Hybrid fabrication process of additive manufacturing and direct writing for a 4 X 4 mm matrix flexible tactile sensor

Energy Technology Data Exchange (ETDEWEB)

Woo, Sang Gu; Lee, In Hwan [Chungbuk National University, Chungju (Korea, Republic of); Lee, Kyong Chang [Pukyong National University, Busan (Korea, Republic of)

2015-09-15

Various machines require data from their external environments for safety and/or accuracy. In this respect, many sensors that mimic the human sensory system have been investigated. Among these, tactile sensors may be useful for obtaining data on the roughness of, and external forces acting upon, an object. Several tactile sensors have been developed; however, these are typically fabricated via a series of complex processes, and hence are unsuitable for volume manufacturing. In this paper, we report a fabrication process for a 4 X 4 mm matrix flexible sensor element using layered manufacturing and direct-write technology. A composite composed of photocurable resin and Multi-walled carbon nanotubes (MWCNTs) was used as the sensing material. The MWCNTs were mixed with the photocurable resin using ultrasonic dispersion, and the liquid mixture exhibited excellent piezoresistive properties following curing using ultraviolet light. The used photocurable resin is flexible and elastic after curing. Therefore, the composite material can be bent and deformed. To use this composite material with the flexible sensor, dispensing characteristics were examined using direct-write technology. For the acquisition of sensor data, a commercial pin-header was inserted and photocurable resin was filled up to the height of pin-header and cured . Then, the composite material was dispensed onto the pin-header as a sensing material. Using this process, a flexible sensor with piezoresistive properties was formed.

Hybrid fabrication process of additive manufacturing and direct writing for a 4 X 4 mm matrix flexible tactile sensor

International Nuclear Information System (INIS)

Woo, Sang Gu; Lee, In Hwan; Lee, Kyong Chang

2015-01-01

Various machines require data from their external environments for safety and/or accuracy. In this respect, many sensors that mimic the human sensory system have been investigated. Among these, tactile sensors may be useful for obtaining data on the roughness of, and external forces acting upon, an object. Several tactile sensors have been developed; however, these are typically fabricated via a series of complex processes, and hence are unsuitable for volume manufacturing. In this paper, we report a fabrication process for a 4 X 4 mm matrix flexible sensor element using layered manufacturing and direct-write technology. A composite composed of photocurable resin and Multi-walled carbon nanotubes (MWCNTs) was used as the sensing material. The MWCNTs were mixed with the photocurable resin using ultrasonic dispersion, and the liquid mixture exhibited excellent piezoresistive properties following curing using ultraviolet light. The used photocurable resin is flexible and elastic after curing. Therefore, the composite material can be bent and deformed. To use this composite material with the flexible sensor, dispensing characteristics were examined using direct-write technology. For the acquisition of sensor data, a commercial pin-header was inserted and photocurable resin was filled up to the height of pin-header and cured . Then, the composite material was dispensed onto the pin-header as a sensing material. Using this process, a flexible sensor with piezoresistive properties was formed.

Review of Recent Inkjet-Printed Capacitive Tactile Sensors

Directory of Open Access Journals (Sweden)

Ahmed Salim

2017-11-01

Full Text Available Inkjet printing is an advanced printing technology that has been used to develop conducting layers, interconnects and other features on a variety of substrates. It is an additive manufacturing process that offers cost-effective, lightweight designs and simplifies the fabrication process with little effort. There is hardly sufficient research on tactile sensors and inkjet printing. Advancements in materials science and inkjet printing greatly facilitate the realization of sophisticated tactile sensors. Starting from the concept of capacitive sensing, a brief comparison of printing techniques, the essential requirements of inkjet-printing and the attractive features of state-of-the art inkjet-printed tactile sensors developed on diverse substrates (paper, polymer, glass and textile are presented in this comprehensive review. Recent trends in inkjet-printed wearable/flexible and foldable tactile sensors are evaluated, paving the way for future research.

Development of a Tactile Sensor Array

DEFF Research Database (Denmark)

Marian, Nicolae; Drimus, Alin; Bilberg, Arne

2010-01-01

Flexible grasping robots are needed for enabling automated, profitable and competitive production of small batch sizes including complex handling processes of often fragile objects. This development will create new conditions for value-adding activities in the production of the future world....... The paper describes the related research work we have developed for sensor design, exploration and control for a robot gripping system, in order to analyze normal forces applied on the tactile pixels for gripping force control and generate tactile images for gripping positioning and object recognition....... Section 1 gives an introduction of principles and technologies in tactile sensing for robot grippers. Section 2 presents the sensor cell (taxel) and array design and characterization. Section 3 introduces object recognition and shape analysis ideas showing a few preliminary examples, where geometrical...

