction to achieve movement again based on the internal residual muscle force and external assistance. To explicate how the muscles contribute to the kinetics and kinematics of STS performance by non-invasive in vitro detection and to nondestructively estimate the muscle contributions to STS training with different loadings, a wearable sensor system was developed with ground reaction force (GRF) platforms, motion capture inertial sensors and electromyography (EMG) sensors. To estimate the internal moments of hip, knee and ankle joints and quantify the contributions of individual muscle and gravity to STS movement, the inverse dynamics analysis on a simplified STS biomechanical model with external loading is proposed. The functional roles of the lower limb individual muscles (rectus femoris (RF), gluteus maximus (GM), vastus lateralis (VL), tibialis anterior (TA) and gastrocnemius (GAST)) during STS motion and the mechanism of the muscles’ synergies to perform STS-specific subtasks were analyzed. The muscle contributions to the biomechanical STS subtasks of vertical propulsion, anteroposterior (AP) braking and propulsion for body balance in the sagittal plane were quantified by experimental studies with EMG, kinematic and kinetic data. PMID:29587391

Nondestructive Estimation of Muscle Contributions to STS Training with Different Loadings Based on Wearable Sensor System.

PubMed

Liu, Kun; Liu, Yong; Yan, Jianchao; Sun, Zhenyuan

2018-03-25

Partial body weight support or loading sit-to-stand (STS) rehabilitation can be useful for persons with lower limb dysfunction to achieve movement again based on the internal residual muscle force and external assistance. To explicate how the muscles contribute to the kinetics and kinematics of STS performance by non-invasive in vitro detection and to nondestructively estimate the muscle contributions to STS training with different loadings, a wearable sensor system was developed with ground reaction force (GRF) platforms, motion capture inertial sensors and electromyography (EMG) sensors. To estimate the internal moments of hip, knee and ankle joints and quantify the contributions of individual muscle and gravity to STS movement, the inverse dynamics analysis on a simplified STS biomechanical model with external loading is proposed. The functional roles of the lower limb individual muscles (rectus femoris (RF), gluteus maximus (GM), vastus lateralis (VL), tibialis anterior (TA) and gastrocnemius (GAST)) during STS motion and the mechanism of the muscles' synergies to perform STS-specific subtasks were analyzed. The muscle contributions to the biomechanical STS subtasks of vertical propulsion, anteroposterior (AP) braking and propulsion for body balance in the sagittal plane were quantified by experimental studies with EMG, kinematic and kinetic data.

Army requirements for micro and nanotechnology-based sensors in weapons health and battlefield environmental monitoring applications

NASA Astrophysics Data System (ADS)

Ruffin, Paul; Brantley, Christina; Edwards, Eugene; Hutcheson, Guilford

2006-03-01

The Army Aviation and Missile Research, Development, and Engineering Center (AMRDEC) and the Army Research Laboratory (ARL) have initiated a joint advanced technology demonstration program entitled "Prognostics/Diagnostics for the Future Force (PDFF)" with a key objective of developing low or no power embedded sensor suites for harsh environmental monitoring. The most critical challenge of the program is to specify requirements for the embedded sensor suites which will perform on-board diagnostics, maintain a history of sensor data, and forecast weapon health. The authors are currently collaborating with the PDFF program managers and potential customers to quantify the requirements for remotely operated, micro/nano-technology-based sensors for a host of candidate weapon systems. After requirements are finalized, current micro/nanotechnology-based temperature, humidity, g-shock, vibration and chemical sensors for monitoring the out-gassing of weapons propellant, as well as hazardous gaseous species on the battlefield and in urban environments will be improved to meet the full requirements of the PDFF program. In this paper, performance requirements such as power consumption, reliability, maintainability, survivability, size, and cost, along with the associated technical challenges for micro/nanotechnology-based sensor systems operating in military environments, are discussed. In addition, laboratory results from the design and testing of a wireless sensor array, which was developed using a thin film of functionalized carbon nanotube materials, are presented. Conclusions from the research indicate that the detection of bio-hazardous materials is possible using passive and active wireless sensors based on monitoring the reflected phase from the sensor.

Operation tools with dielectric elastomer pressure sensors

NASA Astrophysics Data System (ADS)

Böse, Holger; Müller, Dominik; Ehrlich, Johannes

2017-04-01

New sensors based on dielectric elastomers have recently been shown to exhibit high sensitivity for compression loads. The basic design of these sensors exhibits two profiled surfaces coated with electrode layers between which an elastomer film with the counter-electrode is confined. All components of the sensor are prepared with silicone whose stiffness can be varied in a wide range. Depending on the details of the sensor design, various effects contribute to the enhancement of the capacitance. The intermediate elastomer film is stretched upon compression, the elastomer profiles are deformed and the electrode layers on the elastomer profiles and in the elastomer film approach each other. Beside the detection of pressure, such sensors can also be used for operation tools in human-machine interfaces. To demonstrate this potential, a touch pad with six pressure-sensitive fields is presented. The corresponding sensors integrated in the touch fields detect the exerted forces of the finger, show them on a display and control the brightness of some LEDs. As a second example, the integration of sensor-based control fields on an automotive steering wheel is shown. Finally, the sensors can also be used in fabrics to control arbitrary functions of wearable electronic devices.

3D active stabilization system with sub-micrometer resolution.

PubMed

Kursu, Olli; Tuukkanen, Tuomas; Rahkonen, Timo; Vähäsöyrinki, Mikko

2012-01-01

Stable positioning between a measurement probe and its target from sub- to few micrometer scales has become a prerequisite in precision metrology and in cellular level measurements from biological tissues. Here we present a 3D stabilization system based on an optoelectronic displacement sensor and custom piezo-actuators driven by a feedback control loop that constantly aims to zero the relative movement between the sensor and the target. We used simulations and prototyping to characterize the developed system. Our results show that 95% attenuation of movement artifacts is achieved at 1 Hz with stabilization performance declining to ca. 70% attenuation at 10 Hz. Stabilization bandwidth is limited by mechanical resonances within the displacement sensor that occur at relatively low frequencies, and are attributable to the sensor's high force sensitivity. We successfully used brain derived micromotion trajectories as a demonstration of complex movement stabilization. The micromotion was reduced to a level of ∼1 µm with nearly 100 fold attenuation at the lower frequencies that are typically associated with physiological processes. These results, and possible improvements of the system, are discussed with a focus on possible ways to increase the sensor's force sensitivity without compromising overall system bandwidth.

3D Active Stabilization System with Sub-Micrometer Resolution

PubMed Central

Rahkonen, Timo; Vähäsöyrinki, Mikko

2012-01-01

Stable positioning between a measurement probe and its target from sub- to few micrometer scales has become a prerequisite in precision metrology and in cellular level measurements from biological tissues. Here we present a 3D stabilization system based on an optoelectronic displacement sensor and custom piezo-actuators driven by a feedback control loop that constantly aims to zero the relative movement between the sensor and the target. We used simulations and prototyping to characterize the developed system. Our results show that 95 % attenuation of movement artifacts is achieved at 1 Hz with stabilization performance declining to ca. 70 % attenuation at 10 Hz. Stabilization bandwidth is limited by mechanical resonances within the displacement sensor that occur at relatively low frequencies, and are attributable to the sensor's high force sensitivity. We successfully used brain derived micromotion trajectories as a demonstration of complex movement stabilization. The micromotion was reduced to a level of ∼1 µm with nearly 100 fold attenuation at the lower frequencies that are typically associated with physiological processes. These results, and possible improvements of the system, are discussed with a focus on possible ways to increase the sensor's force sensitivity without compromising overall system bandwidth. PMID:22900045

Feasibility of novel four degrees of freedom capacitive force sensor for skin interface force

PubMed Central

2012-01-01

Background The objective of our study was to develop a novel capacitive force sensor that enables simultaneous measurements of yaw torque around the pressure axis and normal force and shear forces at a single point for the purpose of elucidating pressure ulcer pathogenesis and establishing criteria for selection of cushions and mattresses. Methods Two newly developed sensors (approximately 10 mm×10 mm×5 mm (10) and 20 mm×20 mm×5 mm (20)) were constructed from silicone gel and four upper and lower electrodes. The upper and lower electrodes had sixteen combinations that had the function as capacitors of parallel plate type. The full scale (FS) ranges of force/torque were defined as 0–1.5 N, –0.5-0.5 N and −1.5-1.5 N mm (10) and 0–8.7 N, –2.9-2.9 N and −16.8-16.8 N mm (20) in normal force, shear forces and yaw torque, respectively. The capacitances of sixteen capacitors were measured by an LCR meter (AC1V, 100 kHz) when displacements corresponding to four degrees of freedom (DOF) forces within FS ranges were applied to the sensor. The measurement was repeated three times in each displacement condition (10 only). Force/torque were calculated by corrected capacitance and were evaluated by comparison to theoretical values and standard normal force measured by an universal tester. Results In measurements of capacitance, the coefficient of variation was 3.23% (10). The Maximum FS errors of estimated force/torque were less than or equal to 10.1 (10) and 16.4% (20), respectively. The standard normal forces were approximately 1.5 (10) and 9.4 N (20) when pressure displacements were 3 (10) and 2 mm (20), respectively. The estimated normal forces were approximately 1.5 (10) and 8.6 N (10) in the same condition. Conclusions In this study, we developed a new four DOF force sensor for measurement of force/torque that occur between the skin and a mattress. In measurement of capacitance, the repeatability was good and it was confirmed that the sensor had characteristics that enabled the correction by linear approximation for adjustment of gain and offset. In estimation of forces/torque, we considered accuracy to be within an acceptable range. PMID:23186069

Multi-range force sensors utilizing shape memory alloys

DOEpatents

Varma, Venugopal K.

2003-04-15

The present invention provides a multi-range force sensor comprising a load cell made of a shape memory alloy, a strain sensing system, a temperature modulating system, and a temperature monitoring system. The ability of the force sensor to measure contact forces in multiple ranges is effected by the change in temperature of the shape memory alloy. The heating and cooling system functions to place the shape memory alloy of the load cell in either a low temperature, low strength phase for measuring small contact forces, or a high temperature, high strength phase for measuring large contact forces. Once the load cell is in the desired phase, the strain sensing system is utilized to obtain the applied contact force. The temperature monitoring system is utilized to ensure that the shape memory alloy is in one phase or the other.

Resonant Magnetic Field Sensors Based On MEMS Technology.

PubMed

Herrera-May, Agustín L; Aguilera-Cortés, Luz A; García-Ramírez, Pedro J; Manjarrez, Elías

2009-01-01

Microelectromechanical systems (MEMS) technology allows the integration of magnetic field sensors with electronic components, which presents important advantages such as small size, light weight, minimum power consumption, low cost, better sensitivity and high resolution. We present a discussion and review of resonant magnetic field sensors based on MEMS technology. In practice, these sensors exploit the Lorentz force in order to detect external magnetic fields through the displacement of resonant structures, which are measured with optical, capacitive, and piezoresistive sensing techniques. From these, the optical sensing presents immunity to electromagnetic interference (EMI) and reduces the read-out electronic complexity. Moreover, piezoresistive sensing requires an easy fabrication process as well as a standard packaging. A description of the operation mechanisms, advantages and drawbacks of each sensor is considered. MEMS magnetic field sensors are a potential alternative for numerous applications, including the automotive industry, military, medical, telecommunications, oceanographic, spatial, and environment science. In addition, future markets will need the development of several sensors on a single chip for measuring different parameters such as the magnetic field, pressure, temperature and acceleration.

Resonant Magnetic Field Sensors Based On MEMS Technology

PubMed Central

Herrera-May, Agustín L.; Aguilera-Cortés, Luz A.; García-Ramírez, Pedro J.; Manjarrez, Elías

2009-01-01

Microelectromechanical systems (MEMS) technology allows the integration of magnetic field sensors with electronic components, which presents important advantages such as small size, light weight, minimum power consumption, low cost, better sensitivity and high resolution. We present a discussion and review of resonant magnetic field sensors based on MEMS technology. In practice, these sensors exploit the Lorentz force in order to detect external magnetic fields through the displacement of resonant structures, which are measured with optical, capacitive, and piezoresistive sensing techniques. From these, the optical sensing presents immunity to electromagnetic interference (EMI) and reduces the read-out electronic complexity. Moreover, piezoresistive sensing requires an easy fabrication process as well as a standard packaging. A description of the operation mechanisms, advantages and drawbacks of each sensor is considered. MEMS magnetic field sensors are a potential alternative for numerous applications, including the automotive industry, military, medical, telecommunications, oceanographic, spatial, and environment science. In addition, future markets will need the development of several sensors on a single chip for measuring different parameters such as the magnetic field, pressure, temperature and acceleration. PMID:22408480

Sensor design for outdoor racing bicycle field testing for human vibration comfort evaluation

NASA Astrophysics Data System (ADS)

Vanwalleghem, Joachim; De Baere, Ives; Loccufier, Mia; Van Paepegem, Wim

2013-09-01

This paper is concerned with the vibrational comfort evaluation of the cyclist when cycling a rough surface. Outdoor comfort tests have so far only been done through instrumenting the bicycle with accelerometers. This work instruments a racing bicycle with custom-made contact force sensors and velocity sensors to acquire human comfort through the absorbed power method. Comfort evaluation is assessed at the hand-arm and seat interface of the cyclist with the bicycle. By means of careful finite-element analysis for designing the force gauges at the handlebar and the seat combined with precise calibration of both force and velocity sensors, all sensors have proven to work properly. Initial field tests are focused on the proper functioning of the designed sensors and their suitability for vibration comfort measurements. Tests on a cobblestone road reveal that the outcome of the absorbed power values is within the same range as those from laboratory tests found in the literature. This sensor design approach for outdoor testing with racing bicycles may give a new interpretation on evaluating the cyclist's comfort since the vibrational load is not only quantified in terms of acceleration but also in terms of force and velocity at the bicycle-cyclist contact points.

Development of optical FBG force measurement system for the medical application

NASA Astrophysics Data System (ADS)

Song, Hoseok; Kim, Kiyoung; Suh, Jungwook; Lee, Jungju

2010-03-01

Haptic feedback plays a very important role in medical surgery. In minimally invasive surgery (MIS), however, very long and stiff bar of instruments take haptic feeling away from the surgeon. In minimally invasive robotic surgery (MIRS), moreover, haptic feelings are totally eliminated. Previous researchers have reported that the absence of force feedback increased the average force magnitude applied to the tissue by at least 50%, and increased the peakforce magnitude by at least a factor of two. Therefore, it is very important to provide haptic information in MIRS. Recently, many sensors are being developed for MIS or MIRS, but they have some obstacles in their application to real situations of medical surgery. The most critical problems are size limit and sterilizability. Optical fiber sensors are one of the most suitable sensors for this environment. Especially, optical fiber Bragg grating (FBG) sensor has one additional advantage than the other optical fiber sensors. FBG sensor is not influenced by intensity of light source. In this paper, we would like to present the initial results of study on the application of the FBG sensor to measure reflected forces in MIRS environments and then suggest the possibility of successful application to the MIRS systems.

Development of optical FBG force measurement system for the medical application

NASA Astrophysics Data System (ADS)

Song, Hoseok; Kim, Kiyoung; Suh, Jungwook; Lee, Jungju

2009-12-01

Haptic feedback plays a very important role in medical surgery. In minimally invasive surgery (MIS), however, very long and stiff bar of instruments take haptic feeling away from the surgeon. In minimally invasive robotic surgery (MIRS), moreover, haptic feelings are totally eliminated. Previous researchers have reported that the absence of force feedback increased the average force magnitude applied to the tissue by at least 50%, and increased the peakforce magnitude by at least a factor of two. Therefore, it is very important to provide haptic information in MIRS. Recently, many sensors are being developed for MIS or MIRS, but they have some obstacles in their application to real situations of medical surgery. The most critical problems are size limit and sterilizability. Optical fiber sensors are one of the most suitable sensors for this environment. Especially, optical fiber Bragg grating (FBG) sensor has one additional advantage than the other optical fiber sensors. FBG sensor is not influenced by intensity of light source. In this paper, we would like to present the initial results of study on the application of the FBG sensor to measure reflected forces in MIRS environments and then suggest the possibility of successful application to the MIRS systems.

Thermal and chemical treatment of polymer optical fiber Bragg grating sensors for enhanced mechanical sensitivity

NASA Astrophysics Data System (ADS)

Pospori, A.; Marques, C. A. F.; Sáez-Rodríguez, D.; Nielsen, K.; Bang, O.; Webb, D. J.

2017-07-01

An investigation of the thermal annealing effects on the strain, stress, and force sensitivities of polymer optical fiber Bragg grating sensors is performed. We demonstrate for the first time that the fiber annealing can enhance both stress and force sensitivities of Bragg grating sensors, with the possible cause being the molecular relaxation of the polymer when fiber is raised above the β -transition temperature. A simple, cost-effective, but well controlled method for fiber annealing is also presented in this work. In addition, the effects of chemical etching on the strain, stress, and force sensitivities have been investigated. Results show that fiber etching too can increase the force sensitivity, and it can also affect the strain and stress sensitivities of the Bragg grating sensors.

Integrating soft sensor systems using conductive thread

NASA Astrophysics Data System (ADS)

Teng, Lijun; Jeronimo, Karina; Wei, Tianqi; Nemitz, Markus P.; Lyu, Geng; Stokes, Adam A.

2018-05-01

We are part of a growing community of researchers who are developing a new class of soft machines. By using mechanically soft materials (MPa modulus) we can design systems which overcome the bulk-mechanical mismatches between soft biological systems and hard engineered components. To develop fully integrated soft machines—which include power, communications, and control sub-systems—the research community requires methods for interconnecting between soft and hard electronics. Sensors based upon eutectic gallium alloys in microfluidic channels can be used to measure normal and strain forces, but integrating these sensors into systems of heterogeneous Young’s modulus is difficult due the complexity of finding a material which is electrically conductive, mechanically flexible, and stable over prolonged periods of time. Many existing gallium-based liquid alloy sensors are not mechanically or electrically robust, and have poor stability over time. We present the design and fabrication of a high-resolution pressure-sensor soft system that can transduce normal force into a digital output. In this soft system, which is built on a monolithic silicone substrate, a galinstan-based microfluidic pressure sensor is integrated with a flexible printed circuit board. We used conductive thread as the interconnect and found that this method alleviates problems arising due to the mechanical mismatch between conventional metal wires and soft or liquid materials. Conductive thread is low-cost, it is readily wetted by the liquid metal, it produces little bending moment into the microfluidic channel, and it can be connected directly onto the copper bond-pads of the flexible printed circuit board. We built a bridge-system to provide stable readings from the galinstan pressure sensor. This system gives linear measurement results between 500-3500 Pa of applied pressure. We anticipate that integrated systems of this type will find utility in soft-robotic systems as used for wearable technologies like virtual reality, or in soft-medical devices such as exoskeletal rehabilitation robots.

Compact Tactile Sensors for Robot Fingers

NASA Technical Reports Server (NTRS)

Martin, Toby B.; Lussy, David; Gaudiano, Frank; Hulse, Aaron; Diftler, Myron A.; Rodriguez, Dagoberto; Bielski, Paul; Butzer, Melisa

2004-01-01

Compact transducer arrays that measure spatial distributions of force or pressure have been demonstrated as prototypes of tactile sensors to be mounted on fingers and palms of dexterous robot hands. The pressure- or force-distribution feedback provided by these sensors is essential for the further development and implementation of robot-control capabilities for humanlike grasping and manipulation.

Durable Tactile Glove for Human or Robot Hand

NASA Technical Reports Server (NTRS)

Butzer, Melissa; Diftler, Myron A.; Huber, Eric

2010-01-01

A glove containing force sensors has been built as a prototype of tactile sensor arrays to be worn on human hands and anthropomorphic robot hands. The force sensors of this glove are mounted inside, in protective pockets; as a result of this and other design features, the present glove is more durable than earlier models.

Actuation crosstalk in free-falling systems: Torsion pendulum results for the engineering model of the LISA pathfinder gravitational reference sensor

NASA Astrophysics Data System (ADS)

Bassan, M.; Cavalleri, A.; De Laurentis, M.; De Marchi, F.; De Rosa, R.; Di Fiore, L.; Dolesi, R.; Finetti, N.; Garufi, F.; Grado, A.; Hueller, M.; Marconi, L.; Milano, L.; Minenkov, Y.; Pucacco, G.; Stanga, R.; Vetrugno, D.; Visco, M.; Vitale, S.; Weber, W. J.

2018-01-01

In this paper we report on measurements on actuation crosstalk, relevant to the gravitational reference sensors for LISA Pathfinder and LISA. In these sensors, a Test Mass (TM) falls freely within a system of electrodes used for readout and control. These measurements were carried out on ground with a double torsion pendulum that allowed us to estimate both the torque injected into the sensor when a control force is applied and, conversely, the force leaking into the translational degree of freedom due to the applied torque.The values measured on our apparatus (the engineering model of the LISA Pathfinder sensor) agree to within 0.2% (over a maximum measured crosstalk of 1%) with predictions of a mathematical model when measuring force to torque crosstalk, while it is somewhat larger than expected (up to 3.5%) when measuring torque to force crosstalk. However, the values in the relevant range, i.e. when the TM is well centered ( ± 10 μm) in the sensor, remain smaller than 0.2%, satisfying the LISA Pathfinder requirements.

A new scheme of force reflecting control

NASA Technical Reports Server (NTRS)

Kim, Won S.

1992-01-01

A new scheme of force reflecting control has been developed that incorporates position-error-based force reflection and robot compliance control. The operator is provided with a kinesthetic force feedback which is proportional to the position error between the operator-commanded and the actual position of the robot arm. Robot compliance control, which increases the effective compliance of the robot, is implemented by low pass filtering the outputs of the force/torque sensor mounted on the base of robot hand and using these signals to alter the operator's position command. This position-error-based force reflection scheme combined with shared compliance control has been implemented successfully to the Advanced Teleoperation system consisting of dissimilar master-slave arms. Stability measurements have demonstrated unprecedentedly high force reflection gains of up to 2 or 3, even though the slave arm is much stiffer than operator's hand holding the force reflecting hand controller. Peg-in-hole experiments were performed with eight different operating modes to evaluate the new force-reflecting control scheme. Best task performance resulted with this new control scheme.

Multi-spectral image analysis for improved space object characterization

NASA Astrophysics Data System (ADS)

Glass, William; Duggin, Michael J.; Motes, Raymond A.; Bush, Keith A.; Klein, Meiling

2009-08-01

The Air Force Research Laboratory (AFRL) is studying the application and utility of various ground-based and space-based optical sensors for improving surveillance of space objects in both Low Earth Orbit (LEO) and Geosynchronous Earth Orbit (GEO). This information can be used to improve our catalog of space objects and will be helpful in the resolution of satellite anomalies. At present, ground-based optical and radar sensors provide the bulk of remotely sensed information on satellites and space debris, and will continue to do so into the foreseeable future. However, in recent years, the Space-Based Visible (SBV) sensor was used to demonstrate that a synthesis of space-based visible data with ground-based sensor data could provide enhancements to information obtained from any one source in isolation. The incentives for space-based sensing include improved spatial resolution due to the absence of atmospheric effects and cloud cover and increased flexibility for observations. Though ground-based optical sensors can use adaptive optics to somewhat compensate for atmospheric turbulence, cloud cover and absorption are unavoidable. With recent advances in technology, we are in a far better position to consider what might constitute an ideal system to monitor our surroundings in space. This work has begun at the AFRL using detailed optical sensor simulations and analysis techniques to explore the trade space involved in acquiring and processing data from a variety of hypothetical space-based and ground-based sensor systems. In this paper, we briefly review the phenomenology and trade space aspects of what might be required in order to use multiple band-passes, sensor characteristics, and observation and illumination geometries to increase our awareness of objects in space.

Using a Force Probe to Study Transverse Pulses and Reflections on a Plucked Elastic Cord

ERIC Educational Resources Information Center

Hamalainen, Ari; Abbott, David

2010-01-01

Before the advent of microcomputer-based labware (MBL), "time-of-flight" measurements for the speed of a transverse pulse on a string required elegant apparatus. This paper describes how to use an off-the-shelf MBL force sensor and a computer to perform the measurement. The data shown in this paper were collected using Vernier Software's wireless…

Bioinspired Haircell Receptive Sensors

DTIC Science & Technology

2009-07-23

coupling between the hair and the flowing air . We investigated a high-pass behavior in vibration sensing slit receptors by performing AFM-based force...Bonn Friedrich Barth, University of Vienna Rajesh Naik, Air Force Research Laboratory Agreement Number: FA 9550-05-1-0459 7oUO(i\\^o\\0...layer flows was accomplished in conjunction with laser Doppler velocimetry and laser Doppler vibrometry . Correlation results by different means indicate

Miniature Six-Axis Load Sensor for Robotic Fingertip

NASA Technical Reports Server (NTRS)

Diftler, Myron A.; Martin, Toby B.; Valvo, Michael C.; Rodriguez, Dagoberto; Chu, Mars W.

