Fig 11 - uploaded by Robert G Radwin
Content may be subject to copyright.
Source publication
This paper presents a silicon-based force sensor packaged in a flexible package and describes the sensors performance on human subjects. The sensing element consists of a circular silicon diaphragm (200-micron thick with a 2-mm radius) over a 10-micron sealed cavity with a solid Torlon dome providing force-to-pressure transduction to the diaphragm....
Similar publications
During a grasping movement, the maximum grip aperture (MGA) is almost linearly scaled to the dimension of the target along which it is grasped. There is still a surprising uncertainty concerning the influence of the other target dimensions on the MGA. We asked healthy participants to grasp cuboids always along the object's width with their thumb an...
OBJECTIVE: To prospectively evaluate the results from a series of patients who underwent surgical treatment for rhizarthrosis using the technique of trapezium resection associated with interposition of yarn from the long abductor tendon of the thumb. METHODS: From May to August 2005, ten patients underwent surgical treatment for rhizarthrosis. Pati...
Dexterous manipulation relies on modulation of digit forces as a function of digit placement. However, little is known about the sense of position of the vertical distance between finger pads relative to each other. We quantified subjects' ability to match perceived vertical distance between the thumb and index finger pads (dy ) of the right hand (...
Two types of information are used when grasping objects: spatial and featural information. Spatial information refers to cues about the object’s dimensions such as size of contact surface relative to the subject’s body position; whilst featural information refers to the object’s visual appearance such as its perceived shape. Previous research has m...
In previous investigations of the control of grasp stability, humans manipulated test objects with flat grasp surfaces. The surfaces of most objects that we handle in everyday activities, however, are curved. In the present study, we examined the influence of surface curvature on the fingertip forces used when humans lifted and held objects of vari...
Citations
... The concept of a wearable tactile force sensor was published in [5]. The wearable device consisted of a single piezo-resistive tactile sensor wrapped around the fingertip. ...
Skill transfer from humans to robots is challenging. Presently, many researchers focus on capturing only position or joint angle data from humans to teach the robots. Even though this approach has yielded impressive results for grasping applications, reconstructing motion for object handling or fine manipulation from a human hand to a robot hand has been sparsely explored. Humans use tactile feedback to adjust their motion to various objects, but capturing and reproducing the applied forces is an open research question. In this paper we introduce a wearable fingertip tactile sensor, which captures the distributed 3-axis force vectors on the fingertip. The fingertip tactile sensor is interchangeable between the human hand and the robot hand, meaning that it can also be assembled to fit on a robot hand such as the Allegro hand. This paper presents the structural aspects of the sensor as well as the methodology and approach used to design, manufacture, and calibrate the sensor. The sensor is able to measure forces accurately with a mean absolute error of 0.21, 0.16, and 0.44 Newtons in X, Y, and Z directions, respectively.
... These pads have often been placed in gloves to monitor hand manipulation. While some of them are bulky and inevitably deteriorate the human haptic sense, recently, several researches are focused on reducing this problem by using thinner and more flexible force-sensing pads [3]. In this study, we use a similar tactile sensor array with high spatio-temporal resolution. ...
We present ElectroAR, a visual and tactile sharing system for hand skills training. This system comprises a head-mounted display (HMD), two cameras, a tactile sensing glove, and an electro-tactile stimulation glove. The trainee wears the tactile sensing glove that gets pressure data from touching different objects. His/her movements are recorded by two cameras, which are located in front and top side of the workspace. In the remote site, the trainer wears the electro-tactile stimulation glove. This glove transforms the remotely collected pressure data to electro-tactile stimuli. Additionally, the trainer wears an HMD to see and guide the movements of the trainee. The key part of this project is to combine distributed tactile sensor and electro-tactile display to let the trainer understand what the trainee is doing. Results show our system supports a higher user’s recognition performance.
... These pads have often been placed in gloves to monitor hand manipulation. While some of them are bulky and inevitably deteriorate the human haptic sense, recently, several researches are focused on reducing this problem by using thinner and more flexible force-sensing pads [3]. In this study, we use a similar tactile sensor array with high spatio-temporal resolution. ...