Classification of rigid and deformable objects using a novel tactile sensor

DEFF Research Database (Denmark)

Drimus, Alin; Kootstra, Gert; Bilberg, Arne

2011-01-01

. A real time acquisition system scans the data from the array which is then further processed. We validate the properties of the sensor in an application that classifies a number of household objects while performing a palpation procedure with a robotic gripper. Based on the haptic feedback, we classify......In this paper, we present a novel array tactile sensor for use in robotic grippers based on a flexible piezoresistive rubber. We start by describing the physical principles of piezoresistive materials and continue by outlining how to build a flexible array tactile sensor using stitch electrodes...... the results with the ones obtained from an experimental setup that uses a Weiss Robotics tactile sensor with similar characteristics and we conclude by exemplifying how the results of the classification can be used in different industrial applications....

Vertically stacked nanocellulose tactile sensor.

Science.gov (United States)

Jung, Minhyun; Kim, Kyungkwan; Kim, Bumjin; Lee, Kwang-Jae; Kang, Jae-Wook; Jeon, Sanghun

2017-11-16

Paper-based electronic devices are attracting considerable attention, because the paper platform has unique attributes such as flexibility and eco-friendliness. Here we report on what is claimed to be the firstly fully integrated vertically-stacked nanocellulose-based tactile sensor, which is capable of simultaneously sensing temperature and pressure. The pressure and temperature sensors are operated using different principles and are stacked vertically, thereby minimizing the interference effect. For the pressure sensor, which utilizes the piezoresistance principle under pressure, the conducting electrode was inkjet printed on the TEMPO-oxidized-nanocellulose patterned with micro-sized pyramids, and the counter electrode was placed on the nanocellulose film. The pressure sensor has a high sensitivity over a wide range (500 Pa-3 kPa) and a high durability of 10 4 loading/unloading cycles. The temperature sensor combines various materials such as poly(3,4-ethylenedioxythiophene)-poly(styrenesulfonate) (PEDOT:PSS), silver nanoparticles (AgNPs) and carbon nanotubes (CNTs) to form a thermocouple on the upper nanocellulose layer. The thermoelectric-based temperature sensors generate a thermoelectric voltage output of 1.7 mV for a temperature difference of 125 K. Our 5 × 5 tactile sensor arrays show a fast response, negligible interference, and durable sensing performance.

Compliant Tactile Sensors

Science.gov (United States)

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.

A Magnetoresistive Tactile Sensor for Harsh Environment Applications

KAUST Repository

Alfadhel, Ahmed; Khan, Mohammed Zahed Mustafa; Cardoso, Susana; Leitao, Diana; Kosel, Jü rgen

2016-01-01

A magnetoresistive tactile sensor is reported, which is capable of working in high temperatures up to 140 °C. Hair-like bioinspired structures, known as cilia, made out of permanent magnetic nanocomposite material on top of spin-valve giant magnetoresistive (GMR) sensors are used for tactile sensing at high temperatures. The magnetic nanocomposite, consisting of iron nanowires incorporated into the polymer polydimethylsiloxane (PDMS), is very flexible, biocompatible, has high remanence, and is also resilient to antagonistic sensing ambient. When the cilia come in contact with a surface, they deflect in compliance with the surface topology. This yields a change of the GMR sensor signal, enabling the detection of extremely fine features. The spin-valve is covered with a passivation layer, which enables adequate performance in spite of harsh environmental conditions, as demonstrated in this paper for high temperature.

A Magnetoresistive Tactile Sensor for Harsh Environment Applications

KAUST Repository

Alfadhel, Ahmed

2016-05-07

A magnetoresistive tactile sensor is reported, which is capable of working in high temperatures up to 140 °C. Hair-like bioinspired structures, known as cilia, made out of permanent magnetic nanocomposite material on top of spin-valve giant magnetoresistive (GMR) sensors are used for tactile sensing at high temperatures. The magnetic nanocomposite, consisting of iron nanowires incorporated into the polymer polydimethylsiloxane (PDMS), is very flexible, biocompatible, has high remanence, and is also resilient to antagonistic sensing ambient. When the cilia come in contact with a surface, they deflect in compliance with the surface topology. This yields a change of the GMR sensor signal, enabling the detection of extremely fine features. The spin-valve is covered with a passivation layer, which enables adequate performance in spite of harsh environmental conditions, as demonstrated in this paper for high temperature.