2009-01-01

A miniature load sensor has been developed as a prototype of tactile sensors that could fit within fingertips of anthropomorphic robot hands. The sensor includes a force-and-torque transducer in the form of a spring instrumented with at least six semiconductor strain gauges. The strain-gauge wires are secured to one side of an interface circuit board mounted at the base of the spring. This board protects the strain-gauge wires from damage that could otherwise occur as a result of finger motions. On the opposite side of the interface board, cables routed along the neutral axis of the finger route the strain-gauge output voltages to an analog-to-digital converter (A/D) board. The A/D board is mounted as close as possible to the strain gauges to minimize electromagnetic noise and other interference effects. The outputs of the A/D board are fed to a controller, wherein, by means of a predetermined calibration matrix, the digitized strain-gauge output voltages are converted to three vector components of force and three of torque exerted by or on the fingertip.

Development of liquid-environment frequency modulation atomic force microscope with low noise deflection sensor for cantilevers of various dimensions

NASA Astrophysics Data System (ADS)

Fukuma, Takeshi; Jarvis, Suzanne P.

2006-04-01

We have developed a liquid-environment frequency modulation atomic force microscope (FM-AFM) with a low noise deflection sensor for a wide range of cantilevers with different dimensions. A simple yet accurate equation describing the theoretical limit of the optical beam deflection method in air and liquid is presented. Based on the equation, we have designed a low noise deflection sensor. Replaceable microscope objective lenses are utilized for providing a high magnification optical view (resolution: <3μm) as well as for focusing a laser beam (laser spot size: ˜10μm). Even for a broad range of cantilevers with lengths from 35to125μm, the sensor provides deflection noise densities of less than 11fm/√Hz in air and 16fm/√Hz in water. In particular, a cantilever with a length of 50μm gives the minimum deflection noise density of 5.7fm/√Hz in air and 7.3fm/√Hz in water. True atomic resolution of the developed FM-AFM is demonstrated by imaging mica in water.

Combined frequency modulated atomic force microscopy and scanning tunneling microscopy detection for multi-tip scanning probe microscopy applications

DOE Office of Scientific and Technical Information (OSTI.GOV)

Morawski, Ireneusz; Institute of Experimental Physics, University of Wrocław, pl. M. Borna 9, 50-204 Wrocław; Spiegelberg, Richard

A method which allows scanning tunneling microscopy (STM) tip biasing independent of the sample bias during frequency modulated atomic force microscopy (AFM) operation is presented. The AFM sensor is supplied by an electronic circuit combining both a frequency shift signal and a tunneling current signal by means of an inductive coupling. This solution enables a control of the tip potential independent of the sample potential. Individual tip biasing is specifically important in order to implement multi-tip STM/AFM applications. An extensional quartz sensor (needle sensor) with a conductive tip is applied to record simultaneously topography and conductivity of the sample. Themore » high resonance frequency of the needle sensor (1 MHz) allows scanning of a large area of the surface being investigated in a reasonably short time. A recipe for the amplitude calibration which is based only on the frequency shift signal and does not require the tip being in contact is presented. Additionally, we show spectral measurements of the mechanical vibration noise of the scanning system used in the investigations.« less

An Analysis of Peak Wind Speed Data from Collocated Mechanical and Ultrasonic Anemometers

NASA Technical Reports Server (NTRS)

Short, David A.; Wells, Leonard A.; Merceret, Francis J.; Roeder, William P.

2005-01-01

This study focuses on a comparison of peak wind speeds reported by mechanical and ultrasonic anemometers at Cape Canaveral Air Force Station and Kennedy Space Center (CCAFS/KSC) on the east central coast of Florida and Vandenberg Air Force Base (VAFB) on the central coast of California. The legacy mechanical wind instruments on CCAFS/KSC and VAFB weather towers are being changed from propeller-and-vane (CCAFS/KSC) and cup-and-vane (VAFB) sensors to ultrasonic sensors under the Range Standardization and Automation (RSA) program. The wind tower networks on KSC/CCAFS and VAFB have 41 and 27 towers, respectively. Launch Weather Officers, forecasters, and Range Safety analysts at both locations need to understand the performance of the new wind sensors for a myriad of reasons that include weather warnings, watches, advisories, special ground processing operations, launch pad exposure forecasts, user Launch Commit Criteria (LCC) forecasts and evaluations, and toxic dispersion support. The Legacy sensors measure wind speed and direction mechanically. The ultrasonic RSA sensors have no moving parts. Ultrasonic sensors were originally developed to measure very light winds (Lewis and Dover 2004). The technology has evolved and now ultrasonic sensors provide reliable wind data over a broad range of wind speeds. However, because ultrasonic sensors respond more quickly than mechanical sensors to rapid fluctuations in speed, characteristic of gusty wind conditions, comparisons of data from the two sensor types have shown differences in the statistics of peak wind speeds (Lewis and Dover 2004). The 45th Weather Squadron (45 WS) and the 30 WS requested the Applied Meteorology Unit (AMU) to compare data from RSA and Legacy sensors to determine if there are significant differences in peak wind speed information from the two systems.

Charge-Induced Force Noise on Free-Falling Test Masses: Results from LISA Pathfinder

NASA Astrophysics Data System (ADS)

Armano, M.; Audley, H.; Auger, G.; Baird, J. T.; Binetruy, P.; Born, M.; Bortoluzzi, D.; Brandt, N.; Bursi, A.; Caleno, M.; Cavalleri, A.; Cesarini, A.; Cruise, M.; Danzmann, K.; de Deus Silva, M.; Diepholz, I.; Dolesi, R.; Dunbar, N.; Ferraioli, L.; Ferroni, V.; Fitzsimons, E. D.; Flatscher, R.; Freschi, M.; Gallegos, J.; García Marirrodriga, C.; Gerndt, R.; Gesa, L.; Gibert, F.; Giardini, D.; Giusteri, R.; Grimani, C.; Grzymisch, J.; Harrison, I.; Heinzel, G.; Hewitson, M.; Hollington, D.; Hueller, M.; Huesler, J.; Inchauspé, H.; Jennrich, O.; Jetzer, P.; Johlander, B.; Karnesis, N.; Kaune, B.; Killow, C. J.; Korsakova, N.; Lloro, I.; Liu, L.; López-Zaragoza, J. P.; Maarschalkerweerd, R.; Madden, S.; Mance, D.; Martín, V.; Martin-Polo, L.; Martino, J.; Martin-Porqueras, F.; Mateos, I.; McNamara, P. W.; Mendes, J.; Mendes, L.; Moroni, A.; Nofrarias, M.; Paczkowski, S.; Perreur-Lloyd, M.; Petiteau, A.; Pivato, P.; Plagnol, E.; Prat, P.; Ragnit, U.; Ramos-Castro, J.; Reiche, J.; Romera Perez, J. A.; Robertson, D. I.; Rozemeijer, H.; Rivas, F.; Russano, G.; Sarra, P.; Schleicher, A.; Slutsky, J.; Sopuerta, C.; Sumner, T. J.; Texier, D.; Thorpe, J. I.; Trenkel, C.; Vetrugno, D.; Vitale, S.; Wanner, G.; Ward, H.; Wass, P. J.; Wealthy, D.; Weber, W. J.; Wittchen, A.; Zanoni, C.; Ziegler, T.; Zweifel, P.; LISA Pathfinder Collaboration

2017-04-01

We report on electrostatic measurements made on board the European Space Agency mission LISA Pathfinder. Detailed measurements of the charge-induced electrostatic forces exerted on free-falling test masses (TMs) inside the capacitive gravitational reference sensor are the first made in a relevant environment for a space-based gravitational wave detector. Employing a combination of charge control and electric-field compensation, we show that the level of charge-induced acceleration noise on a single TM can be maintained at a level close to 1.0 fm s-2 Hz-1 /2 across the 0.1-100 mHz frequency band that is crucial to an observatory such as the Laser Interferometer Space Antenna (LISA). Using dedicated measurements that detect these effects in the differential acceleration between the two test masses, we resolve the stochastic nature of the TM charge buildup due to interplanetary cosmic rays and the TM charge-to-force coupling through stray electric fields in the sensor. All our measurements are in good agreement with predictions based on a relatively simple electrostatic model of the LISA Pathfinder instrument.

Charge-Induced Force Noise on Free-Falling Test Masses: Results from LISA Pathfinder.

PubMed

Armano, M; Audley, H; Auger, G; Baird, J T; Binetruy, P; Born, M; Bortoluzzi, D; Brandt, N; Bursi, A; Caleno, M; Cavalleri, A; Cesarini, A; Cruise, M; Danzmann, K; de Deus Silva, M; Diepholz, I; Dolesi, R; Dunbar, N; Ferraioli, L; Ferroni, V; Fitzsimons, E D; Flatscher, R; Freschi, M; Gallegos, J; García Marirrodriga, C; Gerndt, R; Gesa, L; Gibert, F; Giardini, D; Giusteri, R; Grimani, C; Grzymisch, J; Harrison, I; Heinzel, G; Hewitson, M; Hollington, D; Hueller, M; Huesler, J; Inchauspé, H; Jennrich, O; Jetzer, P; Johlander, B; Karnesis, N; Kaune, B; Killow, C J; Korsakova, N; Lloro, I; Liu, L; López-Zaragoza, J P; Maarschalkerweerd, R; Madden, S; Mance, D; Martín, V; Martin-Polo, L; Martino, J; Martin-Porqueras, F; Mateos, I; McNamara, P W; Mendes, J; Mendes, L; Moroni, A; Nofrarias, M; Paczkowski, S; Perreur-Lloyd, M; Petiteau, A; Pivato, P; Plagnol, E; Prat, P; Ragnit, U; Ramos-Castro, J; Reiche, J; Romera Perez, J A; Robertson, D I; Rozemeijer, H; Rivas, F; Russano, G; Sarra, P; Schleicher, A; Slutsky, J; Sopuerta, C; Sumner, T J; Texier, D; Thorpe, J I; Trenkel, C; Vetrugno, D; Vitale, S; Wanner, G; Ward, H; Wass, P J; Wealthy, D; Weber, W J; Wittchen, A; Zanoni, C; Ziegler, T; Zweifel, P

2017-04-28

We report on electrostatic measurements made on board the European Space Agency mission LISA Pathfinder. Detailed measurements of the charge-induced electrostatic forces exerted on free-falling test masses (TMs) inside the capacitive gravitational reference sensor are the first made in a relevant environment for a space-based gravitational wave detector. Employing a combination of charge control and electric-field compensation, we show that the level of charge-induced acceleration noise on a single TM can be maintained at a level close to 1.0  fm s^{-2} Hz^{-1/2} across the 0.1-100 mHz frequency band that is crucial to an observatory such as the Laser Interferometer Space Antenna (LISA). Using dedicated measurements that detect these effects in the differential acceleration between the two test masses, we resolve the stochastic nature of the TM charge buildup due to interplanetary cosmic rays and the TM charge-to-force coupling through stray electric fields in the sensor. All our measurements are in good agreement with predictions based on a relatively simple electrostatic model of the LISA Pathfinder instrument.

Assessment of Student Learning in Modern Experiments in the Introductory Calculus-Based Physics Labs

NASA Astrophysics Data System (ADS)

Woodahl, Brian; Ross, John; Lang, Sarah; Scott, Derek; Williams, Jeremy

2010-10-01

With the advent of newer microelectronic sensors it's now possible to modernize introductory physics labs with the latest technology and this may allow for enhanced student participation/learning in the experiments. For example, force plate sensors can digitize and record the force on an object, later it can be analyzed in detail (i.e, impulse from force vs. time). Small 3-axis accelerometers can record 3-dim, time-dependent acceleration of objects undergoing complex motions. These devices are small, fairly easy to use, and importantly, are likely to enhance student learning by ``personalizing'' data collection, i.e. making the student an active part of the measurement process and no longer a passive observer. To assess whether these new high-tech labs enhance student learning, we have implemented pre- and post- test sessions to measure the effectiveness of student learning. Four of our calculus-based lab sections were used: Two sections the control group, using the previous ``old technology'' labs, the other two, the experimental group, using the new ``modern technology'' labs. Initial returns of assessment data offer some surprising insight.

Experiments on active isolation using distributed PVDF error sensors

NASA Technical Reports Server (NTRS)

Lefebvre, S.; Guigou, C.; Fuller, C. R.

1992-01-01

A control system based on a two-channel narrow-band LMS algorithm is used to isolate periodic vibration at low frequencies on a structure composed of a rigid top plate mounted on a flexible receiving plate. The control performance of distributed PVDF error sensors and accelerometer point sensors is compared. For both sensors, high levels of global reduction, up to 32 dB, have been obtained. It is found that, by driving the PVDF strip output voltage to zero, the controller may force the structure to vibrate so that the integration of the strain under the length of the PVDF strip is zero. This ability of the PVDF sensors to act as spatial filters is especially relevant in active control of sound radiation. It is concluded that the PVDF sensors are flexible, nonfragile, and inexpensive and can be used as strain sensors for active control applications of vibration isolation and sound radiation.

Development of a Transient Thrust Stand with Sub-Millisecond Resolution

NASA Astrophysics Data System (ADS)

Spells, Corbin Fraser

The transient thrust stand has been developed to offer 0.1 ms time resolved thrust measurements for the characterization of mono-propellant thrusters for spacecraft applications. Results demonstrated that the system was capable of obtaining dynamic thrust profiles within 5 % and 0.1 ms. Measuring and improving the thrust performance of mono-propellant thrusters will require 1 ms time resolved forces to observe shot-to-shot variations, oscillations, and minimum impulse bits. To date, no thrust stand is capable of measuring up to 22 N forces with a time response of up to 10 kHz. Calibration forces up to 22 N with a frequency response greater than 0.1 ms were obtained using voice coil actuators. Steady state and low frequency measurements were obtained using displacement and velocity sensors and were combined with high frequency vibration modes measured using several accelerometers along the thrust stand arm. The system uses a predictor-based subspace algorithm to obtain a high order state space model of the thrust stand capable of defining the high frequency vibration modes. The high frequency vibration modes are necessary to provide the time response of 0.1 ms. Thruster forces are estimated using an augmented Kalman filter to combine sensor traces from four accelerometers, a velocity sensor, and displacement transducer. Combining low frequency displacement data with high frequency acceleration measurements provides accurate force data across a broad time domain. The transient thrust stand uses a torsional pendulum configuration to minimize influence from external vibration and achieve high force resolution independent of thruster weight.

Flexible and wearable 3D graphene sensor with 141 KHz frequency signal response capability

NASA Astrophysics Data System (ADS)

Xu, R.; Zhang, H.; Cai, Y.; Ruan, J.; Qu, K.; Liu, E.; Ni, X.; Lu, M.; Dong, X.

2017-09-01

We developed a flexible force sensor consisting of 3D graphene foam (GF) encapsulated in flexible polydimethylsiloxane (PDMS). Because the 3D GF/PDMS sensor is based on the transformation of an electronic band structure aroused by static mechanical strain or KHz vibration, it can detect frequency signals by both tuning fork tests and piezoelectric ceramic transducer tests, which showed a clear linear response from audio frequencies, including frequencies up to 141 KHz in the ultrasound range. Because of their excellent response with a wide bandwidth, the 3D GF/PDMS sensors are attractive for interactive wearable devices or artificial prosthetics capable of perceiving seismic waves, ultrasonic waves, shock waves, and transient pressures.

Safe Tissue Manipulation in Retinal Microsurgery via Motorized Instruments with Force Sensing.

PubMed

Gonenc, Berk; Gehlbach, Peter; Taylor, Russell H; Iordachita, Iulian

2017-01-01

Retinal microsurgery involves careful manipulation of delicate tissues by applying very small amount of forces most of which lie below the tactile sensory threshold of the surgeons. Membrane peeling is a common task in this domain, where application of excessive peeling forces can easily lead to serious complications, hence needs to be avoided. To quantify tool-tissue interaction forces during retinal microsurgery, various force-sensing tools were developed based on fiber Bragg grating sensors, yet the most beneficial way of using the acquired force information is currently unknown. In this study, using a motorized force-sensing micro-forceps tool, we develop an assistive method that enhances safety during membrane peeling by automatically opening the forceps and releasing the tissue based on the detected peeling forces. Through peeling experiments using bandages, we demonstrate that our method can effectively maintain the peeling force at a safe level even in case of non-homogeneous adhesion properties of the membrane.

Multi-Axis Force Sensor for Human-Robot Interaction Sensing in a Rehabilitation Robotic Device.

PubMed

Grosu, Victor; Grosu, Svetlana; Vanderborght, Bram; Lefeber, Dirk; Rodriguez-Guerrero, Carlos

2017-06-05

Human-robot interaction sensing is a compulsory feature in modern robotic systems where direct contact or close collaboration is desired. Rehabilitation and assistive robotics are fields where interaction forces are required for both safety and increased control performance of the device with a more comfortable experience for the user. In order to provide an efficient interaction feedback between the user and rehabilitation device, high performance sensing units are demanded. This work introduces a novel design of a multi-axis force sensor dedicated for measuring pelvis interaction forces in a rehabilitation exoskeleton device. The sensor is conceived such that it has different sensitivity characteristics for the three axes of interest having also movable parts in order to allow free rotations and limit crosstalk errors. Integrated sensor electronics make it easy to acquire and process data for a real-time distributed system architecture. Two of the developed sensors are integrated and tested in a complex gait rehabilitation device for safe and compliant control.

Development of Mathematical Models in Support of AFGL Atmospheric Studies.

DTIC Science & Technology

1980-05-15

can systematically design a sensor and predict its sensitivity, false alarm rate and detection probability. When one considers a mosaic staring sensor...data base to improve the Air Force’s ability to specify and predict geomagnetic activity. This information is very useful in the studying of propagation...storms or proton showers which cause these disturbances cannot be predicted without a knowledge of the solar activity which causes them. During periods

Laser interferometry force-feedback sensor for an interfacial force microscope

DOEpatents

Houston, Jack E.; Smith, William L.

2004-04-13

A scanning force microscope is provided with a force-feedback sensor to increase sensitivity and stability in determining interfacial forces between a probe and a sample. The sensor utilizes an interferometry technique that uses a collimated light beam directed onto a deflecting member, comprising a common plate suspended above capacitor electrodes situated on a substrate forming an interference cavity with a probe on the side of the common plate opposite the side suspended above capacitor electrodes. The probe interacts with the surface of the sample and the intensity of the reflected beam is measured and used to determine the change in displacement of the probe to the sample and to control the probe distance relative to the surface of the sample.

Biomolecule recognition using piezoresistive nanomechanical force probes

NASA Astrophysics Data System (ADS)

Tosolini, Giordano; Scarponi, Filippo; Cannistraro, Salvatore; Bausells, Joan

2013-06-01

Highly sensitive sensors are one of the enabling technologies for the biomarker detection in early stage diagnosis of pathologies. We have developed a self-sensing nanomechanical force probe able for detecting the unbinding of single couples of biomolecular partners in nearly physiological conditions. The embedding of a piezoresistive transducer into a nanomechanical cantilever enabled high force measurement capability with sub 10-pN resolution. Here, we present the design, microfabrication, optimization, and complete characterization of the sensor. The exceptional electromechanical performance obtained allowed us to detect biorecognition specific events underlying the biotin-avidin complex formation, by integrating the sensor in a commercial atomic force microscope.

Computer Program Development Specification for IDAMST Operational Flight Program Application, Software Type B5. Addendum 1.

DTIC Science & Technology

1976-07-30

Interface Requirements 4 3.1.1.1 Interface Block Diagram 4 3.1.1.2 Detailed Interface Definition 7 3.1.1.2.1 Subsystems 7 3.1.1.2.2 Controls & Displays 11 r...116 3.2.3.2 Navigation Brute Force 121 3.2.3.3 Cargo Brute Force 125 3.2.3.4 Sensor Brute Force 129 3.2.3.5 Controls /Displays Brute Force 135 3.2.3.6...STD-T553 Multiplex Data Bus, with the avionic subsystems, flight * control system, the controls /displays, engine sensors, and airframe sensors. 3.1

Hybrid fusion of linear, non-linear and spectral models for the dynamic modeling of sEMG and skeletal muscle force: an application to upper extremity amputation.

PubMed

Potluri, Chandrasekhar; Anugolu, Madhavi; Schoen, Marco P; Subbaram Naidu, D; Urfer, Alex; Chiu, Steve

2013-11-01

Estimating skeletal muscle (finger) forces using surface Electromyography (sEMG) signals poses many challenges. In general, the sEMG measurements are based on single sensor data. In this paper, two novel hybrid fusion techniques for estimating the skeletal muscle force from the sEMG array sensors are proposed. The sEMG signals are pre-processed using five different filters: Butterworth, Chebychev Type II, Exponential, Half-Gaussian and Wavelet transforms. Dynamic models are extracted from the acquired data using Nonlinear Wiener Hammerstein (NLWH) models and Spectral Analysis Frequency Dependent Resolution (SPAFDR) models based system identification techniques. A detailed comparison is provided for the proposed filters and models using 18 healthy subjects. Wavelet transforms give higher mean correlation of 72.6 ± 1.7 (mean ± SD) and 70.4 ± 1.5 (mean ± SD) for NLWH and SPAFDR models, respectively, when compared to the other filters used in this work. Experimental verification of the fusion based hybrid models with wavelet transform shows a 96% mean correlation and 3.9% mean relative error with a standard deviation of ± 1.3 and ± 0.9 respectively between the overall hybrid fusion algorithm estimated and the actual force for 18 test subjects' k-fold cross validation data. © 2013 Elsevier Ltd. All rights reserved.

Research on parallel load sharing principle of piezoelectric six-dimensional heavy force/torque sensor

NASA Astrophysics Data System (ADS)

Liu, Wei; Li, Ying-jun; Jia, Zhen-yuan; Zhang, Jun; Qian, Min

2011-01-01

In working process of huge heavy-load manipulators, such as the free forging machine, hydraulic die-forging press, forging manipulator, heavy grasping manipulator, large displacement manipulator, measurement of six-dimensional heavy force/torque and real-time force feedback of the operation interface are basis to realize coordinate operation control and force compliance control. It is also an effective way to raise the control accuracy and achieve highly efficient manufacturing. Facing to solve dynamic measurement problem on six-dimensional time-varying heavy load in extremely manufacturing process, the novel principle of parallel load sharing on six-dimensional heavy force/torque is put forward. The measuring principle of six-dimensional force sensor is analyzed, and the spatial model is built and decoupled. The load sharing ratios are analyzed and calculated in vertical and horizontal directions. The mapping relationship between six-dimensional heavy force/torque value to be measured and output force value is built. The finite element model of parallel piezoelectric six-dimensional heavy force/torque sensor is set up, and its static characteristics are analyzed by ANSYS software. The main parameters, which affect load sharing ratio, are analyzed. The experiments for load sharing with different diameters of parallel axis are designed. The results show that the six-dimensional heavy force/torque sensor has good linearity. Non-linearity errors are less than 1%. The parallel axis makes good effect of load sharing. The larger the diameter is, the better the load sharing effect is. The results of experiments are in accordance with the FEM analysis. The sensor has advantages of large measuring range, good linearity, high inherent frequency, and high rigidity. It can be widely used in extreme environments for real-time accurate measurement of six-dimensional time-varying huge loads on manipulators.

Optical Fiber-Based MR-Compatible Sensors for Medical Applications: An Overview

PubMed Central

Taffoni, Fabrizio; Formica, Domenico; Saccomandi, Paola; Di Pino, Giovanni; Schena, Emiliano

2013-01-01

During last decades, Magnetic Resonance (MR)—compatible sensors based on different techniques have been developed due to growing demand for application in medicine. There are several technological solutions to design MR-compatible sensors, among them, the one based on optical fibers presents several attractive features. The high elasticity and small size allow designing miniaturized fiber optic sensors (FOS) with metrological characteristics (e.g., accuracy, sensitivity, zero drift, and frequency response) adequate for most common medical applications; the immunity from electromagnetic interference and the absence of electrical connection to the patient make FOS suitable to be used in high electromagnetic field and intrinsically safer than conventional technologies. These two features further heightened the potential role of FOS in medicine making them especially attractive for application in MRI. This paper provides an overview of MR-compatible FOS, focusing on the sensors employed for measuring physical parameters in medicine (i.e., temperature, force, torque, strain, and position). The working principles of the most promising FOS are reviewed in terms of their relevant advantages and disadvantages, together with their applications in medicine. PMID:24145918

In-motion optical sensing for assessment of animal well-being

NASA Astrophysics Data System (ADS)

Atkins, Colton A.; Pond, Kevin R.; Madsen, Christi K.