We present ElectroAR, a visual and tactile sharing system for hand skills training. This system comprises a head-mounted display (HMD), two cameras, tactile sensing glove, and electro-stimulation glove. The trainee wears a tactile sensing glove that gets pressure data from touching different objects. His movements are recorded by two cameras, which are located in front and top side of the workspace. In the remote site, the trainer wears the electro-tactile stimulation glove. This glove transforms the remotely collected pressure data to electro-tactile stimuli. Additionally, the trainer wears an HMD to see and guide the movements of the trainee. The key part of this project is to combine distributed tactile sensor and electro-tactile display to let the trainer understand what the trainee is doing. Results show our system supports a higher user recognition performance.
... Nowadays, sensors are utilized ubiquitously for different day-to-day applications, including in health [1,2], domestic [3,4], and industrial [5,6] settings. After the introduction of semiconducting sensors around two decades ago [7,8], silicon sensors became highly popular due to their high sensitivity and low-contact resistances. Nonetheless, there were certain disadvantages with these, such as their high fabrication cost, high input power, and low robustness, which led researchers to seek alternative options. ...
This paper provides a substantial review of some of the significant research done on the fabrication and implementation of laser-assisted printed flexible sensors. In recent times, using laser cutting to develop printed flexible sensors has become a popular technique due to advantages such as the low cost of production, easy sample preparation, the ability to process a range of raw materials, and its usability for different functionalities. Different kinds of laser cutters are now available that work on samples very precisely via the available laser parameters. Thus, laser-cutting techniques provide huge scope for the development of prototypes with a varied range of sizes and dimensions. Meanwhile, researchers have been constantly working on the types of materials that can be processed, individually or in conjugation with one another, to form samples for laser-ablation. Some of the laser-printed techniques that are commonly considered for fabricating flexible sensors, which are discussed in this paper, include nanocomposite-based, laser-ablated, and 3D-printing. The developed sensors have been used for a range of applications, such as electrochemical and strain-sensing purposes. The challenges faced by the current printed flexible sensors, along with a market survey, are also outlined in this paper.
... However, the invented device cannot measure the actuating force more than the certain value due to the limited rotation of the fulcrum of handbrake lever. To overcome this limitation, a silicon-based force sensor in a flexible package for finger-mounted applications can be used [21]. Alternatively, a new type of tactile sensor using pressure-conductive rubber with stitched electrical wires can be applied at the handbrake lever because it is thin and flexible and can cover object geometry [22]. ...
The paper aims at identifying handbrake control behavior of young Thai volunteer riders by focusing on small underbone-type of motorcycle using a newly developed force measuring device. The device has been invented to measure the handbrake force using the potentiometer through the fulcrum of hand control lever. Through calibration with the discrete static loads, the relation between the rotational hand control lever and the handbrake force has been determined. This technique is applicable for both hydraulic or cable handbrake systems. It has been employed to measure each rider’s handbrake force against both handbrake levers during brake application. Our sample included thirty volunteers and a professional rider. We conducted the tests based on transportation standard regulation of the United Nations Economic Commission for Europe (UNECE) regulation No. 78, under speed of 40 km/hr. Three types of handbrake patterns have been identified from these tests. Consequently, the force response characteristics from hydraulic and cable systems in motorcycle are notably different. The number of rider’s finger actuation and various patterns applied at the hand brake levers have been revealed to improve the brake skill from young motorcyclists.
... The semi-conductive sensors are widely used for different applications ranging from industrial [6], environmental [7][8][9] and health monitoring [10] due to their easy operating principle, robustness, adaptability, and low-resistance contacts. The silicon sensors have been used constantly on a wide range of biomedical applications [11][12][13][14] due the ability to form devices with high sensitivity, long linear range and low limit of detection. Electrochemical biosensors are widely used as the components of portable lab-on-a-chip devices, which is one kind of the Point-of-Care (PoC) devices. ...
This paper represents the design, fabrication, and implementation of an Internet of Things (IoT)-based electrochemical microfluidic system for free calcium concentration detection with a 3D printing technique. Free calcium solutions with desired concentrations between 0 and 40 µM can be obtained. The solutions were used to calibrate the system by using an impedance analyzer for monitoring the impedance change to determine the operating frequency. Continuously, an IoT enabled point of care device was used for real-time detection and to send signals to the cloud for sharing. The relationship between the concentration and reactance are y = − 1.3812 Lgx + 0.9809 at a wavelength of 450 Hz, with an R2 of 0.9719. We measured the calcium concentration changing from 39.8 µM to 1.35 µM (nearly real-time) by the PoC device and showed the concentration changes resulting with time on the cell phone app. The results depicted in this paper provide a strong platform for the precise and real-time monitoring of different biomedical samples.