A Magnetoresistive Tactile Sensor for Harsh Environment Applications

Directory of Open Access Journals (Sweden)

Ahmed Alfadhel

2016-05-01

Full Text Available A magnetoresistive tactile sensor is reported, which is capable of working in high temperatures up to 140 °C. Hair-like bioinspired structures, known as cilia, made out of permanent magnetic nanocomposite material on top of spin-valve giant magnetoresistive (GMR sensors are used for tactile sensing at high temperatures. The magnetic nanocomposite, consisting of iron nanowires incorporated into the polymer polydimethylsiloxane (PDMS, is very flexible, biocompatible, has high remanence, and is also resilient to antagonistic sensing ambient. When the cilia come in contact with a surface, they deflect in compliance with the surface topology. This yields a change of the GMR sensor signal, enabling the detection of extremely fine features. The spin-valve is covered with a passivation layer, which enables adequate performance in spite of harsh environmental conditions, as demonstrated in this paper for high temperature.

Recent Progress in Technologies for Tactile Sensors

Science.gov (United States)

Sun, Xuguang; Xue, Ning; Li, Tong; Liu, Chang

2018-01-01

Over the last two decades, considerable scientific and technological efforts have been devoted to developing tactile sensing based on a variety of transducing mechanisms, with prospective applications in many fields such as human–machine interaction, intelligent robot tactile control and feedback, and tactile sensorized minimally invasive surgery. This paper starts with an introduction of human tactile systems, followed by a presentation of the basic demands of tactile sensors. State-of-the-art tactile sensors are reviewed in terms of their diverse sensing mechanisms, design consideration, and material selection. Subsequently, typical performances of the sensors, along with their advantages and disadvantages, are compared and analyzed. Two major potential applications of tactile sensing systems are discussed in detail. Lastly, we propose prospective research directions and market trends of tactile sensing systems. PMID:29565835

Novel Tactile Sensor Technology and Smart Tactile Sensing Systems: A Review.

Science.gov (United States)

Zou, Liang; Ge, Chang; Wang, Z Jane; Cretu, Edmond; Li, Xiaoou

2017-11-17

During the last decades, smart tactile sensing systems based on different sensing techniques have been developed due to their high potential in industry and biomedical engineering. However, smart tactile sensing technologies and systems are still in their infancy, as many technological and system issues remain unresolved and require strong interdisciplinary efforts to address them. This paper provides an overview of smart tactile sensing systems, with a focus on signal processing technologies used to interpret the measured information from tactile sensors and/or sensors for other sensory modalities. The tactile sensing transduction and principles, fabrication and structures are also discussed with their merits and demerits. Finally, the challenges that tactile sensing technology needs to overcome are highlighted.

Novel Tactile Sensor Technology and Smart Tactile Sensing Systems: A Review

Directory of Open Access Journals (Sweden)

Liang Zou

2017-11-01

Full Text Available During the last decades, smart tactile sensing systems based on different sensing techniques have been developed due to their high potential in industry and biomedical engineering. However, smart tactile sensing technologies and systems are still in their infancy, as many technological and system issues remain unresolved and require strong interdisciplinary efforts to address them. This paper provides an overview of smart tactile sensing systems, with a focus on signal processing technologies used to interpret the measured information from tactile sensors and/or sensors for other sensory modalities. The tactile sensing transduction and principles, fabrication and structures are also discussed with their merits and demerits. Finally, the challenges that tactile sensing technology needs to overcome are highlighted.

Self-powered, ultra-sensitive, flexible tactile sensors based on contact electrification

Science.gov (United States)

Wang, Zhong Lin; Zhu, Guang

2018-03-20

A tactile sensor for sensing touch from a human finger includes a triboelectric layer and includes a material that becomes electrically charged after being in contact with the finger. The first side of a first conductive layer is in contact with the second side of triboelectric layer. The first side of a dielectric layer is in contact with the first conductive layer and the second side of the dielectric layer is in contact with a second conductive layer. When the triboelectric layer becomes electrically charged after being in contact with the finger, the first conductive layer and the second conductive layer are subjected to an electric field, which has a first field strength at the first conductive layer and a second field strength, different from the first field strength, at the second conductive layer. A plurality of tactile sensors can be arranged as a keyboard.