2017-05-01

The application of in-motion optical sensor measurements was investigated for inspecting livestock soundness as a means of animal well-being. An optical sensor-based platform was used to collect in-motion, weight-related information. Eight steers, weighing between 680 and 1134 kg, were evaluated twice. Six of the 8 steers were used for further evaluation and analysis. Hoof impacts caused plate flexion that was optically sensed. Observed kinetic differences between animals' strides at a walking or running/trotting gait with significant force distributions of animals' hoof impacts allowed for observation of real-time, biometric patterns. Overall, optical sensor-based measurements identified hoof differences between and within animals in motion that may allow for diagnosis of musculoskeletal unsoundness without visual evaluation.

High-Performance Flexible Force and Temperature Sensing Array with a Robust Structure

NASA Astrophysics Data System (ADS)

Kim, Min-Seok; Song, Han-Wook; Park, Yon-Kyu

We have developed a flexible tactile sensor array capable of sensing physical quantities, e.g. force and temperature with high-performances and high spatial resolution. The fabricated tactile sensor consists of 8 × 8 force measuring array with 1 mm spacing and a thin metal (copper) temperature sensor. The flexible force sensing array consists of sub-millimetre-size bar-shaped semi-conductor strain gage array attached to a thin and flexible printed circuit board covered by stretchable elastomeric material on both sides. This design incorporates benefits of both materials; the semi-conductor's high performance and the polymer's mechanical flexibility and robustness, while overcoming their drawbacks of those two materials. Special fabrication processes, so called “dry-transfer technique” have been used to fabricate the tactile sensor along with standard micro-fabrication processes.

Simultaneous Soft Sensing of Tissue Contact Angle and Force for Millimeter-scale Medical Robots

PubMed Central

Arabagi, Veaceslav; Gosline, Andrew; Wood, Robert J.; Dupont, Pierre E.

2013-01-01

A novel robotic sensor is proposed to measure both the contact angle and the force acting between the tip of a surgical robot and soft tissue. The sensor is manufactured using a planar lithography process that generates microchannels that are subsequently filled with a conductive liquid. The planar geometry is then molded onto a hemispherical plastic scaffolding in a geometric configuration enabling estimation of the contact angle (angle between robot tip tangent and tissue surface normal) by the rotation of the sensor around its roll axis. Contact force can also be estimated by monitoring the changes in resistance in each microchannel. Bench top experimental results indicate that, on average, the sensor can estimate the angle of contact to within ±2° and the contact force to within ±5.3 g. PMID:24241496

Load estimation from photoelastic fringe patterns under combined normal and shear forces

NASA Astrophysics Data System (ADS)

Dubey, V. N.; Grewal, G. S.

2009-08-01

Recently there has been some spurt of interests to use photoelastic materials for sensing applications. This has been successfully applied for designing a number of signal-based sensors, however, there have been limited efforts to design image-based sensors on photoelasticity which can have wider applications in term of actual loading and visualisation. The main difficulty in achieving this is the infinite loading conditions that may generate same image on the material surface. This, however, can be useful for known loading situations as this can provide dynamic and actual conditions of loading in real time. This is particularly useful for separating components of forces in and out of the loading plane. One such application is the separation of normal and shear forces acting on the plantar surface of foot of diabetic patients for predicting ulceration. In our earlier work we have used neural networks to extract normal force information from the fringe patterns using image intensity. This paper considers geometric and various other statistical parameters in addition to the image intensity to extract normal as well as shear force information from the fringe pattern in a controlled experimental environment. The results of neural network output with the above parameters and their combinations are compared and discussed. The aim is to generalise the technique for a range of loading conditions that can be exploited for whole-field load visualisation and sensing applications in biomedical field.

A comparison of force and acoustic emission sensors in monitoring precision cylindrical grinding; Technical Digest

NASA Astrophysics Data System (ADS)

Marsh, Eric R.; Couey, Jeremiah A.; Knapp, Byron R.; Vallance, R. R.

2005-05-01

Aerostatic spindles are used in precision grinding applications requiring high stiffness and very low error motions (5 to 25 nm). Forces generated during precision grinding are small and present challenges for accurate and reliable process monitoring. These challenges are met by incorporating non-contact displacement sensors into an aerostatic spindle that are calibrated to measure grinding forces from rotor motion. Four experiments compare this force-sensing approach to acoustic emission (AE) in detecting workpiece contact, process monitoring with small depths of cut, detecting workpiece defects, and evaluating abrasive wheel wear/loading. Results indicate that force measurements are preferable to acoustic emission in precision grinding since the force sensor offers improved contact sensitivity, higher resolution, and is capable of detecting events occurring within a single revolution of the grinding wheel.

Biomechanics of the Sensor–Tissue Interface—Effects of Motion, Pressure, and Design on Sensor Performance and the Foreign Body Response—Part I: Theoretical Framework

PubMed Central

Helton, Kristen L; Ratner, Buddy D; Wisniewski, Natalie A

2011-01-01

The importance of biomechanics in glucose sensor function has been largely overlooked. This article is the first part of a two-part review in which we look beyond commonly recognized chemical biocompatibility to explore the biomechanics of the sensor–tissue interface as an important aspect of continuous glucose sensor biocompatibility. Part I provides a theoretical framework to describe how biomechanical factors such as motion and pressure (typically micromotion and micropressure) give rise to interfacial stresses, which affect tissue physiology around a sensor and, in turn, impact sensor performance. Three main contributors to sensor motion and pressure are explored: applied forces, sensor design, and subject/patient considerations. We describe how acute forces can temporarily impact sensor signal and how chronic forces can alter the foreign body response and inflammation around an implanted sensor, and thus impact sensor performance. The importance of sensor design (e.g., size, shape, modulus, texture) and specific implant location on the tissue response are also explored. In Part II: Examples and Application (a sister publication), examples from the literature are reviewed, and the application of biomechanical concepts to sensor design are described. We believe that adding biomechanical strategies to the arsenal of material compositions, surface modifications, drug elution, and other chemical strategies will lead to improvements in sensor biocompatibility and performance. PMID:21722578

Nano-enabled paper humidity sensor for mobile based point-of-care lung function monitoring.

PubMed

Bhattacharjee, Mitradip; Nemade, Harshal B; Bandyopadhyay, Dipankar

2017-08-15

The frequency of breathing and peak flow rate of exhaled air are necessary parameters to detect chronic obstructive pulmonary diseases (COPDs) such as asthma, bronchitis, or pneumonia. We developed a lung function monitoring point-of-care-testing device (LFM-POCT) consisting of mouthpiece, paper-based humidity sensor, micro-heater, and real-time monitoring unit. Fabrication of a mouthpiece of optimal length ensured that the exhaled air was focused on the humidity-sensor. The resistive relative humidity sensor was developed using a filter paper coated with nanoparticles, which could easily follow the frequency and peak flow rate of the human breathing. Adsorption followed by condensation of the water molecules of the humid air on the paper-sensor during the forced exhalation reduced the electrical resistance of the sensor, which was converted to an electrical signal for sensing. A micro-heater composed of a copper-coil embedded in a polymer matrix helped in maintaining an optimal temperature on the sensor surface. Thus, water condensed on the sensor surface only during forcible breathing and the sensor recovered rapidly after the exhalation was complete by rapid desorption of water molecules from the sensor surface. Two types of real-time monitoring units were integrated into the device based on light emitting diodes (LEDs) and smart phones. The LED based unit displayed the diseased, critical, and fit conditions of the lungs by flashing LEDs of different colors. In comparison, for the mobile based monitoring unit, an application was developed employing an open source software, which established a wireless connectivity with the LFM-POCT device to perform the tests. Copyright © 2017 Elsevier B.V. All rights reserved.

Cognitive Radio Low-Energy Signal Analysis Sensor Integrated Circuits (CLASIC): A Broadband Mixed-Signal Iterative Down Conversion Spectrum Analyzer for Signal Recognition Applications

DTIC Science & Technology

2015-12-01

AFRL-RY-WP-TR-2015-0144 COGNITIVE RADIO LOW-ENERGY SIGNAL ANALYSIS SENSOR INTEGRATED CIRCUITS (CLASIC) A Broadband Mixed-Signal Iterative Down...See additional restrictions described on inside pages STINFO COPY AIR FORCE RESEARCH LABORATORY SENSORS DIRECTORATE WRIGHT-PATTERSON AIR FORCE...Signature// TODD KASTLE, Chief Spectrum Warfare Division Sensors Directorate This report is published in the interest of scientific and technical

High-resolution dynamic pressure sensor array based on piezo-phototronic effect tuned photoluminescence imaging.

PubMed

Peng, Mingzeng; Li, Zhou; Liu, Caihong; Zheng, Qiang; Shi, Xieqing; Song, Ming; Zhang, Yang; Du, Shiyu; Zhai, Junyi; Wang, Zhong Lin

2015-03-24

A high-resolution dynamic tactile/pressure display is indispensable to the comprehensive perception of force/mechanical stimulations such as electronic skin, biomechanical imaging/analysis, or personalized signatures. Here, we present a dynamic pressure sensor array based on pressure/strain tuned photoluminescence imaging without the need for electricity. Each sensor is a nanopillar that consists of InGaN/GaN multiple quantum wells. Its photoluminescence intensity can be modulated dramatically and linearly by small strain (0-0.15%) owing to the piezo-phototronic effect. The sensor array has a high pixel density of 6350 dpi and exceptional small standard deviation of photoluminescence. High-quality tactile/pressure sensing distribution can be real-time recorded by parallel photoluminescence imaging without any cross-talk. The sensor array can be inexpensively fabricated over large areas by semiconductor product lines. The proposed dynamic all-optical pressure imaging with excellent resolution, high sensitivity, good uniformity, and ultrafast response time offers a suitable way for smart sensing, micro/nano-opto-electromechanical systems.

Estimating Tool–Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool

PubMed Central

Zhao, Baoliang; Nelson, Carl A.

2016-01-01

Robot-assisted minimally invasive surgery (MIS) has gained popularity due to its high dexterity and reduced invasiveness to the patient; however, due to the loss of direct touch of the surgical site, surgeons may be prone to exert larger forces and cause tissue damage. To quantify tool–tissue interaction forces, researchers have tried to attach different kinds of sensors on the surgical tools. This sensor attachment generally makes the tools bulky and/or unduly expensive and may hinder the normal function of the tools; it is also unlikely that these sensors can survive harsh sterilization processes. This paper investigates an alternative method by estimating tool–tissue interaction forces using driving motors' current, and validates this sensorless force estimation method on a 3-degree-of-freedom (DOF) robotic surgical grasper prototype. The results show that the performance of this method is acceptable with regard to latency and accuracy. With this tool–tissue interaction force estimation method, it is possible to implement force feedback on existing robotic surgical systems without any sensors. This may allow a haptic surgical robot which is compatible with existing sterilization methods and surgical procedures, so that the surgeon can obtain tool–tissue interaction forces in real time, thereby increasing surgical efficiency and safety. PMID:27303591

Estimating Tool-Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool.

PubMed

Zhao, Baoliang; Nelson, Carl A

2016-10-01

Robot-assisted minimally invasive surgery (MIS) has gained popularity due to its high dexterity and reduced invasiveness to the patient; however, due to the loss of direct touch of the surgical site, surgeons may be prone to exert larger forces and cause tissue damage. To quantify tool-tissue interaction forces, researchers have tried to attach different kinds of sensors on the surgical tools. This sensor attachment generally makes the tools bulky and/or unduly expensive and may hinder the normal function of the tools; it is also unlikely that these sensors can survive harsh sterilization processes. This paper investigates an alternative method by estimating tool-tissue interaction forces using driving motors' current, and validates this sensorless force estimation method on a 3-degree-of-freedom (DOF) robotic surgical grasper prototype. The results show that the performance of this method is acceptable with regard to latency and accuracy. With this tool-tissue interaction force estimation method, it is possible to implement force feedback on existing robotic surgical systems without any sensors. This may allow a haptic surgical robot which is compatible with existing sterilization methods and surgical procedures, so that the surgeon can obtain tool-tissue interaction forces in real time, thereby increasing surgical efficiency and safety.

Diastolic time – frequency relation in the stress echo lab: filling timing and flow at different heart rates

PubMed Central

Bombardini, Tonino; Gemignani, Vincenzo; Bianchini, Elisabetta; Venneri, Lucia; Petersen, Christina; Pasanisi, Emilio; Pratali, Lorenza; Alonso-Rodriguez, David; Pianelli, Mascia; Faita, Francesco; Giannoni, Massimo; Arpesella, Giorgio; Picano, Eugenio

2008-01-01

A cutaneous force-frequency relation recording system based on first heart sound amplitude vibrations has been recently validated. Second heart sound can be simultaneously recorded in order to quantify both systole and diastole duration. Aims 1- To assess the feasibility and extra-value of operator-independent, force sensor-based, diastolic time recording during stress. Methods We enrolled 161 patients referred for stress echocardiography (exercise 115, dipyridamole 40, pacing 6 patients). The sensor was fastened in the precordial region by a standard ECG electrode. The acceleration signal was converted into digital and recorded together with ECG signal. Both systolic and diastolic times were acquired continuously during stress and were displayed by plotting times vs. heart rate. Diastolic filling rate was calculated as echo-measured mitral filling volume/sensor-monitored diastolic time. Results Diastolic time decreased during stress more markedly than systolic time. At peak stress 62 of the 161 pts showed reversal of the systolic/diastolic ratio with the duration of systole longer than diastole. In the exercise group, at 100 bpm HR, systolic/diastolic time ratio was lower in the 17 controls (0.74 ± 0.12) than in patients (0.86 ± 0.10, p < 0.05 vs. controls). Diastolic filling rate increased from 101 ± 36 (rest) to 219 ± 92 ml/m2* s-1 at peak stress (p < 0.5 vs. rest). Conclusion Cardiological systolic and diastolic duration can be monitored during stress by using an acceleration force sensor. Simultaneous calculation of stroke volume allows monitoring diastolic filling rate. Stress-induced "systolic-diastolic mismatch" can be easily quantified and is associated to several cardiac diseases, possibly expanding the spectrum of information obtainable during stress. PMID:18426559

A Neural Network-Based Gait Phase Classification Method Using Sensors Equipped on Lower Limb Exoskeleton Robots

PubMed Central

Jung, Jun-Young; Heo, Wonho; Yang, Hyundae; Park, Hyunsub

2015-01-01

An exact classification of different gait phases is essential to enable the control of exoskeleton robots and detect the intentions of users. We propose a gait phase classification method based on neural networks using sensor signals from lower limb exoskeleton robots. In such robots, foot sensors with force sensing registers are commonly used to classify gait phases. We describe classifiers that use the orientation of each lower limb segment and the angular velocities of the joints to output the current gait phase. Experiments to obtain the input signals and desired outputs for the learning and validation process are conducted, and two neural network methods (a multilayer perceptron and nonlinear autoregressive with external inputs (NARX)) are used to develop an optimal classifier. Offline and online evaluations using four criteria are used to compare the performance of the classifiers. The proposed NARX-based method exhibits sufficiently good performance to replace foot sensors as a means of classifying gait phases. PMID:26528986

A Neural Network-Based Gait Phase Classification Method Using Sensors Equipped on Lower Limb Exoskeleton Robots.

PubMed

Jung, Jun-Young; Heo, Wonho; Yang, Hyundae; Park, Hyunsub

2015-10-30

An exact classification of different gait phases is essential to enable the control of exoskeleton robots and detect the intentions of users. We propose a gait phase classification method based on neural networks using sensor signals from lower limb exoskeleton robots. In such robots, foot sensors with force sensing registers are commonly used to classify gait phases. We describe classifiers that use the orientation of each lower limb segment and the angular velocities of the joints to output the current gait phase. Experiments to obtain the input signals and desired outputs for the learning and validation process are conducted, and two neural network methods (a multilayer perceptron and nonlinear autoregressive with external inputs (NARX)) are used to develop an optimal classifier. Offline and online evaluations using four criteria are used to compare the performance of the classifiers. The proposed NARX-based method exhibits sufficiently good performance to replace foot sensors as a means of classifying gait phases.

Multidigit force control during unconstrained grasping in response to object perturbations

PubMed Central

Haschke, Robert; Ritter, Helge; Santello, Marco; Ernst, Marc O.

2017-01-01

Because of the complex anatomy of the human hand, in the absence of external constraints, a large number of postures and force combinations can be used to attain a stable grasp. Motor synergies provide a viable strategy to solve this problem of motor redundancy. In this study, we exploited the technical advantages of an innovative sensorized object to study unconstrained hand grasping within the theoretical framework of motor synergies. Participants were required to grasp, lift, and hold the sensorized object. During the holding phase, we repetitively applied external disturbance forces and torques and recorded the spatiotemporal distribution of grip forces produced by each digit. We found that the time to reach the maximum grip force during each perturbation was roughly equal across fingers, consistent with a synchronous, synergistic stiffening across digits. We further evaluated this hypothesis by comparing the force distribution of human grasping vs. robotic grasping, where the control strategy was set by the experimenter. We controlled the global hand stiffness of the robotic hand and found that this control algorithm produced a force pattern qualitatively similar to human grasping performance. Our results suggest that the nervous system uses a default whole hand synergistic control to maintain a stable grasp regardless of the number of digits involved in the task, their position on the objects, and the type and frequency of external perturbations. NEW & NOTEWORTHY We studied hand grasping using a sensorized object allowing unconstrained finger placement. During object perturbation, the time to reach the peak force was roughly equal across fingers, consistently with a synergistic stiffening across fingers. Force distribution of a robotic grasping hand, where the control algorithm is based on global hand stiffness, was qualitatively similar to human grasping. This suggests that the central nervous system uses a default whole hand synergistic control to maintain a stable grasp. PMID:28228582

Sensitivity Comparison of Vapor Trace Detection of Explosives Based on Chemo-Mechanical Sensing with Optical Detection and Capacitive Sensing with Electronic Detection

PubMed Central

Strle, Drago; Štefane, Bogdan; Zupanič, Erik; Trifkovič, Mario; Maček, Marijan; Jakša, Gregor; Kvasič, Ivan; Muševič, Igor

2014-01-01

The article offers a comparison of the sensitivities for vapour trace detection of Trinitrotoluene (TNT) explosives of two different sensor systems: a chemo-mechanical sensor based on chemically modified Atomic Force Microscope (AFM) cantilevers based on Micro Electro Mechanical System (MEMS) technology with optical detection (CMO), and a miniature system based on capacitive detection of chemically functionalized planar capacitors with interdigitated electrodes with a comb-like structure with electronic detection (CE). In both cases (either CMO or CE), the sensor surfaces are chemically functionalized with a layer of APhS (trimethoxyphenylsilane) molecules, which give the strongest sensor response for TNT. The construction and calibration of a vapour generator is also presented. The measurements of the sensor response to TNT are performed under equal conditions for both systems, and the results show that CE system with ultrasensitive electronics is far superior to optical detection using MEMS. Using CMO system, we can detect 300 molecules of TNT in 10+12 molecules of N2 carrier gas, whereas the CE system can detect three molecules of TNT in 10+12 molecules of carrier N2. PMID:24977388

Design and Test of a Hybrid Foot Force Sensing and GPS System for Richer User Mobility Activity Recognition

PubMed Central

Zhang, Zelun; Poslad, Stefan

2013-01-01

Wearable and accompanied sensors and devices are increasingly being used for user activity recognition. However, typical GPS-based and accelerometer-based (ACC) methods face three main challenges: a low recognition accuracy; a coarse recognition capability, i.e., they cannot recognise both human posture (during travelling) and transportation mode simultaneously, and a relatively high computational complexity. Here, a new GPS and Foot-Force (GPS + FF) sensor method is proposed to overcome these challenges that leverages a set of wearable FF sensors in combination with GPS, e.g., in a mobile phone. User mobility activities that can be recognised include both daily user postures and common transportation modes: sitting, standing, walking, cycling, bus passenger, car passenger (including private cars and taxis) and car driver. The novelty of this work is that our approach provides a more comprehensive recognition capability in terms of reliably recognising both human posture and transportation mode simultaneously during travel. In addition, by comparing the new GPS + FF method with both an ACC method (62% accuracy) and a GPS + ACC based method (70% accuracy) as baseline methods, it obtains a higher accuracy (95%) with less computational complexity, when tested on a dataset obtained from ten individuals. PMID:24189333

DOE Office of Scientific and Technical Information (OSTI.GOV)

Corre, G.; Boudergui, K.; Sannie, G.

Homeland security requests the use Radiation Portal Monitor (RPM). They must be able to detect and differentiate gamma and neutron radiation. Gamma detection is required for illicit transportation of radioactive matter detection. Neutron detection is important to control nonproliferation of enriched material. Manufacturers worldwide propose sensors based on {sup 3}He which give the actual state of art in term of neutron detection. The imminent shortage of {sup 3}He forces manufacturers to find viable alternative. From 10 years sensors providers have the challenge to replace previous {sup 3}He detectors that are known to be the most commonly deployed neutron sensor. Asmore » {sup 3}He detectors can only detect neutron, they must be completed with gamma detector. The proposed approach is based on pulse time correlation between adjacent sensors from signal collected by EJ200 plastic scintillators. Results obtained during FP7 Scintilla project test campaigns show the system relevance for replacement of today's {sup 3}He detectors. (authors)« less

Observations and Operational Products from the Special Sensor Ultraviolet Limb Imager (SSULI)

NASA Astrophysics Data System (ADS)

Dandenault, Patrick; Nicholas, Andrew C.; Coker, Clayton; Budzien, Scott A.; Chua, Damien H.; Finne, Ted T.; Metzler, Christopher A.; Dymond, Kenneth F.

The Naval Research Laboratory (NRL) has developed five ultraviolet remote sensing instru-ments for the Air Force Defense Meteorological Satellite Program (DMSP). These instruments known as SSULI (Special Sensor Ultraviolet Limb Imager) are on the DMSP block of 5D3 satellites, which first launched in 2003. The DMSP satellites are launched in a near-polar, sun-synchronous orbit at an altitude of approximately 830 km. SSULI measures vertical profiles of the natural airglow radiation from atoms, molecules and ions in the upper atmosphere and ionosphere by viewing the earth's limb at a tangent altitude of approximately 50 km to 750 km. Limb observations are made from the extreme ultraviolet (EUV) to the far ultraviolet (FUV) over the wavelength range of 80 nm to 170 nm, with 1.8 nm resolution. An extensive operational data processing system, the SSULI Ground Data Analysis Software (GDAS), has been developed to generate environmental data products from SSULI spectral data in near-real time for use at the Air Force Weather Agency (AFWA). The operational software uses advanced science algorithms developed at NRL and was designed to calibrate data from USAF Raw Sensor Data Records (RSDR) and generate Environmental Data Records (EDRs). Data products from SSULI observations include vertical profiles of electron (Ne) densities, N2, O2, O, O+, Temperature and also vertical Total Electron Content (TEC). On October 18, 2009, the third SSULI sensor launched from Vandenberg Air Force Base, aboard the DMSP F18 spacecraft. An overview of the SSULI operational program and the status of the F18 sensor will be discussed.

A force-based protein biochip

NASA Astrophysics Data System (ADS)

Blank, K.; Mai, T.; Gilbert, I.; Schiffmann, S.; Rankl, J.; Zivin, R.; Tackney, C.; Nicolaus, T.; Spinnler, K.; Oesterhelt, F.; Benoit, M.; Clausen-Schaumann, H.; Gaub, H. E.

2003-09-01

A parallel assay for the quantification of single-molecule binding forces was developed based on differential unbinding force measurements where ligand-receptor interactions are compared with the unzipping forces of DNA hybrids. Using the DNA zippers as molecular force sensors, the efficient discrimination between specific and nonspecific interactions was demonstrated for small molecules binding to specific receptors, as well as for protein-protein interactions on protein arrays. Finally, an antibody sandwich assay with different capture antibodies on one chip surface and with the detection antibodies linked to a congruent surface via the DNA zippers was used to capture and quantify a recombinant hepatitis C antigen from solution. In this case, the DNA zippers enable not only discrimination between specific and nonspecific binding, but also allow for the local application of detection antibodies, thereby eliminating false-positive results caused by cross-reactive antibodies and nonspecific binding.