... The idea of a wearable tactile force sensor has been realized by [5]. A one axis piezo-resistive tactile sensor is wrapped around the fingertip. ...
Human training data can scaffold robot imitation learning. However, most datagloves only record joint angles, but for many tasks, force control is more important. They also cover the human skin, thereby making a natural interaction of the human with the object impossible. This letter suggests a wearable sensor that can measure the three-axis force vector exerted at the fingertip, without covering the skin that contacts the object. Using two small-sized Hall effect based three-axis sensors mounted on the sides of the fingertips, the finger pad deformation resulting from the force vector acting on the fingertip is measured. Experiments with ten subjects show that the force vectors can be measured with reasonable precision. Furthermore, the influence of the Earth's magnetic field and the finger's orientation on the finger tactile sensor's measurement has been reduced from
$\pm 4N$
to
$\pm 1N$
.
... A haptic feedback system consists of several components. First, the prosthetic fingers can be fitted with sensors to provide tactile information to amputees (Beebe et al., 1998;Tanaka et al., 2007). The sensors' signals are then converted to voltage levels and input to the haptic device, which applies feedback to a healthy area of the user's skin (e.g., back of the neck, upper arm). ...
This paper investigates the effectiveness of three types of haptic feedback: normal stress, tangential force, and vibrotactile stimulation. Modern prosthetic limbs currently available on the market do not provide a wide range of sensory information to amputees, forcing amputees to mainly rely on visual attention when manipulating objects. We aim to develop a haptic system that can convey information to the central nervous system (CNS) through haptic feedback. To this end, we aim to find out which type of feedback performs best under static conditions, so that it can be used to restore a sense of grasping force to amputees. We tested the three main stimulation methods by inputting a series of five force magnitudes to each haptic device, so that the device applied the corresponding feedback to the participants’ finger pads. The participants then pressed on a force sensor, with the goal of applying the same level of force to a force sensor as they believed the haptic device had initially conveyed to them via their finger pads. While the subjects pressed on the force sensor, the haptic device applied a level of feedback to their forearms that corresponded to the pressure they were applying to the sensor. These tests provided fifteen numerical data per subject and a total of 180 trials for all twelve subjects. The end results indicate that even though all the stimulation methods provided a sufficient level of feedback, normal stress seems more effective than either tangential force or vibrotactile stimulation, at conveying the sense of pressure to the finger pad.
... In this work, we chose to upgrade hexapod robot's feet with piezoelectric sensors (Fig. 1). Unlike silicon-based sensors that are relatively small and brake in case of an overload (Beebe et al. 1998), piezoelectric sensors are of needed size and can withstand high pressure. ...
Rough terrain is one of the major issues for transporting various objects to different remote locations. Wheeled platforms or robots are not suitable for such tasks due to a lack of ground clearance. Walking robots, despite their slower speed, can be successfully used as transportation platforms that can overcome the environment. However, leg placing requires accurate supervision and the force sensing system must be developed on each foot to acquire equal force distribution between legs and to obtain stable motion over the irregular surface. In this paper, we investigate the improvement of the hexapod robot's feet by upgrading them with piezoelectric force sensors. By monitoring force dependence on transferred legs, we establish the most suitable hexapod gait for moving over the even surface.
... Epoxy dome showed a significant hysteresis, therefore Torlon has been preferred. The sensor output is linear for force values lower than 10 N. In 1998, the same sensor was mounted onto the thumb of five volunteers, to investigate the sensor's performances in a realistic scenario [60]. ...
Starting from the early research in the 1960s, especially in the last two decades, orthoses and exoskeletons have been significantly developed. They are designed in different architectures to assist their users’ movements. The research literature has been more prolific on lower-limb devices: a main reason is that they address a basic but fundamental motion task, walking. Leg exoskeletons are simpler to design, compared to upper-limb counterparts, but still have particular cognitive and physical requirements from the emerging human–robot interaction systems. In the state of the art, different control strategies and approaches can be easily found: it is still a challenge to develop an assistive strategy which makes the exoskeleton supply efficient and natural assistance. So, this paper aims to provide a systematic overview of the assistive strategies utilized by active locomotion–augmentation orthoses and exoskeletons. Based on the literature collected from Web of Science and Scopus, we have studied the main robotic devices with a focus on the way they are controlled to deliver assistance; the relevant validations are as well investigated, in particular experimentations with human in the loop. Finally current trends and major challenges in the development of an assistive strategy are concluded and discussed.