A Tactile Sensor Network System Using a Multiple Sensor Platform with a Dedicated CMOS-LSI for Robot Applications.

Science.gov (United States)

Shao, Chenzhong; Tanaka, Shuji; Nakayama, Takahiro; Hata, Yoshiyuki; Bartley, Travis; Nonomura, Yutaka; Muroyama, Masanori

2017-08-28

Robot tactile sensation can enhance human-robot communication in terms of safety, reliability and accuracy. The final goal of our project is to widely cover a robot body with a large number of tactile sensors, which has significant advantages such as accurate object recognition, high sensitivity and high redundancy. In this study, we developed a multi-sensor system with dedicated Complementary Metal-Oxide-Semiconductor (CMOS) Large-Scale Integration (LSI) circuit chips (referred to as "sensor platform LSI") as a framework of a serial bus-based tactile sensor network system. The sensor platform LSI supports three types of sensors: an on-chip temperature sensor, off-chip capacitive and resistive tactile sensors, and communicates with a relay node via a bus line. The multi-sensor system was first constructed on a printed circuit board to evaluate basic functions of the sensor platform LSI, such as capacitance-to-digital and resistance-to-digital conversion. Then, two kinds of external sensors, nine sensors in total, were connected to two sensor platform LSIs, and temperature, capacitive and resistive sensing data were acquired simultaneously. Moreover, we fabricated flexible printed circuit cables to demonstrate the multi-sensor system with 15 sensor platform LSIs operating simultaneously, which showed a more realistic implementation in robots. In conclusion, the multi-sensor system with up to 15 sensor platform LSIs on a bus line supporting temperature, capacitive and resistive sensing was successfully demonstrated.

High-Speed Tactile Sensing for Array-Type Tactile Sensor and Object Manipulation Based on Tactile Information

Directory of Open Access Journals (Sweden)

Wataru Fukui

2011-01-01

Full Text Available We have developed a universal robot hand with tactile and other sensors. An array-type tactile sensor is crucial for dexterous manipulation of objects using a robotic hand, since this sensor can measure the pressure distribution on finger pads. The sensor has a very high resolution, and the shape of a grasped object can be classified by using this sensor. The more the number of measurement points provided, the higher the accuracy of the classification, but with a corresponding lengthening of the measurement cycle. In this paper, the problem of slow response time is resolved by using software for an array-type tactile sensor with high resolution that emulates the human sensor system. The validity of the proposed method is demonstrated through experiments.

A Tactile Sensor Network System Using a Multiple Sensor Platform with a Dedicated CMOS-LSI for Robot Applications †

Science.gov (United States)

Shao, Chenzhong; Tanaka, Shuji; Nakayama, Takahiro; Hata, Yoshiyuki; Bartley, Travis; Muroyama, Masanori

2017-01-01

Robot tactile sensation can enhance human–robot communication in terms of safety, reliability and accuracy. The final goal of our project is to widely cover a robot body with a large number of tactile sensors, which has significant advantages such as accurate object recognition, high sensitivity and high redundancy. In this study, we developed a multi-sensor system with dedicated Complementary Metal-Oxide-Semiconductor (CMOS) Large-Scale Integration (LSI) circuit chips (referred to as “sensor platform LSI”) as a framework of a serial bus-based tactile sensor network system. The sensor platform LSI supports three types of sensors: an on-chip temperature sensor, off-chip capacitive and resistive tactile sensors, and communicates with a relay node via a bus line. The multi-sensor system was first constructed on a printed circuit board to evaluate basic functions of the sensor platform LSI, such as capacitance-to-digital and resistance-to-digital conversion. Then, two kinds of external sensors, nine sensors in total, were connected to two sensor platform LSIs, and temperature, capacitive and resistive sensing data were acquired simultaneously. Moreover, we fabricated flexible printed circuit cables to demonstrate the multi-sensor system with 15 sensor platform LSIs operating simultaneously, which showed a more realistic implementation in robots. In conclusion, the multi-sensor system with up to 15 sensor platform LSIs on a bus line supporting temperature, capacitive and resistive sensing was successfully demonstrated. PMID:29061954