The U.S. Air Force Transformation Flight Plan

DTIC Science & Technology

2003-11-01

at Buckley Air Force Base, Colorado. Reserve Associate and Active Associate units have proven that this concept works and benef its the Active and...munitions manufactured from nano-particles, whose virtually all-surface structure yields unprecedented “burn-rates” (extreme explosiveness), promise far...systems for a common operating system, and a suite of remotely operated sensors, weapons, and robotics . Also included are a group of non-lethal weapon

EMG-Torque correction on Human Upper extremity using Evolutionary Computation

NASA Astrophysics Data System (ADS)

JL, Veronica; Parasuraman, S.; Khan, M. K. A. Ahamed; Jeba DSingh, Kingsly

2016-09-01

There have been many studies indicating that control system of rehabilitative robot plays an important role in determining the outcome of the therapy process. Existing works have done the prediction of feedback signal in the controller based on the kinematics parameters and EMG readings of upper limb's skeletal system. Kinematics and kinetics based control signal system is developed by reading the output of the sensors such as position sensor, orientation sensor and F/T (Force/Torque) sensor and there readings are to be compared with the preceding measurement to decide on the amount of assistive force. There are also other works that incorporated the kinematics parameters to calculate the kinetics parameters via formulation and pre-defined assumptions. Nevertheless, these types of control signals analyze the movement of the upper limb only based on the movement of the upper joints. They do not anticipate the possibility of muscle plasticity. The focus of the paper is to make use of the kinematics parameters and EMG readings of skeletal system to predict the individual torque of upper extremity's joints. The surface EMG signals are fed into different mathematical models so that these data can be trained through Genetic Algorithm (GA) to find the best correlation between EMG signals and torques acting on the upper limb's joints. The estimated torque attained from the mathematical models is called simulated output. The simulated output will then be compared with the actual individual joint which is calculated based on the real time kinematics parameters of the upper movement of the skeleton when the muscle cells are activated. The findings from this contribution are extended into the development of the active control signal based controller for rehabilitation robot.

3-Axis Fully-Integrated Capacitive Tactile Sensor with Flip-Bonded CMOS on LTCC Interposer.

PubMed

Asano, Sho; Muroyama, Masanori; Nakayama, Takahiro; Hata, Yoshiyuki; Nonomura, Yutaka; Tanaka, Shuji

2017-10-25

This paper reports a 3-axis fully integrated differential capacitive tactile sensor surface-mountable on a bus line. The sensor integrates a flip-bonded complementary metal-oxide semiconductor (CMOS) with capacitive sensing circuits on a low temperature cofired ceramic (LTCC) interposer with Au through vias by Au-Au thermo-compression bonding. The CMOS circuit and bonding pads on the sensor backside were electrically connected through Au bumps and the LTCC interposer, and the differential capacitive gap was formed by an Au sealing frame. A diaphragm for sensing 3-axis force was formed in the CMOS substrate. The dimensions of the completed sensor are 2.5 mm in width, 2.5 mm in length, and 0.66 mm in thickness. The fabricated sensor output coded 3-axis capacitive sensing data according to applied 3-axis force by three-dimensional (3D)-printed pins. The measured sensitivity was as high as over 34 Count/mN for normal force and 14 to 15 Count/mN for shear force with small noise, which corresponds to less than 1 mN. The hysteresis and the average cross-sensitivity were also found to be less than 2% full scale and 11%, respectively.

3-Axis Fully-Integrated Capacitive Tactile Sensor with Flip-Bonded CMOS on LTCC Interposer †

PubMed Central

Asano, Sho; Nakayama, Takahiro; Hata, Yoshiyuki; Tanaka, Shuji

2017-01-01

This paper reports a 3-axis fully integrated differential capacitive tactile sensor surface-mountable on a bus line. The sensor integrates a flip-bonded complementary metal-oxide semiconductor (CMOS) with capacitive sensing circuits on a low temperature cofired ceramic (LTCC) interposer with Au through vias by Au-Au thermo-compression bonding. The CMOS circuit and bonding pads on the sensor backside were electrically connected through Au bumps and the LTCC interposer, and the differential capacitive gap was formed by an Au sealing frame. A diaphragm for sensing 3-axis force was formed in the CMOS substrate. The dimensions of the completed sensor are 2.5 mm in width, 2.5 mm in length, and 0.66 mm in thickness. The fabricated sensor output coded 3-axis capacitive sensing data according to applied 3-axis force by three-dimensional (3D)-printed pins. The measured sensitivity was as high as over 34 Count/mN for normal force and 14 to 15 Count/mN for shear force with small noise, which corresponds to less than 1 mN. The hysteresis and the average cross-sensitivity were also found to be less than 2% full scale and 11%, respectively. PMID:29068429

In-Vivo Measurement of Muscle Tension: Dynamic Properties of the MC Sensor during Isometric Muscle Contraction

PubMed Central

Đorđević, Srđan; Tomažič, Sašo; Narici, Marco; Pišot, Rado; Meglič, Andrej

2014-01-01

Skeletal muscle is the largest tissue structure in our body and plays an essential role for producing motion through integrated action with bones, tendons, ligaments and joints, for stabilizing body position, for generation of heat through cell respiration and for blood glucose disposal. A key function of skeletal muscle is force generation. Non-invasive and selective measurement of muscle contraction force in the field and in clinical settings has always been challenging. The aim of our work has been to develop a sensor that can overcome these difficulties and therefore enable measurement of muscle force during different contraction conditions. In this study, we tested the mechanical properties of a “Muscle Contraction” (MC) sensor during isometric muscle contraction in different length/tension conditions. The MC sensor is attached so that it indents the skin overlying a muscle group and detects varying degrees of tension during muscular contraction. We compared MC sensor readings over the biceps brachii (BB) muscle to dynamometric measurements of force of elbow flexion, together with recordings of surface EMG signal of BB during isometric contractions at 15° and 90° of elbow flexion. Statistical correlation between MC signal and force was very high at 15° (r = 0.976) and 90° (r = 0.966) across the complete time domain. Normalized SD or σN = σ/max(FMC) was used as a measure of linearity of MC signal and elbow flexion force in dynamic conditions. The average was 8.24% for an elbow angle of 90° and 10.01% for an elbow of angle 15°, which indicates high linearity and good dynamic properties of MC sensor signal when compared to elbow flexion force. The next step of testing MC sensor potential will be to measure tension of muscle-tendon complex in conditions when length and tension change simultaneously during human motion. PMID:25256114

In-vivo measurement of muscle tension: dynamic properties of the MC sensor during isometric muscle contraction.

PubMed

Đorđević, Srđan; Tomažič, Sašo; Narici, Marco; Pišot, Rado; Meglič, Andrej

2014-09-25

Skeletal muscle is the largest tissue structure in our body and plays an essential role for producing motion through integrated action with bones, tendons, ligaments and joints, for stabilizing body position, for generation of heat through cell respiration and for blood glucose disposal. A key function of skeletal muscle is force generation. Non-invasive and selective measurement of muscle contraction force in the field and in clinical settings has always been challenging. The aim of our work has been to develop a sensor that can overcome these difficulties and therefore enable measurement of muscle force during different contraction conditions. In this study, we tested the mechanical properties of a "Muscle Contraction" (MC) sensor during isometric muscle contraction in different length/tension conditions. The MC sensor is attached so that it indents the skin overlying a muscle group and detects varying degrees of tension during muscular contraction. We compared MC sensor readings over the biceps brachii (BB) muscle to dynamometric measurements of force of elbow flexion, together with recordings of surface EMG signal of BB during isometric contractions at 15° and 90° of elbow flexion. Statistical correlation between MC signal and force was very high at 15° (r = 0.976) and 90° (r = 0.966) across the complete time domain. Normalized SD or σN = σ/max(FMC) was used as a measure of linearity of MC signal and elbow flexion force in dynamic conditions. The average was 8.24% for an elbow angle of 90° and 10.01% for an elbow of angle 15°, which indicates high linearity and good dynamic properties of MC sensor signal when compared to elbow flexion force. The next step of testing MC sensor potential will be to measure tension of muscle-tendon complex in conditions when length and tension change simultaneously during human motion.

Spinal needle force monitoring during lumbar puncture using fiber Bragg grating force device.

PubMed

Ambastha, Shikha; Umesh, Sharath; Dabir, Sundaresh; Asokan, Sundarrajan

2016-11-01

A technique for real-time dynamic monitoring of force experienced by a spinal needle during lumbar puncture using a fiber Bragg grating (FBG) sensor is presented. The proposed FBG force device (FBGFD) evaluates the compressive force on the spinal needle during lumbar puncture, particularly avoiding the bending effect on the needle. The working principle of the FBGFD is based on transduction of force experienced by the spinal needle into strain variations monitored by the FBG sensor. FBGFD facilitates external mounting of a spinal needle for its smooth insertion during lumbar puncture without any intervention. The developed FBGFD assists study and analysis of the force required for the spinal needle to penetrate various tissue layers from skin to the epidural space; this force is indicative of the varied resistance offered by different tissue layers for the spinal needle traversal. Calibration of FBGFD is performed on a micro-universal testing machine for 0 to 20 N range with an obtained resolution of 0.021 N. The experimental trials using spinal needles mounted on FBGFD are carried out on a human cadaver specimen with punctures made in the lumbar region from different directions. Distinct forces are recorded when the needle encounters skin, muscle tissue, and a bone in its traversing path. Real-time spinal needle force monitoring using FBGFD may reduce potentially serious complications during the lumbar puncture, such as overpuncturing of tissue regions, by impeding the spinal needle insertion at epidural space.

Spinal needle force monitoring during lumbar puncture using fiber Bragg grating force device

NASA Astrophysics Data System (ADS)

Ambastha, Shikha; Umesh, Sharath; Dabir, Sundaresh; Asokan, Sundarrajan

2016-11-01

A technique for real-time dynamic monitoring of force experienced by a spinal needle during lumbar puncture using a fiber Bragg grating (FBG) sensor is presented. The proposed FBG force device (FBGFD) evaluates the compressive force on the spinal needle during lumbar puncture, particularly avoiding the bending effect on the needle. The working principle of the FBGFD is based on transduction of force experienced by the spinal needle into strain variations monitored by the FBG sensor. FBGFD facilitates external mounting of a spinal needle for its smooth insertion during lumbar puncture without any intervention. The developed FBGFD assists study and analysis of the force required for the spinal needle to penetrate various tissue layers from skin to the epidural space; this force is indicative of the varied resistance offered by different tissue layers for the spinal needle traversal. Calibration of FBGFD is performed on a micro-universal testing machine for 0 to 20 N range with an obtained resolution of 0.021 N. The experimental trials using spinal needles mounted on FBGFD are carried out on a human cadaver specimen with punctures made in the lumbar region from different directions. Distinct forces are recorded when the needle encounters skin, muscle tissue, and a bone in its traversing path. Real-time spinal needle force monitoring using FBGFD may reduce potentially serious complications during the lumbar puncture, such as overpuncturing of tissue regions, by impeding the spinal needle insertion at epidural space.

Chemical bond imaging using higher eigenmodes of tuning fork sensors in atomic force microscopy

NASA Astrophysics Data System (ADS)

Ebeling, Daniel; Zhong, Qigang; Ahles, Sebastian; Chi, Lifeng; Wegner, Hermann A.; Schirmeisen, André

2017-05-01

We demonstrate the ability of resolving the chemical structure of single organic molecules using non-contact atomic force microscopy with higher normal eigenmodes of quartz tuning fork sensors. In order to achieve submolecular resolution, CO-functionalized tips at low temperatures are used. The tuning fork sensors are operated in ultrahigh vacuum in the frequency modulation mode by exciting either their first or second eigenmode. Despite the high effective spring constant of the second eigenmode (on the order of several tens of kN/m), the force sensitivity is sufficiently high to achieve atomic resolution above the organic molecules. This is observed for two different tuning fork sensors with different tip geometries (small tip vs. large tip). These results represent an important step towards resolving the chemical structure of single molecules with multifrequency atomic force microscopy techniques where two or more eigenmodes are driven simultaneously.

Friction coefficient determination by electrical resistance measurements

NASA Astrophysics Data System (ADS)

Tunyagi, A.; Kandrai, K.; Fülöp, Z.; Kapusi, Z.; Simon, A.

2018-05-01

A simple and low-cost, DIY-type, Arduino-driven experiment is presented for the study of friction and measurement of the friction coefficient, using a conductive rubber cord as a force sensor. It is proposed for high-school or college/university-level students. We strongly believe that it is worthwhile planning, designing and performing Arduino and compatible sensor-based experiments in physics class in order to ensure a better understanding of phenomena, develop theoretical knowledge and multiple experimental skills.

Characterization of large-area pressure sensitive robot skin

NASA Astrophysics Data System (ADS)

Saadatzi, Mohammad Nasser; Baptist, Joshua R.; Wijayasinghe, Indika B.; Popa, Dan O.

2017-05-01

Sensorized robot skin has considerable promise to enhance robots' tactile perception of surrounding environments. For physical human-robot interaction (pHRI) or autonomous manipulation, a high spatial sensor density is required, typically driven by the skin location on the robot. In our previous study, a 4x4 flexible array of strain sensors were printed and packaged onto Kapton sheets and silicone encapsulants. In this paper, we are extending the surface area of the patch to larger arrays with up to 128 tactel elements. To address scalability, sensitivity, and calibration challenges, a novel electronic module, free of the traditional signal conditioning circuitry was created. The electronic design relies on a software-based calibration scheme using high-resolution analog-to-digital converters with internal programmable gain amplifiers. In this paper, we first show the efficacy of the proposed method with a 4x4 skin array using controlled pressure tests, and then perform procedures to evaluate each sensor's characteristics such as dynamic force-to-strain property, repeatability, and signal-to-noise-ratio. In order to handle larger sensor surfaces, an automated force-controlled test cycle was carried out. Results demonstrate that our approach leads to reliable and efficient methods for extracting tactile models for use in future interaction with collaborative robots.

The image of motor units architecture in the mechanomyographic signal during the single motor unit contraction: in vivo and simulation study.

PubMed

Kaczmarek, P; Celichowski, J; Drzymała-Celichowska, H; Kasiński, A

2009-08-01

The mechanomyographic (MMG) signal analysis has been performed during single motor unit (MU) contractions of the rat medial gastrocnemius muscle. The MMG has been recorded as a muscle surface displacement by using a laser distance sensor. The profiles of the MMG signal let to categorize these signals for particular MUs into three classes. Class MMG-P (positive) comprises MUs with the MMG signal similar to the force signal profile, where the distance between the muscle surface and the laser sensor increases with the force increase. The class MMG-N (negative) has also the MMG profile similar to the force profile, however the MMG is inverted in comparison to the force signal and the distance measured by using laser sensor decreases with the force increase. The third class MMG-M (mixed) characterize the MMG which initially increases with the force increases and when the force exceeds some level it starts to decrease towards the negative values. The semi-pennate muscle model has been proposed, enabling estimation of the MMG generated by a single MU depending on its localization. The analysis have shown that in the semi-pennate muscle the localization of the MU and the relative position of the laser distance sensor determine the MMG profile and amplitude. Thus, proposed classification of the MMG recordings is not related to the physiological types of MUs, but only to the MU localization and mentioned sensor position. When the distance sensor is located over the middle of the muscle belly, a part of the muscle fibers have endings near the location of the sensor beam. For the MU MMG of class MMG-N the deflection of the muscle surface proximal to the sensor mainly influences the MMG recording, whereas for the MU MMG class MMG-P, it is mainly the distal muscle surface deformation. For the MU MMG of MMG-M type the effects of deformation within the proximal and distal muscle surfaces overlap. The model has been verified with experimental recordings, and its responses are consistent and adequate in comparison to the experimental data.

Motion analysis report

NASA Technical Reports Server (NTRS)

Badler, N. I.

1985-01-01

Human motion analysis is the task of converting actual human movements into computer readable data. Such movement information may be obtained though active or passive sensing methods. Active methods include physical measuring devices such as goniometers on joints of the body, force plates, and manually operated sensors such as a Cybex dynamometer. Passive sensing de-couples the position measuring device from actual human contact. Passive sensors include Selspot scanning systems (since there is no mechanical connection between the subject's attached LEDs and the infrared sensing cameras), sonic (spark-based) three-dimensional digitizers, Polhemus six-dimensional tracking systems, and image processing systems based on multiple views and photogrammetric calculations.

Smart wheelchair: integration of multiple sensors

NASA Astrophysics Data System (ADS)

Gassara, H. E.; Almuhamed, S.; Moukadem, A.; Schacher, L.; Dieterlen, A.; Adolphe, D.

2017-10-01

The aim of the present work is to develop a smart wheelchair by integrating multiple sensors for measuring user’s physiological signals and subsequently transmitting and monitoring the treated signals to the user, a designated person or institution. Among other sensors, force, accelerometer, and temperature sensors are successfully integrated within both the backrest and the seat cushions of the wheelchair; while a pulse sensor is integrated within the armrest. The pulse sensor is connected to an amplification circuit board that is, in turn, placed within the armrest. The force and temperature sensors are integrated into a textile cover of the cushions by means of embroidery and sewing techniques. The signal from accelerometer is transmitted through Wi-Fi connection. The electrical connections needed for power supplying of sensors are made by embroidered conductive threads.

Applied Meteorology Unit (AMU) Quarterly Report Third Quarter FY-08

NASA Technical Reports Server (NTRS)

Bauman, William; Crawford, Winifred; Barrett, Joe; Watson, Leela; Dreher, Joseph

2008-01-01

This report summarizes the Applied Meteorology Unit (AMU) activities for the third quarter of Fiscal Year 2008 (April - June 2008). Tasks reported on are: Peak Wind Tool for User Launch Commit Criteria (LCC), Anvil Forecast Tool in AWIPS Phase II, Completion of the Edward Air Force Base (EAFB) Statistical Guidance Wind Tool, Volume Averaged Height Integ rated Radar Reflectivity (VAHIRR), Impact of Local Sensors, Radar Scan Strategies for the PAFB WSR-74C Replacement, VAHIRR Cost Benefit Analysis, and WRF Wind Sensitivity Study at Edwards Air Force Base

LinkMind: link optimization in swarming mobile sensor networks.

PubMed

Ngo, Trung Dung

2011-01-01

A swarming mobile sensor network is comprised of a swarm of wirelessly connected mobile robots equipped with various sensors. Such a network can be applied in an uncertain environment for services such as cooperative navigation and exploration, object identification and information gathering. One of the most advantageous properties of the swarming wireless sensor network is that mobile nodes can work cooperatively to organize an ad-hoc network and optimize the network link capacity to maximize the transmission of gathered data from a source to a target. This paper describes a new method of link optimization of swarming mobile sensor networks. The new method is based on combination of the artificial potential force guaranteeing connectivities of the mobile sensor nodes and the max-flow min-cut theorem of graph theory ensuring optimization of the network link capacity. The developed algorithm is demonstrated and evaluated in simulation.

LinkMind: Link Optimization in Swarming Mobile Sensor Networks

PubMed Central

Ngo, Trung Dung

2011-01-01

A swarming mobile sensor network is comprised of a swarm of wirelessly connected mobile robots equipped with various sensors. Such a network can be applied in an uncertain environment for services such as cooperative navigation and exploration, object identification and information gathering. One of the most advantageous properties of the swarming wireless sensor network is that mobile nodes can work cooperatively to organize an ad-hoc network and optimize the network link capacity to maximize the transmission of gathered data from a source to a target. This paper describes a new method of link optimization of swarming mobile sensor networks. The new method is based on combination of the artificial potential force guaranteeing connectivities of the mobile sensor nodes and the max-flow min-cut theorem of graph theory ensuring optimization of the network link capacity. The developed algorithm is demonstrated and evaluated in simulation. PMID:22164070

Validation of distal limb mounted inertial measurement unit sensors for stride detection in Warmblood horses at walk and trot.

PubMed

Bragança, F M; Bosch, S; Voskamp, J P; Marin-Perianu, M; Van der Zwaag, B J; Vernooij, J C M; van Weeren, P R; Back, W

2017-07-01

Inertial measurement unit (IMU) sensor-based techniques are becoming more popular in horses as a tool for objective locomotor assessment. To describe, evaluate and validate a method of stride detection and quantification at walk and trot using distal limb mounted IMU sensors. Prospective validation study comparing IMU sensors and motion capture with force plate data. A total of seven Warmblood horses equipped with metacarpal/metatarsal IMU sensors and reflective markers for motion capture were hand walked and trotted over a force plate. Using four custom built algorithms hoof-on/hoof-off timing over the force plate were calculated for each trial from the IMU data. Accuracy of the computed parameters was calculated as the mean difference in milliseconds between the IMU or motion capture generated data and the data from the force plate, precision as the s.d. of these differences and percentage of error with accuracy of the calculated parameter as a percentage of the force plate stance duration. Accuracy, precision and percentage of error of the best performing IMU algorithm for stance duration at walk were 28.5, 31.6 ms and 3.7% for the forelimbs and -5.5, 20.1 ms and -0.8% for the hindlimbs, respectively. At trot the best performing algorithm achieved accuracy, precision and percentage of error of -27.6/8.8 ms/-8.4% for the forelimbs and 6.3/33.5 ms/9.1% for the hindlimbs. The described algorithms have not been assessed on different surfaces. Inertial measurement unit technology can be used to determine temporal kinematic stride variables at walk and trot justifying its use in gait and performance analysis. However, precision of the method may not be sufficient to detect all possible lameness-related changes. These data seem promising enough to warrant further research to evaluate whether this approach will be useful for appraising the majority of clinically relevant gait changes encountered in practice. © 2016 The Authors. Equine Veterinary Journal published by John Wiley & Sons Ltd on behalf of EVJ Ltd.

Ground Optical Signal Processing Architecture for Contributing SSA Space Based Sensor Data

NASA Astrophysics Data System (ADS)

Koblick, D.; Klug, M.; Goldsmith, A.; Flewelling, B.; Jah, M.; Shanks, J.; Piña, R.

2014-09-01

The main objective of the DARPA program Orbit Outlook (O^2) is to improve the metric tracking and detection performance of the Space Situational Network (SSN) by adding a diverse low-cost network of contributing sensors to the Space Situational Awareness (SSA) mission. In order to accomplish this objective, not only must a sensor be in constant communication with a planning and scheduling system to process tasking requests, there must be an underlying framework to provide useful data products, such as angles only measurements. Existing optical signal processing implementations such as the Optical Processing Architecture at Lincoln (OPAL) are capable of converting mission data collections to angles only observations, but may be difficult for many users to obtain, support, and customize for low-cost missions and demonstration programs. The Ground Optical Signal Processing Architecture (GOSPA) will ingest raw imagery and telemetry data from a space based electro optical sensor and perform a background removal process to remove anomalous pixels, interpolate over bad pixels, and dominant temporal noise. After background removal, the streak end points and target centroids are located using a corner detection algorithm developed by Air Force Research Laboratory. These identified streak locations are then fused with the corresponding spacecraft telemetry data to determine the Right Ascension and Declination measurements with respect to time. To demonstrate the performance of GOSPA, non-rate tracking collections against a satellite in Geosynchronous Orbit are simulated from a visible optical imaging sensor in a polar Low Earth Orbit. Stars, noise and bad pixels are added to the simulated images based on look angles and sensor parameters. These collections are run through the GOSPA framework to provide angles- only measurements to the Air Force Research Laboratory Constrained Admissible Region Multiple Hypothesis Filter (CAR-MHF) in which an Initial Orbit Determination is performed and compared to truth data.

An online input force time history reconstruction algorithm using dynamic principal component analysis

NASA Astrophysics Data System (ADS)

Prawin, J.; Rama Mohan Rao, A.

2018-01-01

The knowledge of dynamic loads acting on a structure is always required for many practical engineering problems, such as structural strength analysis, health monitoring and fault diagnosis, and vibration isolation. In this paper, we present an online input force time history reconstruction algorithm using Dynamic Principal Component Analysis (DPCA) from the acceleration time history response measurements using moving windows. We also present an optimal sensor placement algorithm to place limited sensors at dynamically sensitive spatial locations. The major advantage of the proposed input force identification algorithm is that it does not require finite element idealization of structure unlike the earlier formulations and therefore free from physical modelling errors. We have considered three numerical examples to validate the accuracy of the proposed DPCA based method. Effects of measurement noise, multiple force identification, different kinds of loading, incomplete measurements, and high noise levels are investigated in detail. Parametric studies have been carried out to arrive at optimal window size and also the percentage of window overlap. Studies presented in this paper clearly establish the merits of the proposed algorithm for online load identification.