Magnetic Tactile Sensor for Braille Reading

KAUST Repository

Alfadhel, Ahmed

2016-04-27

We report a biomimetic magnetic tactile sensor for Braille characters reading. The sensor consists of magnetic nanocomposite artificial cilia implemented on magnetic micro sensors. The nanocomposite is produced from the highly elastic polydimethylsiloxane and iron nanowires that exhibit a permanent magnetic behavior. This design enables remote operation and does not require an additional magnetic field to magnetize the nanowires. The highly elastic nanocomposite is easy to pattern, corrosion resistant and thermally stable. The tactile sensors can detect vertical and shear forces, which allows recognizing small changes in surface texture, as in the case of Braille dots. The 6 dots of a braille cell are read from top to bottom with a tactile sensor array consisting of 4 elements and 1 mm long nanocomposite cilia.

Magnetic Tactile Sensor for Braille Reading

KAUST Repository

Alfadhel, Ahmed; Khan, Mohammed; Cardoso, Susana; Kosel, Jü rgen

2016-01-01

We report a biomimetic magnetic tactile sensor for Braille characters reading. The sensor consists of magnetic nanocomposite artificial cilia implemented on magnetic micro sensors. The nanocomposite is produced from the highly elastic polydimethylsiloxane and iron nanowires that exhibit a permanent magnetic behavior. This design enables remote operation and does not require an additional magnetic field to magnetize the nanowires. The highly elastic nanocomposite is easy to pattern, corrosion resistant and thermally stable. The tactile sensors can detect vertical and shear forces, which allows recognizing small changes in surface texture, as in the case of Braille dots. The 6 dots of a braille cell are read from top to bottom with a tactile sensor array consisting of 4 elements and 1 mm long nanocomposite cilia.

Tactile object exploration using cursor navigation sensors

DEFF Research Database (Denmark)

Kraft, Dirk; Bierbaum, Alexander; Kjaergaard, Morten

2009-01-01

In robotic applications tactile sensor systems serve the purpose of localizing a contact point and measuring contact forces. We have investigated the applicability of a sensorial device commonly used in cursor navigation technology for tactile sensing in robotics. We show the potential of this se......In robotic applications tactile sensor systems serve the purpose of localizing a contact point and measuring contact forces. We have investigated the applicability of a sensorial device commonly used in cursor navigation technology for tactile sensing in robotics. We show the potential...... of this sensor for active haptic exploration. More specifically, we present experiments and results which demonstrate the extraction of relevant object properties such as local shape, weight and elasticity using this technology. Besides its low price due to mass production and its modularity, an interesting...... aspect of this sensor is that beside a localization of contact points and measurement of the contact normal force also shear forces can be measured. This is relevant for many applications such as surface normal estimation and weight measurements. Scalable tactile sensor arrays have been developed...

A flexible slip sensor using triboelectric nanogenerator approach

Science.gov (United States)

Wang, Xudong; Liang, Jiaming; Xiao, Yuxiang; Wu, Yichuan; Deng, Yang; Wang, Xiaohao; Zhang, Min

2018-03-01

With the rapid development of robotic technology, tactile sensors for robots have gained great attention from academic and industry researchers. Tactile sensors for slip detection are essential for human-like steady control in dexterous robot hand. In this paper, we propose and demonstrate a flexible slip sensor based on triboelectric nanogenerator with a seesaw structure. The sensor is composed of two porous PDMS layers separated by an inverted trapezoid structure with a height of 500 μm. In order to customize the sensitivity of the sensor, porous PDMS was fabricated by mixing PDMS with deionized water thoroughly and then removing water with heat. Laser-induced porous graphene and aluminium are served as the pair of contact materials. To detect slip from different directions, two sets of the electrode pair were used. Experimental results show a distinct difference between static state and the moment when a slip happens was detected. In addition, the output voltage of the sensors increased as the increase of slip velocity from 0.25 mm/s to 2.5 mm/s. The flexible slip sensor proposed here shows the potential applications in smart robotics and prosthesis.

A Flexible Capacitive Sensor with Encapsulated Liquids as Dielectrics

Directory of Open Access Journals (Sweden)

Yasunari Hotta

2012-03-01

Full Text Available Flexible and high-sensitive capacitive sensors are demanded to detect pressure distribution and/or tactile information on a curved surface, hence, wide varieties of polymer-based flexible MEMS sensors have been developed. High-sensitivity may be achieved by increasing the capacitance of the sensor using solid dielectric material while it deteriorates the flexibility. Using air as the dielectric, to maintain the flexibility, sacrifices the sensor sensitivity. In this paper, we demonstrate flexible and highly sensitive capacitive sensor arrays that encapsulate highly dielectric liquids as the dielectric. Deionized water and glycerin, which have relative dielectric constants of approximately 80 and 47, respectively, could increase the capacitance of the sensor when used as the dielectric while maintaining flexibility of the sensor with electrodes patterned on flexible polymer substrates. A reservoir of liquids between the electrodes was designed to have a leak path, which allows the sensor to deform despite of the incompressibility of the encapsulated liquids. The proposed sensor was microfabricated and demonstrated successfully to have a five times greater sensitivity than sensors that use air as the dielectric.

Optical Three-Axis Tactile Sensor for Robotic Fingers

OpenAIRE

Ohka, Masahiro; Takata, Jumpei; Kobayashi, Hiroaki; Suzuki, Hirofumi; Morisawa, Nobuyuki; Yussof, Hanafiah Bin

2008-01-01

A new three-axis tactile sensor to be mounted on multi-fingered hands is developed based on the principle of an optical waveguide-type tactile sensor comprised of an acrylic hemispherical dome, a light source, an array of rubber sensing elements, and a CCD camera. The sensing element of the present tactile sensor includes one columnar feeler and eight conical feelers. A three-axis force applied to the tip of the sensing element is detected by the contact areas of the conical feelers, which ma...

All-Elastomer 3-Axis Contact Resistive Tactile Sensor Arrays and Micromilled Manufacturing Methods Thereof

Science.gov (United States)

Charalambides, Alexandros (Inventor); Bergbreiter, Sarah (Inventor); Penskiy, Ivan (Inventor)

2018-01-01

At least one tactile sensor includes an insulating layer and a conductive layer formed on the surface of the insulating layer. The conductive layer defines at least one group of flexible projections extending orthogonally from the surface of the insulating layer. The flexible projections include a major projection extending a distance orthogonally from the surface and at least one minor projection that is adjacent to and separate from the major projection wherein the major projection extends a distance orthogonally that is greater than the distance that the minor projection extends orthogonally. Upon a compressive force normal to, or a shear force parallel to, the surface, the major projection and the minor projection flex such that an electrical contact resistance is formed between the major projection and the minor projection. A capacitive tactile sensor is also disclosed that responds to the normal and shear forces.

Flexible Tactile Sensing Based on Piezoresistive Composites: A Review

Science.gov (United States)

Stassi, Stefano; Cauda, Valentina; Canavese, Giancarlo; Pirri, Candido Fabrizio

2014-01-01

The large expansion of the robotic field in the last decades has created a growing interest in the research and development of tactile sensing solutions for robot hand and body integration. Piezoresistive composites are one of the most widely employed materials for this purpose, combining simple and low cost preparation with high flexibility and conformability to surfaces, low power consumption, and the use of simple read-out electronics. This work provides a review on the different type of composite materials, classified according to the conduction mechanism and analyzing the physics behind it. In particular piezoresistors, strain gauges, percolative and quantum tunnelling devices are reviewed here, with a perspective overview on the most used filler types and polymeric matrices. A description of the state-of-the-art of the tactile sensor solutions from the point of view of the architecture, the design and the performance is also reviewed, with a perspective outlook on the main promising applications. PMID:24638126

Scalable fabric tactile sensor arrays for soft bodies

Science.gov (United States)

Day, Nathan; Penaloza, Jimmy; Santos, Veronica J.; Killpack, Marc D.

2018-06-01

Soft robots have the potential to transform the way robots interact with their environment. This is due to their low inertia and inherent ability to more safely interact with the world without damaging themselves or the people around them. However, existing sensing for soft robots has at least partially limited their ability to control interactions with their environment. Tactile sensors could enable soft robots to sense interaction, but most tactile sensors are made from rigid substrates and are not well suited to applications for soft robots which can deform. In addition, the benefit of being able to cheaply manufacture soft robots may be lost if the tactile sensors that cover them are expensive and their resolution does not scale well for manufacturability. This paper discusses the development of a method to make affordable, high-resolution, tactile sensor arrays (manufactured in rows and columns) that can be used for sensorizing soft robots and other soft bodies. However, the construction results in a sensor array that exhibits significant amounts of cross-talk when two taxels in the same row are compressed. Using the same fabric-based tactile sensor array construction design, two different methods for cross-talk compensation are presented. The first uses a mathematical model to calculate a change in resistance of each taxel directly. The second method introduces additional simple circuit components that enable us to isolate each taxel electrically and relate voltage to force directly. Fabric sensor arrays are demonstrated for two different soft-bodied applications: an inflatable single link robot and a human wrist.