Combining single-molecule manipulation and single-molecule detection.

PubMed

Cordova, Juan Carlos; Das, Dibyendu Kumar; Manning, Harris W; Lang, Matthew J

2014-10-01

Single molecule force manipulation combined with fluorescence techniques offers much promise in revealing mechanistic details of biomolecular machinery. Here, we review force-fluorescence microscopy, which combines the best features of manipulation and detection techniques. Three of the mainstay manipulation methods (optical traps, magnetic traps and atomic force microscopy) are discussed with respect to milestones in combination developments, in addition to highlight recent contributions to the field. An overview of additional strategies is discussed, including fluorescence based force sensors for force measurement in vivo. Armed with recent exciting demonstrations of this technology, the field of combined single-molecule manipulation and single-molecule detection is poised to provide unprecedented views of molecular machinery. Copyright © 2014 Elsevier Ltd. All rights reserved.

Pressure and shear sensing based on microstrip antennas

NASA Astrophysics Data System (ADS)

Mohammad, I.; Huang, H.

2012-04-01

A foot ulcer is the initiating factor in 85% of all diabetic amputations. Ulcer formation is believed to be contributed by both pressure and shear forces. There are commercially available instruments that can measure plantar pressure. However, instruments for plantar shear measurement are limited. In this paper, we investigate the application of antenna sensors for shear and pressure measurement. The principle of operation of both antenna sensors will be discussed first, followed by detailed descriptions on the antenna designs, sensor fabrication, experimental setup, procedure and results. Because the antenna sensors are small in size, can be wirelessly interrogated, and are frequency multiplexable, we plan to embed them in shoes for simultaneous mapping of plantar shear and pressure distributions in the future.

An Improved Co-evolutionary Particle Swarm Optimization for Wireless Sensor Networks with Dynamic Deployment

PubMed Central

Wang, Xue; Wang, Sheng; Ma, Jun-Jie

2007-01-01

The effectiveness of wireless sensor networks (WSNs) depends on the coverage and target detection probability provided by dynamic deployment, which is usually supported by the virtual force (VF) algorithm. However, in the VF algorithm, the virtual force exerted by stationary sensor nodes will hinder the movement of mobile sensor nodes. Particle swarm optimization (PSO) is introduced as another dynamic deployment algorithm, but in this case the computation time required is the big bottleneck. This paper proposes a dynamic deployment algorithm which is named “virtual force directed co-evolutionary particle swarm optimization” (VFCPSO), since this algorithm combines the co-evolutionary particle swarm optimization (CPSO) with the VF algorithm, whereby the CPSO uses multiple swarms to optimize different components of the solution vectors for dynamic deployment cooperatively and the velocity of each particle is updated according to not only the historical local and global optimal solutions, but also the virtual forces of sensor nodes. Simulation results demonstrate that the proposed VFCPSO is competent for dynamic deployment in WSNs and has better performance with respect to computation time and effectiveness than the VF, PSO and VFPSO algorithms.

A calculation and uncertainty evaluation method for the effective area of a piston rod used in quasi-static pressure calibration

NASA Astrophysics Data System (ADS)

Gu, Tingwei; Kong, Deren; Shang, Fei; Chen, Jing

2018-04-01

This paper describes the merits and demerits of different sensors for measuring propellant gas pressure, the applicable range of the frequently used dynamic pressure calibration methods, and the working principle of absolute quasi-static pressure calibration based on the drop-weight device. The main factors affecting the accuracy of pressure calibration are analyzed from two aspects of the force sensor and the piston area. To calculate the effective area of the piston rod and evaluate the uncertainty between the force sensor and the corresponding peak pressure in the absolute quasi-static pressure calibration process, a method for solving these problems based on the least squares principle is proposed. According to the relevant quasi-static pressure calibration experimental data, the least squares fitting model between the peak force and the peak pressure, and the effective area of the piston rod and its measurement uncertainty, are obtained. The fitting model is tested by an additional group of experiments, and the peak pressure obtained by the existing high-precision comparison calibration method is taken as the reference value. The test results show that the peak pressure obtained by the least squares fitting model is closer to the reference value than the one directly calculated by the cross-sectional area of the piston rod. When the peak pressure is higher than 150 MPa, the percentage difference is less than 0.71%, which can meet the requirements of practical application.

Methodologies to determine forces on bones and muscles of body segments during exercise, employing compact sensors suitable for use in crowded space vehicles

NASA Technical Reports Server (NTRS)

Figueroa, Fernando

1995-01-01

Work under this grant was carried out by the author and by a graduate research assistant. An instrumented bicycle ergometer was implemented focusing on the stated objective: to estimate the forces exerted by each muscle of the feet, calf, and thigh of an individual while bicycling. The sensors used were light and compact. These were probes to measure muscle EMG activity, miniature accelerometers, miniature load sensors, and small encoders to measure angular positions of the pedal. A methodology was developed and implemented to completely describe the kinematics of the limbs using data from the sensors. This work has been published as a Master's Thesis by the Graduate student supported by the grant. The instrumented ergometer along with the sensors and instrumentation were tested during a KC-135 Zero-Gravity flight in July, 1994. A complete description of the system and the tests performed have been published as a report submitted to NASA Johnson Space Center. The data collected during the KC-135 flight is currently being processed so that a kinematic description of the bicycling experiment will be soon determined. A methodology to estimate the muscle forces has been formulated based on previous work. The methodology involves the use of optimization concepts so that the individual muscle forces that represent variables in dynamic equations of motion may be estimated. Optimization of a criteria (goal) function such as minimization of energy will be used along with constraint equations defined by rigid body equations of motion. Use of optimization principles is necessary, because the equations of motion alone constitute an indeterminate system of equations with respect to the large amount of muscle forces which constitute the variables in these equations. The number of variables is reduced somewhat by using forces measured by the load cells installed on the pedal. These load cells measure pressure and shear forces on the foot. The author and his collaborators at NASA and at the University of Alabama, Tuscaloosa, are continuing the work of reducing the experimental data from the KC-135 flight, and the implementation of the optimization methods to estimate muscle forces. As soon as results from these efforts are available, they will be published in reputable journals. Results of this work will impact studies addressing bone density loss and development of countermeasures to minimize bone loss in zero gravity conditions. By analyzing muscle forces on Earth and in Space during exercise, scientists could eventually formulate new exercises and machines to help maintain bone density. On Earth, this work will impact studies concerning arthritis, and will provide the means to study possible exercise countermeasures to minimize arthritis problems.

Bolt-Tension Sensor

NASA Technical Reports Server (NTRS)

Goldie, James H.; Bushko, Dariusz A.; Gerver, Michael J.

1995-01-01

In technique for measuring tensile force of bolt, specially fabricated magnetostrictive washer used as force transducer. Compact, portable inductive electronic sensor placed against washer to measure tension force. New system provides accurate, economical, and convenient way to measure bolt tension in field. Measurements on test assembly shows that tension can be measured to accuracy of about plus or minus 1 percent of load capacity of typical bolt.

Advancement and results in hostile fire indication using potassium line missile warning sensors

NASA Astrophysics Data System (ADS)

Montgomery, Joel; Montgomery, Marjorie; Hardie, Russell

2014-06-01

M&M Aviation has been developing and conducting Hostile Fire Indication (HFI) tests using potassium line emission sensors for the Air Force Visible Missile Warning System (VMWS) to advance both algorithm and sensor technologies for UAV and other airborne systems for self protection and intelligence purposes. Work began in 2008 as an outgrowth of detecting and classifying false alarm sources for the VMWS using the same K-line spectral discrimination region but soon became a focus of research due to the high interest in both machine-gun fire and sniper geo-location via airborne systems. Several initial tests were accomplished in 2009 using small and medium caliber weapons including rifles. Based on these results, the Air Force Research Laboratory (AFRL) funded the Falcon Sentinel program in 2010 to provide for additional development of both the sensor concept, algorithm suite changes and verification of basic phenomenology including variance based on ammunition type for given weapons platform. Results from testing over the past 3 years have showed that the system would be able to detect and declare a sniper rifle at upwards of 3km, medium machine gun at 5km, and explosive events like hand-grenades at greater than 5km. This paper will outline the development of the sensor systems, algorithms used for detection and classification, and test results from VMWS prototypes as well as outline algorithms used for the VMWS. The Falcon Sentinel Program will be outlined and results shown. Finally, the paper will show the future work for ATD and transition efforts after the Falcon Sentinel program completed.

Development of Rotational Accelerometers Final Report CRADA No. TSB-2008-99

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hunter, S.; Crosson, R.

One of the difficulties in fabricating an inexpensive angular rate or rotation sensor is producing a device that is insensitive to acceleration, including the constant acceleration of gravity. The majority of rate sensors are either tuning fork type devices sensing a relatively weak force (i.e., Coriolis effect) and thus not very sensitive, or gyroscopes (either rotating or fiber optic based) that are large, consume lots of power and are expensive. This project was a collaborative effort between LLNL and The Fredericks Company to develop a rotational sensor as a standardized, commercial product. The Fredericks Company possessed expertise and capabilities inmore » the technical aspects of manufacturing this type of sensor, and they were interested in collaborating with LLNL to manufacture the rotational rate sensors as a commercial product.« less

Load Measurement on Foundations of Rockfall Protection Systems

PubMed Central

Volkwein, Axel; Kummer, Peter; Bitnel, Hueseyin; Campana, Lorenzo

2016-01-01

Rockfall protection barriers are connected to the ground using steel cables fixed with anchors and foundations for the steel posts. It is common practice to measure the forces in the cables, while to date measurements of forces in the foundations have been inadequately resolved. An overview is presented of existing methods to measure the loads on the post foundations of rockfall protection barriers. Addressing some of the inadequacies of existing approaches, a novel sensor unit is presented that is able to capture the forces acting on post foundations in all six degrees of freedom. The sensor unit consists of four triaxial force sensors placed between two steel plates. To correctly convert the measurements into the directional forces acting on the foundation a special in-situ calibration procedure is proposed that delivers a corresponding conversion matrix. PMID:26840315

Estimation of Prestress Force Distribution in Multi-Strand System of Prestressed Concrete Structures Using Field Data Measured by Electromagnetic Sensor

PubMed Central

Cho, Keunhee; Cho, Jeong-Rae; Kim, Sung Tae; Park, Sung Yong; Kim, Young-Jin; Park, Young-Hwan

2016-01-01

The recently developed smart strand can be used to measure the prestress force in the prestressed concrete (PSC) structure from the construction stage to the in-service stage. The higher cost of the smart strand compared to the conventional strand renders it unaffordable to replace all the strands by smart strands, and results in the application of only a limited number of smart strands in the PSC structure. However, the prestress forces developed in the strands of the multi-strand system frequently adopted in PSC structures differ from each other, which means that the prestress force in the multi-strand system cannot be obtained by simple proportional scaling using the measurement of the smart strand. Therefore, this study examines the prestress force distribution in the multi-strand system to find the correlation between the prestress force measured by the smart strand and the prestress force distribution in the multi-strand system. To that goal, the prestress force distribution was measured using electromagnetic sensors for various factors of the multi-strand system adopted on site in the fabrication of actual PSC girders. The results verified the possibility to assume normal distribution for the prestress force distribution per anchor head, and a method computing the mean and standard deviation defining the normal distribution is proposed. This paper presents a meaningful finding by proposing an estimation method of the prestress force based upon field-measured data of the prestress force distribution in the multi-strand system of actual PSC structures. PMID:27548172

A Micro-Force Sensor with Slotted-Quad-Beam Structure for Measuring the Friction in MEMS Bearings

PubMed Central

Liu, Huan; Yang, Shuming; Zhao, Yulong; Jiang, Zhuangde; Liu, Yan; Tian, Bian

2013-01-01

Presented here is a slotted-quad-beam structure sensor for the measurement of friction in micro bearings. Stress concentration slots are incorporated into a conventional quad-beam structure to improve the sensitivity of force measurements. The performance comparison between the quad-beam structure sensor and the slotted-quad-beam structure sensor are performed by theoretical modeling and finite element (FE) analysis. A hollow stainless steel probe is attached to the mesa of the sensor chip by a tailor-made organic glass fixture. Concerning the overload protection of the fragile beams, a glass wafer is bonded onto the bottom of sensor chip to limit the displacement of the mesa. The calibration of the packaged device is experimentally performed by a tri-dimensional positioning stage, a precision piezoelectric ceramic and an electronic analytical balance, which indicates its favorable sensitivity and overload protection. To verify the potential of the proposed sensor being applied in micro friction measurement, a measurement platform is established. The output of the sensor reflects the friction of bearing resulting from dry friction and solid lubrication. The results accord with the theoretical modeling and demonstrate that the sensor has the potential application in measuring the micro friction force under stable stage in MEMS machines. PMID:24084112

Development of a shear force measurement dummy for seat comfort.

PubMed

Kim, Seong Guk; Ko, Chang-Yong; Kim, Dong Hyun; Song, Ye Eun; Kang, Tae Uk; Ahn, Sungwoo; Lim, Dohyung; Kim, Han Sung

2017-01-01

Seat comfort is one of the main factors that consumers consider when purchasing a car. In this study, we develop a dummy with a shear-force sensor to evaluate seat comfort. The sensor has dimensions of 25 mm × 25 mm × 26 mm and is made of S45C. Electroless nickel plating is employed to coat its surface in order to prevent corrosion and oxidation. The proposed sensor is validated using a qualified load cell and shows high accuracy and precision (measurement range: -30-30 N; sensitivity: 0.1 N; linear relationship: R = 0.999; transverse sensitivity: <1%). The dummy is manufactured in compliance with the SAE standards (SAE J826) and incorporates shear sensors into its design. We measure the shear force under four driving conditions and at five different speeds using a sedan; results showed that the shear force increases with speed under all driving conditions. In the case of acceleration and deceleration, shear force significantly changes in the lower body of the dummy. During right and left turns, it significantly changes in the upper body of the dummy.

Acoustic Emission Measurement with Fiber Bragg Gratings for Structure Health Monitoring

NASA Technical Reports Server (NTRS)

Banks, Curtis E.; Walker, James L.; Russell, Sam; Roth, Don; Mabry, Nehemiah; Wilson, Melissa

2010-01-01

Structural Health monitoring (SHM) is a way of detecting and assessing damage to large scale structures. Sensors used in SHM for aerospace structures provide real time data on new and propagating damage. One type of sensor that is typically used is an acoustic emission (AE) sensor that detects the acoustic emissions given off from a material cracking or breaking. The use of fiber Bragg grating (FBG) sensors to provide acoustic emission data for damage detection is studied. In this research, FBG sensors are used to detect acoustic emissions of a material during a tensile test. FBG sensors were placed as a strain sensor (oriented parallel to applied force) and as an AE sensor (oriented perpendicular to applied force). A traditional AE transducer was used to collect AE data to compare with the FBG data. Preliminary results show that AE with FBGs can be a viable alternative to traditional AE sensors.

Communications for unattended sensor networks

NASA Astrophysics Data System (ADS)

Nemeroff, Jay L.; Angelini, Paul; Orpilla, Mont; Garcia, Luis; DiPierro, Stefano

2004-07-01

The future model of the US Army's Future Combat Systems (FCS) and the Future Force reflects a combat force that utilizes lighter armor protection than the current standard. Survival on the future battlefield will be increased by the use of advanced situational awareness provided by unattended tactical and urban sensors that detect, identify, and track enemy targets and threats. Successful implementation of these critical sensor fields requires the development of advanced sensors, sensor and data-fusion processors, and a specialized communications network. To ensure warfighter and asset survivability, the communications must be capable of near real-time dissemination of the sensor data using robust, secure, stealthy, and jam resistant links so that the proper and decisive action can be taken. Communications will be provided to a wide-array of mission-specific sensors that are capable of processing data from acoustic, magnetic, seismic, and/or Chemical, Biological, Radiological, and Nuclear (CBRN) sensors. Other, more powerful, sensor node configurations will be capable of fusing sensor data and intelligently collect and process data images from infrared or visual imaging cameras. The radio waveform and networking protocols being developed under the Soldier Level Integrated Communications Environment (SLICE) Soldier Radio Waveform (SRW) and the Networked Sensors for the Future Force Advanced Technology Demonstration are part of an effort to develop a common waveform family which will operate across multiple tactical domains including dismounted soldiers, ground sensor, munitions, missiles and robotics. These waveform technologies will ultimately be transitioned to the JTRS library, specifically the Cluster 5 requirement.

Reduced modeling of flexible structures for decentralized control

NASA Technical Reports Server (NTRS)

Yousuff, A.; Tan, T. M.; Bahar, L. Y.; Konstantinidis, M. F.

1986-01-01

Based upon the modified finite element-transfer matrix method, this paper presents a technique for reduced modeling of flexible structures for decentralized control. The modeling decisions are carried out at (finite-) element level, and are dictated by control objectives. A simply supported beam with two sets of actuators and sensors (linear force actuator and linear position and velocity sensors) is considered for illustration. In this case, it is conjectured that the decentrally controlled closed loop system is guaranteed to be at least marginally stable.

Force sensor

DOEpatents

Grahn, A.R.

1993-05-11

A force sensor and related method for determining force components is described. The force sensor includes a deformable medium having a contact surface against which a force can be applied, a signal generator for generating signals that travel through the deformable medium to the contact surface, a signal receptor for receiving the signal reflected from the contact surface, a generation controller, a reception controller, and a force determination apparatus. The signal generator has one or more signal generation regions for generating the signals. The generation controller selects and activates the signal generation regions. The signal receptor has one or more signal reception regions for receiving signals and for generating detections signals in response thereto. The reception controller selects signal reception regions and detects the detection signals. The force determination apparatus measures signal transit time by timing activation and detection and, optionally, determines force components for selected cross-field intersections. The timer which times by activation and detection can be any means for measuring signal transit time. A cross-field intersection is defined by the overlap of a signal generation region and a signal reception region.

Force sensor

DOEpatents

Grahn, Allen R.

1993-01-01

A force sensor and related method for determining force components. The force sensor includes a deformable medium having a contact surface against which a force can be applied, a signal generator for generating signals that travel through the deformable medium to the contact surface, a signal receptor for receiving the signal reflected from the contact surface, a generation controller, a reception controller, and a force determination apparatus. The signal generator has one or more signal generation regions for generating the signals. The generation controller selects and activates the signal generation regions. The signal receptor has one or more signal reception regions for receiving signals and for generating detections signals in response thereto. The reception controller selects signal reception regions and detects the detection signals. The force determination apparatus measures signal transit time by timing activation and detection and, optionally, determines force components for selected cross-field intersections. The timer which times by activation and detection can be any means for measuring signal transit time. A cross-field intersection is defined by the overlap of a signal generation region and a signal reception region.

Process Analytical Technology for High Shear Wet Granulation: Wet Mass Consistency Reported by In-Line Drag Flow Force Sensor Is Consistent With Powder Rheology Measured by At-Line FT4 Powder Rheometer.

PubMed

Narang, Ajit S; Sheverev, Valery; Freeman, Tim; Both, Douglas; Stepaniuk, Vadim; Delancy, Michael; Millington-Smith, Doug; Macias, Kevin; Subramanian, Ganeshkumar

2016-01-01

Drag flow force (DFF) sensor that measures the force exerted by wet mass in a granulator on a thin cylindrical probe was shown as a promising process analytical technology for real-time in-line high-resolution monitoring of wet mass consistency during high shear wet granulation. Our previous studies indicated that this process analytical technology tool could be correlated to granulation end point established independently through drug product critical quality attributes. In this study, the measurements of flow force by a DFF sensor, taken during wet granulation of 3 placebo formulations with different binder content, are compared with concurrent at line FT4 Powder Rheometer characterization of wet granules collected at different time points of the processing. The wet mass consistency measured by the DFF sensor correlated well with the granulation's resistance to flow and interparticulate interactions as measured by FT4 Powder Rheometer. This indicated that the force pulse magnitude measured by the DFF sensor was indicative of fundamental material properties (e.g., shear viscosity and granule size/density), as they were changing during the granulation process. These studies indicate that DFF sensor can be a valuable tool for wet granulation formulation and process development and scale up, as well as for routine monitoring and control during manufacturing. Copyright © 2016. Published by Elsevier Inc.

Planar and finger-shaped optical tactile sensors for robotic applications

NASA Technical Reports Server (NTRS)

Begej, Stefan

1988-01-01

Progress is described regarding the development of optical tactile sensors specifically designed for application to dexterous robotics. These sensors operate on optical principles involving the frustration of total internal reflection at a waveguide/elastomer interface and produce a grey-scale tactile image that represents the normal (vertical) forces of contact. The first tactile sensor discussed is a compact, 32 x 32 planar sensor array intended for mounting on a parallel-jaw gripper. Optical fibers were employed to convey the tactile image to a CCD camera and microprocessor-based image analysis system. The second sensor had the shape and size of a human fingertip and was designed for a dexterous robotic hand. It contained 256 sensing sites (taxels) distributed in a dual-density pattern that included a tactile fovea near the tip measuring 13 x 13 mm and containing 169 taxels. The design and construction details of these tactile sensors are presented, in addition to photographs of tactile imprints.

An instrumented glove for grasp specification in virtual-reality-based point-and-direct telerobotics.

PubMed

Yun, M H; Cannon, D; Freivalds, A; Thomas, G

1997-10-01

Hand posture and force, which define aspects of the way an object is grasped, are features of robotic manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system will be used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct (VR-PAD) robotics implementation. Here, an operator gives directives to a robot in the same natural way that human may direct another. Phrases such as "put that there" cause the robot to define a grasping strategy and motion strategy to complete the task on its own. In the VR-PAD concept, pointing is done using virtual tools such that an operator can appear to graphically grasp real items in live video. Rather than requiring full duplication of forces and kinesthetic movement throughout a task as is required in manual telemanipulation, hand posture and force are now specified only once. The grasp parameters then become object flavors. The robot maintains the specified force and hand posture flavors for an object throughout the task in handling the real workpiece or item of interest. In the Computer integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with Force-Sensitive Resistor (FSR) (pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufacturing, space operations and other flexible robotics applications. In each case, the VR-PAD approach will finesse the computational and delay problems of real-time multiple-degree-of-freedom force feedback telemanipulation.

Electromagnetic Induction E-Sensor for Underwater UXO Detection

DTIC Science & Technology

2011-12-01

EMF Electromotive force FET Field Effect Transitor Hz Hertz ms millisecond nV nanoVolt QFS QUASAR Federal...processing. Statistical discrimination techniques based on model analysis, such as the Time-Domain Three Dipole (TD3D) model, can separate UXO-like objects

Process for manufacturing shell membrane force and deflection sensor

NASA Technical Reports Server (NTRS)

Park, Yong-Lae (Inventor); Moslehi, Behzad (Inventor); Black, Richard James (Inventor); Cutkosky, Mark R. (Inventor); Chau, Kelvin K. (Inventor)

2012-01-01

A sensor for force is formed from an elastomeric cylinder having a region with apertures. The apertures have passageways formed between them, and an optical fiber is introduced into these passageways, where the optical fiber has a grating for measurement of tension positioned in the passageways between apertures. Optionally, a temperature measurement sensor is placed in or around the elastomer for temperature correction, and if required, a copper film may be deposited in the elastomer for reduced sensitivity to spot temperature variations in the elastomer near the sensors.

Force and deflection sensor with shell membrane and optical gratings and method of manufacture

NASA Technical Reports Server (NTRS)

Park, Yong-Lae (Inventor); Moslehi, Behzad (Inventor); Black, Richard James (Inventor); Cutkosky, Mark R. (Inventor); Chau, Kelvin K (Inventor)

2011-01-01

A sensor for force is formed from an elastomeric cylinder having a region with apertures. The apertures have passageways formed between them, and an optical fiber is introduced into these passageways, where the optical fiber has a grating for measurement of tension positioned in the passageways between apertures. Optionally, a temperature measurement sensor is placed in or around the elastomer for temperature correction, and if required, a copper film may be deposited in the elastomer for reduced sensitivity to spot temperature variations in the elastomer near the sensors.

Estimation of ground reaction forces and joint moments on the basis on plantar pressure insoles and wearable sensors for joint angle measurement.