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

Science.gov (United States)

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.

A Distributed Tactile Sensor for Intuitive Human-Robot Interfacing

Directory of Open Access Journals (Sweden)

Andrea Cirillo

2017-01-01

Full Text Available Safety of human-robot physical interaction is enabled not only by suitable robot control strategies but also by suitable sensing technologies. For example, if distributed tactile sensors were available on the robot, they could be used not only to detect unintentional collisions, but also as human-machine interface by enabling a new mode of social interaction with the machine. Starting from their previous works, the authors developed a conformable distributed tactile sensor that can be easily conformed to the different parts of the robot body. Its ability to estimate contact force components and to provide a tactile map with an accurate spatial resolution enables the robot to handle both unintentional collisions in safe human-robot collaboration tasks and intentional touches where the sensor is used as human-machine interface. In this paper, the authors present the characterization of the proposed tactile sensor and they show how it can be also exploited to recognize haptic tactile gestures, by tailoring recognition algorithms, well known in the image processing field, to the case of tactile images. In particular, a set of haptic gestures has been defined to test three recognition algorithms on a group of 20 users. The paper demonstrates how the same sensor originally designed to manage unintentional collisions can be successfully used also as human-machine interface.

A Two-Ply Polymer-Based Flexible Tactile Sensor Sheet Using Electric Capacitance

Directory of Open Access Journals (Sweden)

Shijie Guo

2014-01-01

Full Text Available Traditional capacitive tactile sensor sheets usually have a three-layered structure, with a dielectric layer sandwiched by two electrode layers. Each electrode layer has a number of parallel ribbon-like electrodes. The electrodes on the two electrode layers are oriented orthogonally and each crossing point of the two perpendicular electrode arrays makes up a capacitive sensor cell on the sheet. It is well known that compatibility between measuring precision and resolution is difficult, since decreasing the width of the electrodes is required to obtain a high resolution, however, this may lead to reduction of the area of the sensor cells, and as a result, lead to a low Signal/Noise (S/N ratio. To overcome this problem, a new multilayered structure and related calculation procedure are proposed. This new structure stacks two or more sensor sheets with shifts in position. Both a high precision and a high resolution can be obtained by combining the signals of the stacked sensor sheets. Trial production was made and the effect was confirmed.

Improved tactile resonance sensor for robotic assisted surgery

Science.gov (United States)

Oliva Uribe, David; Schoukens, Johan; Stroop, Ralf

2018-01-01

This paper presents an improved tactile sensor using a piezoelectric bimorph able to differentiate soft materials with similar mechanical characteristics. The final aim is to develop intelligent surgical tools for brain tumour resection using integrated sensors in order to improve tissue tumour delineation and tissue differentiation. The bimorph sensor is driven using a random phase multisine and the properties of contact between the sensor's tip and a certain load are evaluated by means of the evaluation of the nonparametric FRF. An analysis of the nonlinear contributions is presented to show that the use of a linear model is feasible for the measurement conditions. A series of gelatine phantoms were tested. The tactile sensor is able to identify minimal differences in the consistency of the measured samples considering viscoelastic behaviour. A variance analysis was performed to evaluate the reliability of the sensors and to identify possible error sources due to inconsistencies in the preparation method of the phantoms. The results of the variance analysis are discussed showing that ability of the proposed tactile sensor to perform high quality measurements.

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

Science.gov (United States)

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.

A Prototype Tactile Sensor Array.

Science.gov (United States)

1982-09-15

Active Touch Sensing. Technical Report, MIT Artificial Inteligence Laboratory, 1981. (9] Larcombe, M. Carbon Fibre Tactile Sensors. Technical Report...thesis, Carnegie-Mellon University, 1981. [13] Purbrick, John A. A Force Transducer Employing Conductive Silicone Rubber. Technical Report, MIT Artificial

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

Science.gov (United States)

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%.

Fabrication of strain gauge based sensors for tactile skins

Science.gov (United States)

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.

Compact Tactile Sensors for Robot Fingers

Science.gov (United States)

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.