PubMed

Ostaszewski, Michal; Pauk, Jolanta

2018-05-16

Gait analysis is a useful tool medical staff use to support clinical decision making. There is still an urgent need to develop low-cost and unobtrusive mobile health monitoring systems. The goal of this study was twofold. Firstly, a wearable sensor system composed of plantar pressure insoles and wearable sensors for joint angle measurement was developed. Secondly, the accuracy of the system in the measurement of ground reaction forces and joint moments was examined. The measurements included joint angles and plantar pressure distribution. To validate the wearable sensor system and examine the effectiveness of the proposed method for gait analysis, an experimental study on ten volunteer subjects was conducted. The accuracy of measurement of ground reaction forces and joint moments was validated against the results obtained from a reference motion capture system. Ground reaction forces and joint moments measured by the wearable sensor system showed a root mean square error of 1% for min. GRF and 27.3% for knee extension moment. The correlation coefficient was over 0.9, in comparison with the stationary motion capture system. The study suggests that the wearable sensor system could be recommended both for research and clinical applications outside a typical gait laboratory.

Use of Tekscan K-Scan Sensors for Retropatellar Pressure Measurement Avoiding Errors during Implantation and the Effects of Shear Forces on the Measurement Precision

PubMed Central

Wilharm, A.; Hurschler, Ch.; Dermitas, T.; Bohnsack, M.

2013-01-01

Pressure-sensitive K-Scan 4000 sensors (Tekscan, USA) provide new possibilities for the dynamic measurement of force and pressure in biomechanical investigations. We examined the sensors to determine in particular whether they are also suitable for reliable measurements of retropatellar forces and pressures. Insertion approaches were also investigated and a lateral parapatellar arthrotomy supplemented by parapatellar sutures proved to be the most reliable method. The ten human cadaver knees were tested in a knee-simulating machine at a torque of 30 and 40 Nm. Each test cycle involved a dynamic extension from 120° flexion. All recorded parameters showed a decrease of 1-2% per measurement cycle. Although we supplemented the sensors with a Teflon film, the decrease, which was likely caused by shear force, was significant. We evaluated 12 cycles and observed a linear decrease in parameters up to 17.2% (coefficient of regression 0.69–0.99). In our opinion, the linear decrease can be considered a systematic error and can therefore be quantified and accounted for in subsequent experiments. That will ensure reliable retropatellar usage of Tekscan sensors and distinguish the effects of knee joint surgeries from sensor wear-related effects. PMID:24369018

Method and Apparatus for Characterizing Pressure Sensors using Modulated Light Beam Pressure

NASA Technical Reports Server (NTRS)

Youngquist, Robert C. (Inventor)

2003-01-01

Embodiments of apparatuses and methods are provided that use light sources instead of sound sources for characterizing and calibrating sensors for measuring small pressures to mitigate many of the problems with using sound sources. In one embodiment an apparatus has a light source for directing a beam of light on a sensing surface of a pressure sensor for exerting a force on the sensing surface. The pressure sensor generates an electrical signal indicative of the force exerted on the sensing surface. A modulator modulates the beam of light. A signal processor is electrically coupled to the pressure sensor for receiving the electrical signal.

Mechanical monolithic compact sensors for real-time linear and angular broadband low frequency monitoring and control of spacecrafts and satellites

NASA Astrophysics Data System (ADS)

Barone, F.; Giordano, G.

2017-09-01

In this paper we describe the characteristics and performances of a monolithic sensor designed for low frequency motion measurement of spacecrafts and satellites, whose mechanics is based on the UNISA Folded Pendulum. The latter, developed for ground-based applications, exhibits unique features (compactness, lightness, scalability, low resonance frequency and high quality factor), consequence of the action of the gravitational force on its inertial mass. In this paper we introduce and discuss the general methodology used to extend the application of ground-based folded pendulums to space, also in total absence of gravity, still keeping all their peculiar features and characteristics.

A selective iodide ion sensor electrode based on functionalized ZnO nanotubes.

PubMed

Ibupoto, Zafar Hussain; Khun, Kimleang; Willander, Magnus

2013-02-04

In this research work, ZnO nanotubes were fabricated on a gold coated glass substrate through chemical etching by the aqueous chemical growth method. For the first time a nanostructure-based iodide ion selective electrode was developed. The ZnO nanotubes were functionalized with miconazole ion exchanger and the electromotive force (EMF) was measured by the potentiometric method. The iodide ion sensor exhibited a linear response over a wide range of concentrations (1 × 10-6 to 1 × 10-1 M) and excellent sensitivity of -62 ± 1 mV/decade. The detection limit of the proposed sensor was found to be 5 × 10-7 M. The effects of pH, temperature, additive, plasticizer and stabilizer on the potential response of iodide ion selective electrode were also studied. The proposed iodide ion sensor demonstrated a fast response time of less than 5 s and high selectivity against common organic and the inorganic anions. All the obtained results revealed that the iodide ion sensor based on functionalized ZnO nanotubes may be used for the detection of iodide ion in environmental water samples, pharmaceutical products and other real samples.

A Selective Iodide Ion Sensor Electrode Based on Functionalized ZnO Nanotubes

PubMed Central

Ibupoto, Zafar Hussain; Khun, Kimleang; Willander, Magnus

2013-01-01

In this research work, ZnO nanotubes were fabricated on a gold coated glass substrate through chemical etching by the aqueous chemical growth method. For the first time a nanostructure-based iodide ion selective electrode was developed. The ZnO nanotubes were functionalized with miconazole ion exchanger and the electromotive force (EMF) was measured by the potentiometric method. The iodide ion sensor exhibited a linear response over a wide range of concentrations (1 × 10−6 to 1 × 10−1 M) and excellent sensitivity of −62 ± 1 mV/decade. The detection limit of the proposed sensor was found to be 5 × 10−7 M. The effects of pH, temperature, additive, plasticizer and stabilizer on the potential response of iodide ion selective electrode were also studied. The proposed iodide ion sensor demonstrated a fast response time of less than 5 s and high selectivity against common organic and the inorganic anions. All the obtained results revealed that the iodide ion sensor based on functionalized ZnO nanotubes may be used for the detection of iodide ion in environmental water samples, pharmaceutical products and other real samples. PMID:23385412

Evaluation of new technologies for the LISA gravitational reference sensor using the UF torsion pendulum

NASA Astrophysics Data System (ADS)

Conklin, John; Chilton, Andrew; Olatunde, Taiwo; Apple, Stephen; Aitken, Michael; Ciani, Giacomo; Mueller, Guido

2016-01-01

The Laser Interferometer Space Antenna (LISA) is the most mature concept for detecting gravitational waves from space. The LISA design has been studied for more than 20 years as a joint effort between NASA and the European Space Agency. LISA consists of three Sun-orbiting spacecraft that form an equilateral triangle, with each side measuring 1-5 million kilometers in length. Each spacecraft houses two free-floating test masses, which are protected from all disturbing forces so that they follow pure geodesics. A single test mass together with its protective housing and associated components is referred to as a gravitational reference sensor. A drag-free control system is supplied with measurements of the test mass position from these sensors and commands external micronewton thrusters to force the spacecraft to fly in formation with the test masses. Laser interferometry is used to measure the minute variations in the distance, or light travel time, between these purely free-falling TMs, caused by gravitational waves. We have constructed a new torsion pendulum facility with a force sensitivity in the range of pN/Hz1/2 around 1 mHz for testing new gravitational reference sensor technologies. This experimental facility consists of a vacuum enclosed torsion pendulum that suspends mock-ups of the LISA test masses, surrounded by their electrode housings. With the aid of this facility, we are (a) developing a novel test mass charge control scheme based on ultraviolet LEDs, (b) examining alternate test mass and electrode housing coatings, and (c) evaluating alternate operational modes of the LISA gravitational reference sensor. This presentation will describe this facility and the development status of these new technologies.

Optical Fiber Demodulation System with High Performance for Assessing Fretting Damage of Steam Generator Tubes

PubMed Central

Huang, Peijian; Wang, Ning; Li, Junying; Zhu, Yong; Zhang, Jie; Xi, Zhide

2018-01-01

In order to access the fretting damage of the steam generator tube (SGT), a fast fiber Fabry-Perot (F-P) non-scanning correlation demodulation system based on a super luminescent light emitting diode (SLED) was performed. By demodulating the light signal coming out from the F-P force sensor, the radial collision force between the SGT and the tube support plate (TSP) was interrogated. For higher demodulation accuracy, the effects of the center wavelength, bandwidth, and spectrum noise of SLED were discussed in detail. Specially, a piezoelectric ceramic transducer (PZT) modulation method was developed to get rid of the interference of mode coupling induced by different types of fiber optics in the demodulation system. The reflectivity of optical wedge and F-P sensor was optimized. Finally, the demodulation system worked well in a 1:1 steam generator test loop and successfully demodulated a force signal of 32 N with a collision time of 2 ms. PMID:29329225

Design and performance test of a MEMS vibratory gyroscope with a novel AGC force rebalance control

NASA Astrophysics Data System (ADS)

Sung, Woon-Tahk; Sung, Sangkyung; Lee, Jang Gyu; Kang, Taesam

2007-10-01

In this paper, the development and performance test results of a laterally oscillating MEMS gyroscope using a novel force rebalance control strategy are presented. The micromachined structure and electrodes are fabricated using the deep reactive ion etching (DRIE) and anodic wafer bonding process. The high quality factor required for the resonance-based sensor is achieved using a vacuum-sealed device package. A systematic design approach of the force rebalance control is applied via a modified automatic gain control (AGC) method. The rebalance control design takes advantages of a novel AGC loop modification, which allows the approximation of the system's dynamics into a simple linear form. Using the proposed modification of AGC and the rebalance strategy that maintains a biased oscillation, a number of performance improvements including bandwidth extension and widened operating range were observed to be achieved. Finally, the experimental results of the gyroscope's practical application verify the feasibility and performance of the developed sensor.

Optical Fiber Demodulation System with High Performance for Assessing Fretting Damage of Steam Generator Tubes.

PubMed

Huang, Peijian; Wang, Ning; Li, Junying; Zhu, Yong; Zhang, Jie; Xi, Zhide

2018-01-12

In order to access the fretting damage of the steam generator tube (SGT), a fast fiber Fabry-Perot (F-P) non-scanning correlation demodulation system based on a super luminescent light emitting diode (SLED) was performed. By demodulating the light signal coming out from the F-P force sensor, the radial collision force between the SGT and the tube support plate (TSP) was interrogated. For higher demodulation accuracy, the effects of the center wavelength, bandwidth, and spectrum noise of SLED were discussed in detail. Specially, a piezoelectric ceramic transducer (PZT) modulation method was developed to get rid of the interference of mode coupling induced by different types of fiber optics in the demodulation system. The reflectivity of optical wedge and F-P sensor was optimized. Finally, the demodulation system worked well in a 1:1 steam generator test loop and successfully demodulated a force signal of 32 N with a collision time of 2 ms.

Slip detection with accelerometer and tactile sensors in a robotic hand model

NASA Astrophysics Data System (ADS)

Al-Shanoon, Abdulrahman Abdulkareem S.; Anom Ahmad, Siti; Hassan, Mohd. Khair b.

2015-11-01

Grasp planning is an interesting issue in studies that dedicated efforts to investigate tactile sensors. This study investigated the physical force interaction between a tactile pressure sensor and a particular object. It also characterized object slipping during gripping operations and presented secure regripping of an object. Acceleration force was analyzed using an accelerometer sensor to establish a completely autonomous robotic hand model. An automatic feedback control system was applied to regrip the particular object when it commences to slip. Empirical findings were presented in consideration of the detection and subsequent control of the slippage situation. These findings revealed the correlation between the distance of the object slipping and the required force to regrip the object safely. This approach is similar to Hooke's law formula.

An Arduino-Based Resonant Cradle Design with Infant Cries Recognition

PubMed Central

Chao, Chun-Tang; Wang, Chia-Wei; Chiou, Juing-Shian; Wang, Chi-Jo

2015-01-01

This paper proposes a resonant electric cradle design with infant cries recognition, employing an Arduino UNO as the core processor. For most commercially available electric cradles, the drive motor is closely combined with the bearing on the top, resulting in a lot of energy consumption. In this proposal, a ball bearing design was adopted and the driving force is under the cradle to increase the distance from the object to fulcrum and torque. The sensors are designed to detect the oscillation state, and then the force is driven at the critical time to achieve the maximum output response while saving energy according to the principle of resonance. As for the driving forces, the winding power and motors are carefully placed under the cradle. The sensors, including the three-axis accelerometer and infrared sensor, are tested and applied under swinging amplitude control. In addition, infant cry recognition technology was incorporated in the design to further develop its functionality, which is a rare feature in this kind of hardware. The proposed nonlinear operator of fundamental frequency (f0) analysis is able to identify different types of infant cries. In conclusion, this paper proposes an energy-saving electric cradle with infant cries recognition and the experimental results demonstrate the effectiveness of this approach. PMID:26247947

Application of Machine Learning Approaches for Classifying Sitting Posture Based on Force and Acceleration Sensors.

PubMed

Zemp, Roland; Tanadini, Matteo; Plüss, Stefan; Schnüriger, Karin; Singh, Navrag B; Taylor, William R; Lorenzetti, Silvio

2016-01-01

Occupational musculoskeletal disorders, particularly chronic low back pain (LBP), are ubiquitous due to prolonged static sitting or nonergonomic sitting positions. Therefore, the aim of this study was to develop an instrumented chair with force and acceleration sensors to determine the accuracy of automatically identifying the user's sitting position by applying five different machine learning methods (Support Vector Machines, Multinomial Regression, Boosting, Neural Networks, and Random Forest). Forty-one subjects were requested to sit four times in seven different prescribed sitting positions (total 1148 samples). Sixteen force sensor values and the backrest angle were used as the explanatory variables (features) for the classification. The different classification methods were compared by means of a Leave-One-Out cross-validation approach. The best performance was achieved using the Random Forest classification algorithm, producing a mean classification accuracy of 90.9% for subjects with which the algorithm was not familiar. The classification accuracy varied between 81% and 98% for the seven different sitting positions. The present study showed the possibility of accurately classifying different sitting positions by means of the introduced instrumented office chair combined with machine learning analyses. The use of such novel approaches for the accurate assessment of chair usage could offer insights into the relationships between sitting position, sitting behaviour, and the occurrence of musculoskeletal disorders.

System for Controlling the Stirring Pin of a Friction Stir Welding Apparatus

NASA Technical Reports Server (NTRS)

Ding, R. Jeffrey (Inventor); Romine, Peter L. (Inventor); Oelgoetz, Peter A. (Inventor)

2002-01-01

A control is provided for a friction stir welding apparatus comprising a pin tool which includes a shoulder and a rotating pin extending outwardly from the shoulder of the pin tool and which, in use, is plunged into a workpiece formed contacting workpiece members to stir weld the members together. The control system controls the penetration of the pin tool into the workpiece members which are mounted on a support anvil. The control system includes a pin length controller for controlling pin length relative to the shoulder and for producing a corresponding pin length signal. A pin force sensor senses the force being exerted on the pin during welding and produces a corresponding actual pin force signal. A probe controller controls a probe extending outwardly from the pin, senses a parameter related to the distance between the probe and the supporting anvil and produces a corresponding probe signal. A workpiece standoff sensor senses the standoff distance between the workpiece and the standoff sensor and produces a corresponding standoff signal. A control unit receives the various signals, together with a weld schedule, and, based on these signals and the weld schedule, controls the pin length controller so as to control pin penetration into the workpiece.

An Arduino-Based Resonant Cradle Design with Infant Cries Recognition.

PubMed

Chao, Chun-Tang; Wang, Chia-Wei; Chiou, Juing-Shian; Wang, Chi-Jo

2015-08-03

This paper proposes a resonant electric cradle design with infant cries recognition, employing an Arduino UNO as the core processor. For most commercially available electric cradles, the drive motor is closely combined with the bearing on the top, resulting in a lot of energy consumption. In this proposal, a ball bearing design was adopted and the driving force is under the cradle to increase the distance from the object to fulcrum and torque. The sensors are designed to detect the oscillation state, and then the force is driven at the critical time to achieve the maximum output response while saving energy according to the principle of resonance. As for the driving forces, the winding power and motors are carefully placed under the cradle. The sensors, including the three-axis accelerometer and infrared sensor, are tested and applied under swinging amplitude control. In addition, infant cry recognition technology was incorporated in the design to further develop its functionality, which is a rare feature in this kind of hardware. The proposed nonlinear operator of fundamental frequency (f0) analysis is able to identify different types of infant cries. In conclusion, this paper proposes an energy-saving electric cradle with infant cries recognition and the experimental results demonstrate the effectiveness of this approach.

A sensor fusion method for tracking vertical velocity and height based on inertial and barometric altimeter measurements.

PubMed

Sabatini, Angelo Maria; Genovese, Vincenzo

2014-07-24

A sensor fusion method was developed for vertical channel stabilization by fusing inertial measurements from an Inertial Measurement Unit (IMU) and pressure altitude measurements from a barometric altimeter integrated in the same device (baro-IMU). An Extended Kalman Filter (EKF) estimated the quaternion from the sensor frame to the navigation frame; the sensed specific force was rotated into the navigation frame and compensated for gravity, yielding the vertical linear acceleration; finally, a complementary filter driven by the vertical linear acceleration and the measured pressure altitude produced estimates of height and vertical velocity. A method was also developed to condition the measured pressure altitude using a whitening filter, which helped to remove the short-term correlation due to environment-dependent pressure changes from raw pressure altitude. The sensor fusion method was implemented to work on-line using data from a wireless baro-IMU and tested for the capability of tracking low-frequency small-amplitude vertical human-like motions that can be critical for stand-alone inertial sensor measurements. Validation tests were performed in different experimental conditions, namely no motion, free-fall motion, forced circular motion and squatting. Accurate on-line tracking of height and vertical velocity was achieved, giving confidence to the use of the sensor fusion method for tracking typical vertical human motions: velocity Root Mean Square Error (RMSE) was in the range 0.04-0.24 m/s; height RMSE was in the range 5-68 cm, with statistically significant performance gains when the whitening filter was used by the sensor fusion method to track relatively high-frequency vertical motions.

Nanocrystalline SnO2:F thin films for liquid petroleum gas sensors.

PubMed

Chaisitsak, Sutichai

2011-01-01

This paper reports the improvement in the sensing performance of nanocrystalline SnO(2)-based liquid petroleum gas (LPG) sensors by doping with fluorine (F). Un-doped and F-doped tin oxide films were prepared on glass substrates by the dip-coating technique using a layer-by-layer deposition cycle (alternating between dip-coating a thin layer followed by a drying in air after each new layer). The results showed that this technique is superior to the conventional technique for both improving the film thickness uniformity and film transparency. The effect of F concentration on the structural, surface morphological and LPG sensing properties of the SnO(2) films was investigated. Atomic Force Microscopy (AFM) and X-ray diffraction pattern measurements showed that the obtained thin films are nanocrystalline SnO(2) with nanoscale-textured surfaces. Gas sensing characteristics (sensor response and response/recovery time) of the SnO(2):F sensors based on a planar interdigital structure were investigated at different operating temperatures and at different LPG concentrations. The addition of fluorine to SnO(2) was found to be advantageous for efficient detection of LPG gases, e.g., F-doped sensors are more stable at a low operating temperature (300 °C) with higher sensor response and faster response/recovery time, compared to un-doped sensor materials. The sensors based on SnO(2):F films could detect LPG even at a low level of 25% LEL, showing the possibility of using this transparent material for LPG leak detection.

FD-CHIRP: hosted payload system engineering lessons

NASA Astrophysics Data System (ADS)

Schueler, Carl F.

2012-10-01

The Commercially Hosted Infrared Payload (CHIRP) Flight Demonstration (FD-CHIRP) launched 21 Sept 2011 was designated a "resounding success" as the first Wide Field-of-View (WFOV) staring infrared (IR) sensor flown in geostationary earth orbit (GEO) with a primary mission of Missile Warning (MW). FD-CHIRP was an Air Force research and development project initiated in July 2008 via an unsolicited industry proposal aimed to mature and reduce the risk of WFOV sensors and ground processing technologies. Unlike the Defense Support Program (DSP) and the Space Based Infrared System (SBIRS) which were acquired via traditional integrated sensor and satellite design, FDCHIRP was developed using the "commercially hosted" approach. The FD-CHIRP host spacecraft and sensor were independently designed, creating significant development risk to the industry proposer, especially under a Firm Fixed Price contract. Yet, within 39 months of contract initiation, FD-CHIRP was launched and successfully operated in GEO to 30 June 2012 at a total cost of 111M including the 82.9M CHIRP commercial-hosting contract and a $28M sensor upgrade. The commercial-hosting contract included sensor and spacecraft modifications, integration and test, design and development of secure Mission Operations and Analysis Centers, launch, and nearly a year of GEO operations with 70 Mbps secure data acquisition. The Air Force extended the contract for six months to continue operations through the end of calendar 2012. This paper outlines system engineering challenges FD-CHIRP overcame and key lessons to smooth development of future commercially hosted missions.

In vitro investigation of biomechanical changes of the hip after Salter pelvic osteotomy.

PubMed

Pfeifer, R; Hurschler, C; Ostermeier, S; Windhagen, H; Pressel, T

2008-03-01

Salter innominate osteotomy of the pelvis is widely used to improve the coverage of the femoral head in developmental dysplasia of the hip, but the biomechanical and geometric changes after this osteotomy are not well understood. A CT dataset of an 8-year-old child with severe dysplasia of both hips was used to create a polyamide model of the left hemipelvis and proximal femur. The hemipelvis was mounted to a holding device and the proximal femur attached to a sensor guided industrial robot. The robot was programmed to apply joint forces and torques based on single-leg stance. Two major muscles were represented by wires connected to hydraulic cylinders; muscle forces were adjusted to balance the joint moments. Resulting joint forces were measured using a pressure measuring sensor before and after Salter osteotomy of the hip. Geometric changes were recorded using a three-dimensional ultrasound measurement system. The preoperative hip joint resultant force was 583N (270% body weight), while after the operation a mean force of 266N (120% body weight) was measured. Postoperative muscle forces were roughly half the preoperative values. The hip joint was translated medially and caudally. Postoperatively, the length of gluteus medius and maximus muscles increased. The preoperative value of the resultant hip joint force is comparable to values reported in the literature. The results suggest that Salter innominate osteotomy leads to a reduction of hip joint and muscle forces in addition to increasing joint contact area.

Measurements of the contact force from myenteric contractions on a solid bolus.

PubMed

Terry, Benjamin S; Schoen, Jonathan A; Rentschler, Mark E

2013-03-01

The development of robotic capsule endoscopes (RCEs) is one avenue presently investigated by multiple research groups to minimize invasiveness and enhance outcomes of enteroscopic procedures. Understanding the biomechanical response of the small bowel to RCEs is needed for design optimization of these devices. In previous work, the authors developed, characterized, and tested the migrating motor complex force sensor (MFS), a novel sensor for quantifying the contact forces per unit of axial length exerted by the myenteron on a solid bolus. This work is a continuation, in which the MFS is used to quantify the contractile strength in the small intestine proximal, middle, and distal regions of five live porcine models. The MFSs are surgically implanted in a generally anesthetized animal, and force data from 5 min of dwell time are analyzed. The mean myenteric contact force from all porcine models and locations within the bowel is 1.9 ± 1.0 N cm(-1). Examining the results based on the small bowel region shows a statistically significant strengthening trend in the contractile force from proximal to middle to distal with mean forces of 1.2 ± 0.5, 1.9 ± 0.9, and 2.3 ± 1.0 N cm(-1), respectively (mean ± one standard deviation). Quantification of the contact force against a solid bolus provides developers of RCEs with a valuable, experimentally derived parameter of the intraluminal environment.

Two-axis direct fluid shear stress sensor

NASA Technical Reports Server (NTRS)

Bajikar, Sateesh (Inventor); Scott, Michael A. (Inventor); Adcock, Edward E. (Inventor)

2011-01-01

A micro sized multi-axis semiconductor skin friction/wall shear stress induced by fluid flow. The sensor design includes a shear/strain transduction gimble connected to a force collecting plate located at the flow boundary surface. The shear force collecting plate is interconnected by an arm to offset the tortional hinges from the fluid flow. The arm is connected to the shear force collecting plate through dual axis torsional hinges with piezoresistive torsional strain gauges. These gauges are disposed on the tortional hinges and provide a voltage output indicative of applied shear stress acting on the force collection plate proximate the flow boundary surface. Offsetting the torsional hinges creates a force concentration and resolution structure that enables the generation of a large stress on the strain gauge from small shear stress, or small displacement of the collecting plate. The design also isolates the torsional sensors from exposure to the fluid flow.

Localization Algorithm Based on a Spring Model (LASM) for Large Scale Wireless Sensor Networks.

PubMed

Chen, Wanming; Mei, Tao; Meng, Max Q-H; Liang, Huawei; Liu, Yumei; Li, Yangming; Li, Shuai

2008-03-15

A navigation method for a lunar rover based on large scale wireless sensornetworks is proposed. To obtain high navigation accuracy and large exploration area, highnode localization accuracy and large network scale are required. However, thecomputational and communication complexity and time consumption are greatly increasedwith the increase of the network scales. A localization algorithm based on a spring model(LASM) method is proposed to reduce the computational complexity, while maintainingthe localization accuracy in large scale sensor networks. The algorithm simulates thedynamics of physical spring system to estimate the positions of nodes. The sensor nodesare set as particles with masses and connected with neighbor nodes by virtual springs. Thevirtual springs will force the particles move to the original positions, the node positionscorrespondingly, from the randomly set positions. Therefore, a blind node position can bedetermined from the LASM algorithm by calculating the related forces with the neighbornodes. The computational and communication complexity are O(1) for each node, since thenumber of the neighbor nodes does not increase proportionally with the network scale size.Three patches are proposed to avoid local optimization, kick out bad nodes and deal withnode variation. Simulation results show that the computational and communicationcomplexity are almost constant despite of the increase of the network scale size. The time consumption has also been proven to remain almost constant since the calculation steps arealmost unrelated with the network scale size.

Laryngeal Force Sensor: Quantifying Extralaryngeal Complications after Suspension Microlaryngoscopy.

PubMed

Feng, Allen L; Song, Phillip C

2018-04-01

Objectives To develop a novel sensor capable of dynamically analyzing the force exerted during suspension microlaryngoscopy and to examine the relationship between force and postoperative tongue complications. Study Design Prospective observational study. Setting Academic tertiary care center. Methods The laryngeal force sensor is a designed for use during microphonosurgery. Prospectively enrolled patients completed pre- and postoperative surveys to assess the development of tongue-related symptoms (dysgeusia, pain, paresthesia, and paresis) or dysphagia (10-item Eating Assessment Tool [EAT-10]). To prevent operator bias, surgeons were blinded to the force recordings during surgery. Results Fifty-six patients completed the study. Of these, 20 (36%) developed postoperative tongue symptoms, and 12 (21%) had abnormal EAT-10 scores. The mean maximum force across all procedures was 164.7 N (95% CI, 141.0-188.4; range, 48.5-402.6), while the mean suspension time was 34.3 minutes (95% CI, 27.4-41.2; range, 7.1-108.1). Multiple logistic regression showed maximum force (odds ratio, 1.15; 95% CI, 1.02-1.29; P = .019) and female sex (30.1%; 95% CI, 22.7%-37.5%; P < .001) as significant predictors for the development of tongue-related symptoms. The only significant predictor of an abnormal postoperative EAT-10 score was an increased maximum force (odds ratio, 1.03; 95% CI, 1.00-1.06; P = .045). Conclusions The laryngeal force sensor is capable of providing dynamic force measurements throughout suspension microlaryngoscopy. An increase in maximum force during surgery may be a significant predictor for the development of tongue-related symptoms and an abnormal EAT-10 score. Female patients may also be at greater risk for developing postoperative tongue symptoms.

Sensor apparatus using an electrochemical cell

DOEpatents

Thakur, Mrinal

2003-07-01

A method for sensing mechanical quantities such as force, stress, strain, pressure and acceleration is disclosed. This technology is based on a change in the electrochemically generated voltage (electromotive force) with application of force, stress, strain, pressure or acceleration. The change in the voltage is due to a change in the internal resistance of the electrochemical cell with a change in the relative position or orientation of the electrodes (anode and cathode) in the cell. The signal to be detected (e.g. force, stress, strain, pressure or acceleration) is applied to one of the electrodes to cause a change in the relative position or orientation between the electrodes. Various materials, solid, semisolid, gel, paste or liquid can be utilized as the electrolyte. The electrolyte must be an ion conductor. The examples of solid electrolytes include specific polymer conductors, polymer composites, ion conducting glasses and ceramics. The electrodes are made of conductors such as metals with dissimilar electro negativities. Significantly enhanced sensitivities, up to three orders of magnitude higher than that of comparable commercial sensors, are obtained. The materials are substantially less expensive than commercially used materials for mechanical sensors. An apparatus for sensing such mechanical quantities using materials such as doped 1,4 cis-polyisopropene and nafion. The 1,4 cis-polyisopropene may be doped with lithium perchlorate or iodine. The output voltage signal increases with an increase of the sensing area for a given stress. The device can be used as an intruder alarm, among other applications.

A PC-Based Controller for Dextrous Arms

NASA Technical Reports Server (NTRS)

Fiorini, Paolo; Seraji, Homayoun; Long, Mark

1996-01-01

This paper describes the architecture and performance of a PC-based controller for 7-DOF dextrous manipulators. The computing platform is a 486-based personal computer equipped with a bus extender to access the robot Multibus controller, together with a single board computer as the graphical engine, and with a parallel I/O board to interface with a force-torque sensor mounted on the manipulator wrist.

Volume 3. Information Age Anthology: The Information Age Military

DTIC Science & Technology

2001-03-01

Science Applications International Corporation, 1996 “Information- Based Warfare and the PRC” by M. Ehsan Ahrari, appeared as an earlier version of...GSRT fused sensor data, tapped data bases , activated resources, and passed templated neurally collated information to each person in exactly the format...because IT binds together hitherto disparate social organizations, including the armed forces, into networks based on shared information and situational

Silicon force sensor

DOE Office of Scientific and Technical Information (OSTI.GOV)

Galambos, Paul C.; Crenshaw, Thomas B.; Nishida, Erik E.

The various technologies presented herein relate to a sensor for measurement of high forces and/or high load shock rate(s), whereby the sensor utilizes silicon as the sensing element. A plate of Si can have a thinned region formed therein on which can be formed a number of traces operating as a Wheatstone bridge. The brittle Si can be incorporated into a layered structure comprising ductile and/or compliant materials. The sensor can have a washer-like configuration which can be incorporated into a nut and bolt configuration, whereby tightening of the nut and bolt can facilitate application of a compressive preload uponmore » the sensor. Upon application of an impact load on the bolt, the compressive load on the sensor can be reduced (e.g., moves towards zero-load), however the magnitude of the preload can be such that the load on the sensor does not translate to tensile stress being applied to the sensor.« less

High-Rate Assembly of Nanomaterials on Insulating Surfaces Using Electro-Fluidic Directed Assembly.

PubMed

Yilmaz, Cihan; Sirman, Asli; Halder, Aditi; Busnaina, Ahmed

2017-08-22

Conductive or semiconducting nanomaterials-based applications such as electronics and sensors often require direct placement of such nanomaterials on insulating surfaces. Most fluidic-based directed assembly techniques on insulating surfaces utilize capillary force and evaporation but are diffusion limited and slow. Electrophoretic-based assembly, on the other hand, is fast but can only be utilized for assembly on a conductive surface. Here, we present a directed assembly technique that enables rapid assembly of nanomaterials on insulating surfaces. The approach leverages and combines fluidic and electrophoretic assembly by applying the electric field through an insulating surface via a conductive film underneath. The approach (called electro-fluidic) yields an assembly process that is 2 orders of magnitude faster compared to fluidic assembly. By understanding the forces on the assembly process, we have demonstrated the controlled assembly of various types of nanomaterials that are conducting, semiconducting, and insulating including nanoparticles and single-walled carbon nanotubes on insulating rigid and flexible substrates. The presented approach shows great promise for making practical devices in miniaturized sensors and flexible electronics.

Identification of Air Force Emerging Technologies and Militarily Significant Emerging Technologies.

DTIC Science & Technology

1985-08-31

taking an integrated approach to avionics and EU, the various sensors and receivers on the aircraft can time-share the use of common signal processors...functions mentioned above has required, in addition to a separate sensor or antenna, a totally independent electronics suite. Many of the advanced...Classification A3. IMAGING SENSOR AUTOPROCESSOR The Air Force has contracted with Rockwell International and Honeywell in this work. Rockwell’s work is

Sensor-based fine telemanipulation for space robotics

NASA Technical Reports Server (NTRS)

Andrenucci, M.; Bergamasco, M.; Dario, P.

1989-01-01

The control of a multifingered hand slave in order to accurately exert arbitrary forces and impart small movements to a grasped object is, at present, a knotty problem in teleoperation. Although a number of articulated robotic hands have been proposed in the recent past for dexterous manipulation in autonomous robots, the possible use of such hands as slaves in teleoperated manipulation is hindered by the present lack of sensors in those hands, and (even if those sensors were available) by the inherent difficulty of transmitting to the master operator the complex sensations elicited by such sensors at the slave level. An analysis of different problems related to sensor-based telemanipulation is presented. The general sensory systems requirements for dexterous slave manipulators are pointed out and the description of a practical sensory system set-up for the developed robotic system is presented. The problem of feeding back to the human master operator stimuli that can be interpreted by his central nervous system as originated during real dexterous manipulation is then considered. Finally, some preliminary work aimed at developing an instrumented glove designed purposely for commanding the master operation and incorporating Kevlar tendons and tension sensors, is discussed.

Developing a Low-Cost Force Treadmill via Dynamic Modeling.

PubMed

Hong, Chih-Yuan; Guo, Lan-Yuen; Song, Rong; Nagurka, Mark L; Sung, Jia-Li; Yen, Chen-Wen

2017-01-01

By incorporating force transducers into treadmills, force platform-instrumented treadmills (commonly called force treadmills) can collect large amounts of gait data and enable the ground reaction force (GRF) to be calculated. However, the high cost of force treadmills has limited their adoption. This paper proposes a low-cost force treadmill system with force sensors installed underneath a standard exercise treadmill. It identifies and compensates for the force transmission dynamics from the actual GRF applied on the treadmill track surface to the force transmitted to the force sensors underneath the treadmill body. This study also proposes a testing procedure to assess the GRF measurement accuracy of force treadmills. Using this procedure in estimating the GRF of "walk-on-the-spot motion," it was found that the total harmonic distortion of the tested force treadmill system was about 1.69%, demonstrating the effectiveness of the approach.

Design, analysis, and fabrication of a piezoelectric force plate

NASA Astrophysics Data System (ADS)

Hoummadi, Elias; Safaei, Mohsen; Anton, Steven R.

2017-04-01

Force plates are used to detect static and dynamic reaction forces due to presence of stationary or moving objects as well as the location of applied forces. The application of force plates in various biomechanical fields, such as gait analysis, has been widely suggested and investigated in the past. Several sensor technologies like piezoelectrics, capacitance gauges, and piezoresistive sensors are utilized to develop force plates with special characteristics. Among the technologies employed in force plate designs, piezoelectrics present the ability of providing a self-powered sensory system. Recently, it has been suggested to implement piezoelectric transducers as sensors in the tibial bearing of total knee replacement (TKR) implants in order to transform the knee bearing into a force plate with the ability to detect force and contact point location for in vivo knee load analysis. Considering this application, a simplified design of a force plate instrumented with six piezoelectric transducers is presented in this study. The force plate is modeled using a finite element (FE) model to investigate the sensing performance of the system. In order to validate the simulation, a prototype force plate is fabricated and tested under the same loading condition applied on the FE model. The results are presented in terms of measured location and amplitude of applied force measured by the piezoelectric transducers. For the FE simulation, the deviation of the measured location of the applied force from the actual location is obtained as 0.62 mm in the x-direction and 0.13 mm in the y-direction, and the error in the amplitude of the measured force is 0.03% of the applied force. On the other hand, the deviation in the measured location of the force from the experimental test is 0.53 mm in the x-direction and 0.1 mm in the y-direction, while the error in force is 3.6% of the applied force. The small quantities of error in both sensed location and amplitude of applied force obtained from the FE simulation and experimental test results demonstrates the potential of the proposed design to be utilized as the sensor in the knee bearing of TKR implants.

Estimating the transfer function of the cantilever in atomic force microscopy: A system identification approach

NASA Astrophysics Data System (ADS)

Stark, Martin; Guckenberger, Reinhard; Stemmer, Andreas; Stark, Robert W.

2005-12-01

Dynamic atomic force microscopy (AFM) offers many opportunities for the characterization and manipulation of matter on the nanometer scale with a high temporal resolution. The analysis of time-dependent forces is basic for a deeper understanding of phenomena such as friction, plastic deformation, and surface wetting. However, the dynamic characteristics of the force sensor used for such investigations are determined by various factors such as material and geometry of the cantilever, detection alignment, and the transfer characteristics of the detector. Thus, for a quantitative investigation of surface properties by dynamic AFM an appropriate system identification procedure is required, characterizing the force sensor beyond the usual parameters spring constant, quality factor, and detection sensitivity. Measurement of the transfer function provides such a characterization that fully accounts for the dynamic properties of the force sensor. Here, we demonstrate the estimation of the transfer function in a bandwidth of 1MHz from experimental data. To this end, we analyze the signal of the vibrations induced by snap-to-contact and snap-off-contact events. For the free cantilever, we determine both a parameter-free estimate [empirical transfer function estimate (ETFE)] and a parametric estimate of the transfer function. For the surface-coupled cantilever the ETFE is obtained. These identification procedures provide an intrinsic calibration as they dispense largely with a priori knowledge about the force sensor.

Tibiofemoral forces for the native and post-arthroplasty knee: relationship to maximal laxity through a functional arc of motion.

PubMed

Manning, William A; Ghosh, Kanishka; Blain, Alasdair; Longstaff, Lee; Deehan, David John

2017-06-01

Accurate soft tissue balance must be achieved to improve functional outcome after total knee arthroplasty (TKA). Sensor-integrated tibial trials have been introduced that allow real-time measurement of tibiofemoral kinematics during TKA. This study examined the interplay between tibiofemoral force and laxity, under defined intraoperative conditions, so as to quantify the kinematic behaviour of the CR femoral single-radius knee. TKA was undertaken in eight loaded cadaveric specimens. Computer navigation in combination with sensor data defined laxity and tibiofemoral contact force, respectively, during manual laxity testing. Fixed-effect linear modelling allowed quantification of the effect for flexion angle, direction of movement and TKA implantation upon the knee. An inverse relationship between laxity and contact force was demonstrated. With flexion, laxity increased as contact force decreased under manual stress. Change in laxity was significant beyond 30° for coronal plane laxity and beyond 60° for rotatory laxity (p < 0.01). Rotational stress in mid-flexion demonstrated the greatest mismatch in inter-compartmental forces. Contact point position over the tibial sensor demonstrated paradoxical roll-forward with knee flexion. Traditional balancing techniques may not reliably equate to uniform laxity or contact forces across the tibiofemoral joint through a range of flexion and argue for the role of per-operative sensor use to aid final balancing of the knee.

Application of historical mobility testing to sensor-based robotic performance

NASA Astrophysics Data System (ADS)

Willoughby, William E.; Jones, Randolph A.; Mason, George L.; Shoop, Sally A.; Lever, James H.

2006-05-01

The USA Engineer Research and Development Center (ERDC) has conducted on-/off-road experimental field testing with full-sized and scale-model military vehicles for more than fifty years. Some 4000 acres of local terrain are available for tailored field evaluations or verification/validation of future robotic designs in a variety of climatic regimes. Field testing and data collection procedures, as well as techniques for quantifying terrain in engineering terms, have been developed and refined into algorithms and models for predicting vehicle-terrain interactions and resulting forces or speeds of military-sized vehicles. Based on recent experiments with Matilda, Talon, and Pacbot, these predictive capabilities appear to be relevant to most robotic systems currently in development. Utilization of current testing capabilities with sensor-based vehicle drivers, or use of the procedures for terrain quantification from sensor data, would immediately apply some fifty years of historical knowledge to the development, refinement, and implementation of future robotic systems. Additionally, translation of sensor-collected terrain data into engineering terms would allow assessment of robotic performance a priori deployment of the actual system and ensure maximum system performance in the theater of operation.

An indentation depth-force sensing wheeled probe for abnormality identification during minimally invasive surgery.

PubMed

Liu, H; Puangmali, P; Zbyszewski, D; Elhage, O; Dasgupta, P; Dai, J S; Seneviratne, L; Althoefer, K

2010-01-01

This paper presents a novel wheeled probe for the purpose of aiding a surgeon in soft tissue abnormality identification during minimally invasive surgery (MIS), compensating the loss of haptic feedback commonly associated with MIS. Initially, a prototype for validating the concept was developed. The wheeled probe consists of an indentation depth sensor employing an optic fibre sensing scheme and a force/torque sensor. The two sensors work in unison, allowing the wheeled probe to measure the tool-tissue interaction force and the rolling indentation depth concurrently. The indentation depth sensor was developed and initially tested on a homogenous silicone phantom representing a good model for a soft tissue organ; the results show that the sensor can accurately measure the indentation depths occurring while performing rolling indentation, and has good repeatability. To validate the ability of the wheeled probe to identify abnormalities located in the tissue, the device was tested on a silicone phantom containing embedded hard nodules. The experimental data demonstrate that recording the tissue reaction force as well as rolling indentation depth signals during rolling indentation, the wheeled probe can rapidly identify the distribution of tissue stiffness and cause the embedded hard nodules to be accurately located.

Compliant Tactile Sensors

NASA Technical Reports Server (NTRS)

Torres-Jara, Eduardo R.

2011-01-01

Tactile sensors are currently being designed to sense interactions with human hands or pen-like interfaces. They are generally embedded in screens, keyboards, mousepads, and pushbuttons. However, they are not well fitted to sense interactions with all kinds of objects. A novel sensor was originally designed to investigate robotics manipulation where not only the contact with an object needs to be detected, but also where the object needs to be held and manipulated. This tactile sensor has been designed with features that allow it to sense a large variety of objects in human environments. The sensor is capable of detecting forces coming from any direction. As a result, this sensor delivers a force vector with three components. In contrast to most of the tactile sensors that are flat, this one sticks out from the surface so that it is likely to come in contact with objects. The sensor conforms to the object with which it interacts. This augments the contact's surface, consequently reducing the stress applied to the object. This feature makes the sensor ideal for grabbing objects and other applications that require compliance with objects. The operational range of the sensor allows it to operate well with objects found in peoples' daily life. The fabrication of this sensor is simple and inexpensive because of its compact mechanical configuration and reduced electronics. These features are convenient for mass production of individual sensors as well as dense arrays. The biologically inspired tactile sensor is sensitive to both normal and lateral forces, providing better feedback to the host robot about the object to be grabbed. It has a high sensitivity, enabling its use in manipulation fingers, which typically have low mechanical impedance in order to be very compliant. The construction of the sensor is simple, using inexpensive technologies like silicon rubber molding and standard stock electronics.

Intraoperative Comparison of Measured Resection and Gap Balancing Using a Force Sensor: A Prospective, Randomized Controlled Trial.

PubMed

Cidambi, Krishna R; Robertson, Nicholas; Borges, Camille; Nassif, Nader A; Barnett, Steven L

2018-07-01

For establishing femoral component position, gap-balancing (GB) and measured resection (MR) techniques were compared using a force sensor. Ninety-one patients were randomized to undergo primary total knee arthroplasty using either MR (n = 43) or GB (n = 48) technique using a single total knee arthroplasty design. GB was performed with an instrumented tensioner. Force sensor data were obtained before the final implantation. GB resulted in greater range of femoral component rotation vs MR (1.5° ± 2.9° vs 3.1° ± 0.5°, P < .05) and posterior condylar cut thickness medially (10.2 ± 2.0 mm vs 9.0 ± 1.3 mm) and laterally (8.5 ± 1.9 mm vs 6.4 ± 1.0 mm). Force sensor data showed a decreased intercompartmental force difference at full flexion in GB (.8 ± 2.3 vs 2.0 ± 3.3u, 1u ≈ 15 N, P < .05). GB resulted in a greater range of femoral component rotation and thicker posterior condylar cuts resulting in an increased flexion space relative to MR. Intercompartmental force difference trended toward a more uniform distribution between full extension and full flexion in the GB vs MR group. Copyright © 2018 Elsevier Inc. All rights reserved.

Carbon nanotube thin film strain sensor models assembled using nano- and micro-scale imaging

NASA Astrophysics Data System (ADS)

Lee, Bo Mi; Loh, Kenneth J.; Yang, Yuan-Sen

2017-07-01

Nanomaterial-based thin films, particularly those based on carbon nanotubes (CNT), have brought forth tremendous opportunities for designing next-generation strain sensors. However, their strain sensing properties can vary depending on fabrication method, post-processing treatment, and types of CNTs and polymers employed. The objective of this study was to derive a CNT-based thin film strain sensor model using inputs from nano-/micro-scale experimental measurements of nanotube physical properties. This study began with fabricating ultra-low-concentration CNT-polymer thin films, followed by imaging them using atomic force microscopy. Image processing was employed for characterizing CNT dispersed shapes, lengths, and other physical attributes, and results were used for building five different types of thin film percolation-based models. Numerical simulations were conducted to assess how the morphology of dispersed CNTs in its 2D matrix affected bulk film electrical and electromechanical (strain sensing) properties. The simulation results showed that CNT morphology had a significant impact on strain sensing performance.

SOA approach to battle command: simulation interoperability

NASA Astrophysics Data System (ADS)

Mayott, Gregory; Self, Mid; Miller, Gordon J.; McDonnell, Joseph S.

2010-04-01

NVESD is developing a Sensor Data and Management Services (SDMS) Service Oriented Architecture (SOA) that provides an innovative approach to achieve seamless application functionality across simulation and battle command systems. In 2010, CERDEC will conduct a SDMS Battle Command demonstration that will highlight the SDMS SOA capability to couple simulation applications to existing Battle Command systems. The demonstration will leverage RDECOM MATREX simulation tools and TRADOC Maneuver Support Battle Laboratory Virtual Base Defense Operations Center facilities. The battle command systems are those specific to the operation of a base defense operations center in support of force protection missions. The SDMS SOA consists of four components that will be discussed. An Asset Management Service (AMS) will automatically discover the existence, state, and interface definition required to interact with a named asset (sensor or a sensor platform, a process such as level-1 fusion, or an interface to a sensor or other network endpoint). A Streaming Video Service (SVS) will automatically discover the existence, state, and interfaces required to interact with a named video stream, and abstract the consumers of the video stream from the originating device. A Task Manager Service (TMS) will be used to automatically discover the existence of a named mission task, and will interpret, translate and transmit a mission command for the blue force unit(s) described in a mission order. JC3IEDM data objects, and software development kit (SDK), will be utilized as the basic data object definition for implemented web services.

Dynamic potential and surface morphology study of sertraline membrane sensors

PubMed Central

Khater, M.M.; Issa, Y.M.; Hassib, H.B.; Mohammed, S.H.

2014-01-01

New rapid, sensitive and simple electrometric method was developed to determine sertraline hydrochloride (Ser-Cl) in its pure raw material and pharmaceutical formulations. Membrane sensors based on heteropolyacids as ion associating material were prepared. Silicomolybdic acid (SMA), silicotungstic acid (STA) and phosphomolybdic acid (PMA) were used. The slope and limit of detection are 50.00, 60.00 and 53.24 mV/decade and 2.51, 5.62 and 4.85 μmol L−1 for Ser-ST, Ser-PM and Ser-SM membrane sensors, respectively. Linear range is 0.01–10.00 for the three sensors. These new sensors were used for the potentiometric titration of Ser-Cl using sodium tetraphenylborate as titrant. The surface morphologies of the prepared membranes with and without the modifier (ion-associate) were studied using scanning and atomic force microscopes. PMID:26257944

Unsteady flow sensing and optimal sensor placement using machine learning

NASA Astrophysics Data System (ADS)

Semaan, Richard

2016-11-01

Machine learning is used to estimate the flow state and to determine the optimal sensor placement over a two-dimensional (2D) airfoil equipped with a Coanda actuator. The analysis is based on flow field data obtained from 2D unsteady Reynolds averaged Navier-Stokes (uRANS) simulations with different jet blowing intensities and actuation frequencies, characterizing different flow separation states. This study shows how the "random forests" algorithm is utilized beyond its typical usage in fluid mechanics estimating the flow state to determine the optimal sensor placement. The results are compared against the current de-facto standard of maximum modal amplitude location and against a brute force approach that scans all possible sensor combinations. The results show that it is possible to simultaneously infer the state of flow and to determine the optimal sensor location without the need to perform proper orthogonal decomposition. Collaborative Research Center (CRC) 880, DFG.

Incorporating signal-dependent noise for hyperspectral target detection

NASA Astrophysics Data System (ADS)

Morman, Christopher J.; Meola, Joseph

2015-05-01

The majority of hyperspectral target detection algorithms are developed from statistical data models employing stationary background statistics or white Gaussian noise models. Stationary background models are inaccurate as a result of two separate physical processes. First, varying background classes often exist in the imagery that possess different clutter statistics. Many algorithms can account for this variability through the use of subspaces or clustering techniques. The second physical process, which is often ignored, is a signal-dependent sensor noise term. For photon counting sensors that are often used in hyperspectral imaging systems, sensor noise increases as the measured signal level increases as a result of Poisson random processes. This work investigates the impact of this sensor noise on target detection performance. A linear noise model is developed describing sensor noise variance as a linear function of signal level. The linear noise model is then incorporated for detection of targets using data collected at Wright Patterson Air Force Base.

The Use of Force Sensors and a Computer System to Introduce the Concept of Inertia at a School

ERIC Educational Resources Information Center

Bogacz, Bogdan F.; Pedziwiatr, Antoni T.

2014-01-01

A classical experiment used to introduce the concept of body inertia, breaking of a thread below and above a hanging weight, is described mathematically and presented in a new way, using force sensors and a computer system.

Development of a mobile sensor for robust assessment of river bed grain forces

NASA Astrophysics Data System (ADS)

Maniatis, G.; Hoey, T.; Sventek, J.; Hodge, R. A.

2013-12-01

The forces experienced by sediment grains at entrainment and during transport, and those exerted on river beds, are significant for the development of river systems and landscape evolution. The assessment of local grain forces has been approached using two different methodologies. The first approach uses static impact sensors at points or cross-sections to measure velocity and/or acceleration. A second approach uses mobile natural or artificial 'smart' pebbles instrumented with inertia micro-sensors for directly measuring the local forces experienced by individual grains. The two approaches have yielded significantly different magnitudes of impact forces. Static sensors (piezoelectric plates connected to accelerometers) temporally smooth the impacts from several grains and infrequently detect the higher forces (up to ×100g) generated by direct single-grain impacts. The second method is currently unable to record the full range of impacts in real rivers due to the low measurement range of the deployed inertia sensors (×3g). Laboratory applications have required only low-range accelerometers, so excluding the magnitude of natural impacts from the design criteria. Here we present the first results from the development of a mobile sensor, designed for the purpose of measuring local grain-forces in a natural riverbed. We present two sets of measurements. The first group presents the calibration of a wide range micro-accelerometer from a set of vertical drop experiments (gravitational acceleration) and further experiments on a shaking table moving with pre-defined acceleration. The second group of measurements are from incipient motion experiments performed in a 9m x0.9m flume (slope 0.001 to 0.018) under steadily increasing discharge. Initially the spherical sensor grain was placed on an artificial surface of hemispheres of identical diameter to the sensor (111mm). Incipient motion was assessed under both whole and half-diameter exposure for each slope. Subsequently, the sensor was placed on a bed of natural gravel of equivalent mean diameter under low slope conditions (0.001). Incipient motion was monitored over a fully covered stable bed and over a partially covered bed developed over an artificial surface constructed to simulate a natural bedrock surface. Statistical analysis of the results describes the relationship between flow conditions and pre-entrainment grain vibration and the acceleration threshold for incipient motion. Finally we perform a preliminary analysis to assess the degree of dependency of the same threshold on the different degrees of alluvial coverage of a river bed and so illustrate the potential to evaluate existing models describing grain entrainment and transport.

Evaluation of Flexible Force Sensors for Pressure Monitoring in Treatment of Chronic Venous Disorders.

PubMed

Parmar, Suresh; Khodasevych, Iryna; Troynikov, Olga

2017-08-21

The recent use of graduated compression therapy for treatment of chronic venous disorders such as leg ulcers and oedema has led to considerable research interest in flexible and low-cost force sensors. Properly applied low pressure during compression therapy can substantially improve the treatment of chronic venous disorders. However, achievement of the recommended low pressure levels and its accurate determination in real-life conditions is still a challenge. Several thin and flexible force sensors, which can also function as pressure sensors, are commercially available, but their real-life sensing performance has not been evaluated. Moreover, no researchers have reported information on sensor performance during static and dynamic loading within the realistic test conditions required for compression therapy. This research investigated the sensing performance of five low-cost commercial pressure sensors on a human-leg-like test apparatus and presents quantitative results on the accuracy and drift behaviour of these sensors in both static and dynamic conditions required for compression therapy. Extensive experimental work on this new human-leg-like test setup demonstrated its utility for evaluating the sensors. Results showed variation in static and dynamic sensing performance, including accuracy and drift characteristics. Only one commercially available pressure sensor was found to reliably deliver accuracy of 95% and above for all three test pressure points of 30, 50 and 70 mmHg.

Evaluation of Flexible Force Sensors for Pressure Monitoring in Treatment of Chronic Venous Disorders

PubMed Central

Parmar, Suresh; Khodasevych, Iryna; Troynikov, Olga

2017-01-01

The recent use of graduated compression therapy for treatment of chronic venous disorders such as leg ulcers and oedema has led to considerable research interest in flexible and low-cost force sensors. Properly applied low pressure during compression therapy can substantially improve the treatment of chronic venous disorders. However, achievement of the recommended low pressure levels and its accurate determination in real-life conditions is still a challenge. Several thin and flexible force sensors, which can also function as pressure sensors, are commercially available, but their real-life sensing performance has not been evaluated. Moreover, no researchers have reported information on sensor performance during static and dynamic loading within the realistic test conditions required for compression therapy. This research investigated the sensing performance of five low-cost commercial pressure sensors on a human-leg-like test apparatus and presents quantitative results on the accuracy and drift behaviour of these sensors in both static and dynamic conditions required for compression therapy. Extensive experimental work on this new human-leg-like test setup demonstrated its utility for evaluating the sensors. Results showed variation in static and dynamic sensing performance, including accuracy and drift characteristics. Only one commercially available pressure sensor was found to reliably deliver accuracy of 95% and above for all three test pressure points of 30, 50 and 70 mmHg. PMID:28825672

Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter

PubMed Central

Nogami, Hirofumi; Higurashi, Eiji; Sawada, Renshi

2018-01-01

The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (μ-LDV) and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces—such as metal, paper, film, and so on—thus suggesting the potential application of LDV as a slip sensor for grasping various objects. However, the use of LDV as a slip sensor has not yet been reported because the size of LDVs is too large to be installed on a robotic fingertip. We have solved the size problem and enabled the performance of a feasibility test with a few-millimeter-scale LDV referred to as micro-LDV (μ-LDV) by modifying the design which was adopted from MEMS (microelectromechanical systems) fabrication process. In this paper, by applying our developed μ-LDV as a slip sensor, we have successfully demonstrated grasping force control with three target objects—aluminum block, wood block, and white acrylic block—considering that various objects made of these materials can be found in homes and factories, without grasping force feedback. We provide proofs that LDV is a new promising candidate slip sensor for grasping force control to execute target grasping. PMID:29360799

A Two-Axis Direct Fluid Shear Stress Sensor

NASA Technical Reports Server (NTRS)

Adcock, Edward E.; Scott, Michael A.; Bajikar, Sateesh S.

2010-01-01

This innovation is a miniature or micro sized semiconductor sensor design that provides two axis direct non-intrusive measurement of skin friction or wall shear stress in fluid flow. The sensor is fabricated by micro-electro-mechanical system (MEMS) technology, enabling small size and low cost reproductions. The sensors have been fabricated by utilizing MEMS fabrication processes to bond a sensing element wafer to a fluid coupling wafer. This layering technique provides for an out of plane dimension that is on the same order of length as the inplane dimensions. The sensor design has the following characteristics: a shear force collecting plate with dimensions that can be tailored to various application specific requirements such as spatial resolution, temporal resolution and shear force range and resolution. This plate is located coplanar to both the sensor body and flow boundary, and is connected to a dual axis gimbal structure by a connecting column or lever arm. The dual axis gimbal structure has torsional hinges with embedded piezoresistive torsional strain gauges which provide a voltage output that is correlated to the applied shear stress (and excitation current) on force collection plate that is located on the flow boundary surface (hence the transduction method). This combination of design elements create a force concentration and resolution structure that enables the generation of a large stress on the strain gauge from the small shear stress on the flow boundary wall. This design as well as the use of back side electrical contacts establishes a non-intrusive method to quantitatively measure the shear force vector on aerodynamic bodies.

Deflation-activated receptors, not classical inflation-activated receptors, mediate the Hering-Breuer deflation reflex.

PubMed

Yu, Jerry

2016-11-01

Many airway sensory units respond to both lung inflation and deflation. Whether those responses to opposite stimuli come from one sensor (one-sensor theory) or more than one sensor (multiple-sensor theory) is debatable. One-sensor theory is commonly presumed in the literature. This article proposes a multiple-sensor theory in which a sensory unit contains different sensors for sensing different forces. Two major types of mechanical sensors operate in the lung: inflation- and deflation-activated receptors (DARs). Inflation-activated sensors can be further divided into slowly adapting receptors (SARs) and rapidly adapting receptors (RARs). Many SAR and RAR units also respond to lung deflation because they contain DARs. Pure DARs, which respond to lung deflation only, are rare in large animals but are easily identified in small animals. Lung deflation-induced reflex effects previously attributed to RARs should be assigned to DARs (including pure DARs and DARs associated with SARs and RARs) if the multiple-sensor theory is accepted. Thus, based on the information, it is proposed that activation of DARs can attenuate lung deflation, shorten expiratory time, increase respiratory rate, evoke inspiration, and cause airway secretion and dyspnea.

Mesh-type acoustic vector sensor

NASA Astrophysics Data System (ADS)

Zalalutdinov, M. K.; Photiadis, D. M.; Szymczak, W. G.; McMahon, J. W.; Bucaro, J. A.; Houston, B. H.

2017-07-01

Motivated by the predictions of a theoretical model developed to describe the acoustic flow force exerted on closely spaced nano-fibers in a viscous medium, we have demonstrated a novel concept for a particle velocity-based directional acoustic sensor. The central element of the concept exploits the acoustically induced normal displacement of a fine mesh as a measure of the collinear projection of the particle velocity in the sound wave. The key observations are (i) the acoustically induced flow force on an individual fiber within the mesh is nearly independent of the fiber diameter and (ii) the mesh-flow interaction can be well-described theoretically by a nearest neighbor coupling approximation. Scaling arguments based on these two observations indicate that the refinement of the mesh down to the nanoscale leads to significant improvements in performance. The combination of the two dimensional nature of the mesh together with the nanoscale dimensions provides a dramatic gain in the total length of fiber exposed to the flow, leading to a sensitivity enhancement by orders of magnitude. We describe the fabrication of a prototype mesh sensor equipped with optical readout. Preliminary measurements carried out over a considerable bandwidth together with the results of numerical simulations are in good agreement with the theory, thus providing a proof of concept.

A New Proxy Measurement Algorithm with Application to the Estimation of Vertical Ground Reaction Forces Using Wearable Sensors

PubMed Central

Billings, Stephen A.; Pavic, Aleksandar; Guo, Ling-Zhong

2017-01-01

Measurement of the ground reaction forces (GRF) during walking is typically limited to laboratory settings, and only short observations using wearable pressure insoles have been reported so far. In this study, a new proxy measurement method is proposed to estimate the vertical component of the GRF (vGRF) from wearable accelerometer signals. The accelerations are used as the proxy variable. An orthogonal forward regression algorithm (OFR) is employed to identify the dynamic relationships between the proxy variables and the measured vGRF using pressure-sensing insoles. The obtained model, which represents the connection between the proxy variable and the vGRF, is then used to predict the latter. The results have been validated using pressure insoles data collected from nine healthy individuals under two outdoor walking tasks in non-laboratory settings. The results show that the vGRFs can be reconstructed with high accuracy (with an average prediction error of less than 5.0%) using only one wearable sensor mounted at the waist (L5, fifth lumbar vertebra). Proxy measures with different sensor positions are also discussed. Results show that the waist acceleration-based proxy measurement is more stable with less inter-task and inter-subject variability than the proxy measures based on forehead level accelerations. The proposed proxy measure provides a promising low-cost method for monitoring ground reaction forces in real-life settings and introduces a novel generic approach for replacing the direct determination of difficult to measure variables in many applications. PMID:28937593

Optical sensors based on the NiPc-CoPc composite films deposited by drop casting and under the action of centrifugal force

NASA Astrophysics Data System (ADS)

Fatima, Noshin; Ahmed, Muhammad M.; Karimov, Khasan S.; Ahmad, Zubair; Fariq Muhammad, Fahmi

2017-06-01

In this study, solution processed composite films of nickel phthalocyanine (NiPc) and cobalt phthalocyanine (CoPc) are deposited by drop casting and under centrifugal force. The films are deposited on surface-type inter-digitated silver electrodes on ceramic alumina substrates. The effects of illumination on the impedance and capacitance of the NiPc-CoPc composite samples are investigated. The samples deposited under centrifugal force show better conductivity than the samples deposited by drop casting technique. In terms of impedance and capacitance sensitivities the samples fabricated under centrifugal force are more sensitive than the drop casting samples. The values of impedance sensitivity ({S}z) are equal to (-1.83) {{M}}{{Ω }}\\cdot {{cm}}2/{mW} and (-5.365){{M}}{{Ω }}\\cdot {{cm}}2/{mW} for the samples fabricated using drop casting and under centrifugal force, respectively. Similarly, the values of capacitance sensitivity ({S}{{c}}) are equal to 0.083 {pF}\\cdot {{cm}}2/{mW} and 0.185 {pF}\\cdot {{cm}}2/{mW} for the samples fabricated by drop casting and under centrifugal force. The films deposited using the different procedures could potentially be viable for different operational modes (i.e., conductive or capacitive) of the optical sensors. Both experimental and simulated results are discussed. Project supported by the Center for Advanced Materials (CAM), Qatar University, Qatar.

Sensor Prototype to Evaluate the Contact Force in Measuring with Coordinate Measuring Arms

PubMed Central

Cuesta, Eduardo; Telenti, Alejandro; Patiño, Hector; González-Madruga, Daniel; Martínez-Pellitero, Susana

2015-01-01

This paper describes the design, development and evaluation tests of an integrated force sensor prototype for portable Coordinate Measuring Arms (CMAs or AACMMs). The development is based on the use of strain gauges located on the surface of the CMAs’ hard probe. The strain gauges as well as their cables and connectors have been protected with a custom case, made by Additive Manufacturing techniques (Polyjet 3D). The same method has been selected to manufacture an ergonomic handle that includes trigger mechanics and the electronic components required for synchronizing the trigger signal when probing occurs. The paper also describes the monitoring software that reads the signals in real time, the calibration procedure of the prototype and the validation tests oriented towards increasing knowledge of the forces employed in manual probing. Several experiments read and record the force in real time comparing different ways of probing (discontinuous and continuous contact) and measuring different types of geometric features, from single planes to exterior cylinders, cones, or spheres, through interior features. The probing force is separated into two components allowing the influence of these strategies in probe deformation to be known. The final goal of this research is to improve the probing technique, for example by using an operator training programme, allowing extra-force peaks and bad contacts to be minimized or just to avoid bad measurements. PMID:26057038

A temperature compensated fibre Bragg grating (FBG)-based sensor system for condition monitoring of electrified railway pantograph

NASA Astrophysics Data System (ADS)

Chen, Ye; Vidakovic, Miodrag; Fabian, Matthias; Swift, Martin; Brun, Lee; Sun, Tong; Grattan, Kenneth T. V.

2017-04-01

This paper presents the results obtained from fibre Bragg grating (FBG) sensors integrated into a railway current-collecting pantograph for accurate measurement of contact force and contact location when it is subjected to various temperature conditions. The temperature change of the pantograph is simulated, at the industrial laboratory of Brecknell Willis in the UK, by changing the DC current applied to pantograph from 0 to 1500 A. This test is primarily designed to verify the effectiveness of the temperature compensation mechanism built in the FBG sensor design. For this verification, 3 thermocouples co-located with the FBG sensor packages are used to measure the temperature change seen from 25 °C to 55 °C. The tests were repeated several times and the sensor system has shown its temperatureindependence, confirming that the intrinsic cross-sensitivity of FBGs to temperature variation for strain measurement has been fully compensated through the use of this innovative sensor design and data processing.

Optimal Deployment of Sensor Nodes Based on Performance Surface of Underwater Acoustic Communication

PubMed Central

Choi, Jee Woong

2017-01-01

The underwater acoustic sensor network (UWASN) is a system that exchanges data between numerous sensor nodes deployed in the sea. The UWASN uses an underwater acoustic communication technique to exchange data. Therefore, it is important to design a robust system that will function even in severely fluctuating underwater communication conditions, along with variations in the ocean environment. In this paper, a new algorithm to find the optimal deployment positions of underwater sensor nodes is proposed. The algorithm uses the communication performance surface, which is a map showing the underwater acoustic communication performance of a targeted area. A virtual force-particle swarm optimization algorithm is then used as an optimization technique to find the optimal deployment positions of the sensor nodes, using the performance surface information to estimate the communication radii of the sensor nodes in each generation. The algorithm is evaluated by comparing simulation results between two different seasons (summer and winter) for an area located off the eastern coast of Korea as the selected targeted area. PMID:29053569

Development of a Tri-Axial Cutting Force Sensor for the Milling Process

PubMed Central

Li, Yingxue; Zhao, Yulong; Fei, Jiyou; Zhao, You; Li, Xiuyuan; Gao, Yunxiang

2016-01-01

This paper presents a three-component fixed dynamometer based on a strain gauge, which reduces output errors produced by the cutting force imposed on different milling positions of the workpiece. A reformative structure of tri-layer cross beams is proposed, sensitive areas were selected, and corresponding measuring circuits were arranged to decrease the inaccuracy brought about by positional variation. To simulate the situation with a milling cutter moving on the workpiece and validate the function of reducing the output errors when the milling position changes, both static calibration and dynamic milling tests were implemented on different parts of the workpiece. Static experiment results indicate that with standard loads imposed, the maximal deviation between the measured forces and the standard inputs is 4.87%. The results of the dynamic milling test illustrate that with identical machining parameters, the differences in output variation between the developed sensor and standard dynamometer are no larger than 6.61%. Both static and dynamic experimental results demonstrate that the developed dynamometer is suitable for measuring milling force imposed on different positions of the workpiece, which shows potential applicability in machining a monitoring system. PMID:27007374

Development and control of a magnetorheological haptic device for robot assisted surgery.

PubMed

Shokrollahi, Elnaz; Goldenberg, Andrew A; Drake, James M; Eastwood, Kyle W; Kang, Matthew

2017-07-01

A prototype magnetorheological (MR) fluid-based actuator has been designed for tele-robotic surgical applications. This device is capable of generating forces up to 47 N, with input currents ranging from 0 to 1.5 A. We begin by outlining the physical design of the device, and then discuss a novel nonlinear model of the device's behavior. The model was developed using the Hammerstein-Wiener (H-W) nonlinear black-box technique and is intended to accurately capture the hysteresis behavior of the MR-fluid. Several experiments were conducted on the device to collect estimation and validation datasets to construct the model and assess its performance. Different estimating functions were used to construct the model, and their effectiveness is assessed based on goodness-of-fit and final-prediction-error measurements. A sigmoid network was found to have a goodness-of-fit of 95%. The model estimate was then used to tune a PID controller. Two control schemes were proposed to eliminate the hysteresis behavior present in the MR fluid device. One method uses a traditional force feedback control loop and the other is based on measuring the magnetic field using a Hall-effect sensor embedded within the device. The Hall-effect sensor scheme was found to be superior in terms of cost, simplicity and real-time control performance compared to the force control strategy.

Advanced Space-Based Detector Research at the Air Force Research Laboratory (PREPRINT)

DTIC Science & Technology

2006-10-01

purposes. The dark backgrounds place very stringent requirements on the noise characteristics of the sensor system, resulting in FPAs that must be cooled...2.1. Quantum interference Quantum well infrared photodetectors ( QWIPs ) are based on intersubband absorption in III–V semiconductor multi-quantum well...Although considerable progress has been made in QWIPs , their relatively low quantum efficiencies constitute their greatest problem for space-based

A New Sensor for Measurement of Dynamic Contact Stress in the Hip

PubMed Central

Rudert, M. J.; Ellis, B. J.; Henak, C. R.; Stroud, N. J.; Pederson, D. R.; Weiss, J. A.; Brown, T. D.

2014-01-01

Various techniques exist for quantifying articular contact stress distributions, an important class of measurements in the field of orthopaedic biomechanics. In situations where the need for dynamic recording has been paramount, the approach of preference has involved thin-sheet multiplexed grid-array transducers. To date, these sensors have been used to study contact stresses in the knee, shoulder, ankle, wrist, and spinal facet joints. Until now, however, no such sensor had been available for the human hip joint due to difficulties posed by the deep, bi-curvilinear geometry of the acetabulum. We report here the design and development of a novel sensor capable of measuring dynamic contact stress in human cadaveric hip joints (maximum contact stress of 20 MPa and maximum sampling rate 100 readings/s). Particular emphasis is placed on issues concerning calibration, and on the effect of joint curvature on the sensor's performance. The active pressure-sensing regions of the sensors have the shape of a segment of an annulus with a 150-deg circumferential span, and employ a polar/circumferential “ring-and-spoke” sensel grid layout. There are two sensor sizes, having outside radii of 44 and 48 mm, respectively. The new design was evaluated in human cadaver hip joints using two methods. The stress magnitudes and spatial distribution measured by the sensor were compared to contact stresses measured by pressure sensitive film during static loading conditions that simulated heel strike during walking and stair climbing. Additionally, the forces obtained by spatial integration of the sensor contact stresses were compared to the forces measured by load cells during the static simulations and for loading applied by a dynamic hip simulator. Stress magnitudes and spatial distribution patterns obtained from the sensor versus from pressure sensitive film exhibited good agreement. The joint forces obtained during both static and dynamic loading were within ±10% and ±26%, respectively, of the forces measured by the load cells. These results provide confidence in the measurements obtained by the sensor. The new sensor's real-time output and dynamic measurement capabilities hold significant advantages over static measurements from pressure sensitive film. PMID:24763632

A new sensor for measurement of dynamic contact stress in the hip.

PubMed

Rudert, M J; Ellis, B J; Henak, C R; Stroud, N J; Pederson, D R; Weiss, J A; Brown, T D

2014-03-01

Various techniques exist for quantifying articular contact stress distributions, an important class of measurements in the field of orthopaedic biomechanics. In situations where the need for dynamic recording has been paramount, the approach of preference has involved thin-sheet multiplexed grid-array transducers. To date, these sensors have been used to study contact stresses in the knee, shoulder, ankle, wrist, and spinal facet joints. Until now, however, no such sensor had been available for the human hip joint due to difficulties posed by the deep, bi-curvilinear geometry of the acetabulum. We report here the design and development of a novel sensor capable of measuring dynamic contact stress in human cadaveric hip joints (maximum contact stress of 20 MPa and maximum sampling rate 100 readings/s). Particular emphasis is placed on issues concerning calibration, and on the effect of joint curvature on the sensor's performance. The active pressure-sensing regions of the sensors have the shape of a segment of an annulus with a 150-deg circumferential span, and employ a polar/circumferential "ring-and-spoke" sensel grid layout. There are two sensor sizes, having outside radii of 44 and 48 mm, respectively. The new design was evaluated in human cadaver hip joints using two methods. The stress magnitudes and spatial distribution measured by the sensor were compared to contact stresses measured by pressure sensitive film during static loading conditions that simulated heel strike during walking and stair climbing. Additionally, the forces obtained by spatial integration of the sensor contact stresses were compared to the forces measured by load cells during the static simulations and for loading applied by a dynamic hip simulator. Stress magnitudes and spatial distribution patterns obtained from the sensor versus from pressure sensitive film exhibited good agreement. The joint forces obtained during both static and dynamic loading were within ±10% and ±26%, respectively, of the forces measured by the load cells. These results provide confidence in the measurements obtained by the sensor. The new sensor's real-time output and dynamic measurement capabilities hold significant advantages over static measurements from pressure sensitive film.