3D capacitive tactile sensor using DRIE micromachining

Science.gov (United States)

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.

Artificial Roughness Encoding with a Bio-inspired MEMS-based Tactile Sensor Array

Directory of Open Access Journals (Sweden)

Calogero Maria Oddo

2009-04-01

Full Text Available A compliant 2x2 tactile sensor array was developed and investigated for roughness encoding. State of the art cross shape 3D MEMS sensors were integrated with polymeric packaging providing in total 16 sensitive elements to external mechanical stimuli in an area of about 20 mm2, similarly to the SA1 innervation density in humans. Experimental analysis of the bio-inspired tactile sensor array was performed by using ridged surfaces, with spatial periods from 2.6 mm to 4.1 mm, which were indented with regulated 1N normal force and stroked at constant sliding velocity from 15 mm/s to 48 mm/s. A repeatable and expected frequency shift of the sensor outputs depending on the applied stimulus and on its scanning velocity was observed between 3.66 Hz and 18.46 Hz with an overall maximum error of 1.7%. The tactile sensor could also perform contact imaging during static stimulus indentation. The experiments demonstrated the suitability of this approach for the design of a roughness encoding tactile sensor for an artificial fingerpad.

A flexible tactile-feedback touch screen using transparent ferroelectric polymer film vibrators

International Nuclear Information System (INIS)

Ju, Woo-Eon; Moon, Yong-Ju; Park, Cheon-Ho; Choi, Seung Tae

2014-01-01

To provide tactile feedback on flexible touch screens, transparent relaxor ferroelectric polymer film vibrators were designed and fabricated in this study. The film vibrator can be integrated underneath a transparent cover film or glass, and can also produce acoustic waves that cause a tactile sensation on human fingertips. Poly(vinylidene fluoride-trifluoroethylene-chlorotrifluoroethylene) [P(VDF-TrFE-CTFE)] polymer was used as the relaxor ferroelectric polymer because it produces a large strain under applied electric fields, shows a fast response, and has excellent optical transparency. The natural frequency of this tactile-feedback touch screen was designed to be around 200–240 Hz, at which the haptic perception of human fingertips is the most sensitive; therefore, the resonance of the touch screen at its natural frequency provides maximum haptic sensation. A multilayered relaxor ferroelectric polymer film vibrator was also demonstrated to provide the same vibration power at reduced voltage. The flexible P(VDF-TrFE-CTFE) film vibrators developed in this study are expected to provide tactile sensation not only in large-area flat panel displays, but also in flexible displays and touch screens. (papers)

The TacTip Family: Soft Optical Tactile Sensors with 3D-Printed Biomimetic Morphologies.

Science.gov (United States)

Ward-Cherrier, Benjamin; Pestell, Nicholas; Cramphorn, Luke; Winstone, Benjamin; Giannaccini, Maria Elena; Rossiter, Jonathan; Lepora, Nathan F

2018-04-01

Tactile sensing is an essential component in human-robot interaction and object manipulation. Soft sensors allow for safe interaction and improved gripping performance. Here we present the TacTip family of sensors: a range of soft optical tactile sensors with various morphologies fabricated through dual-material 3D printing. All of these sensors are inspired by the same biomimetic design principle: transducing deformation of the sensing surface via movement of pins analogous to the function of intermediate ridges within the human fingertip. The performance of the TacTip, TacTip-GR2, TacTip-M2, and TacCylinder sensors is here evaluated and shown to attain submillimeter accuracy on a rolling cylinder task, representing greater than 10-fold super-resolved acuity. A version of the TacTip sensor has also been open-sourced, enabling other laboratories to adopt it as a platform for tactile sensing and manipulation research. These sensors are suitable for real-world applications in tactile perception, exploration, and manipulation, and will enable further research and innovation in the field of soft tactile sensing.

Spatially digitized tactile pressure sensors with tunable sensitivity and sensing range.

Science.gov (United States)

Choi, Eunsuk; Sul, Onejae; Hwang, Soonhyung; Cho, Joonhyung; Chun, Hyunsuk; Kim, Hongjun; Lee, Seung-Beck

2014-10-24

When developing an electronic skin with touch sensation, an array of tactile pressure sensors with various ranges of pressure detection need to be integrated. This requires low noise, highly reliable sensors with tunable sensing characteristics. We demonstrate the operation of tactile pressure sensors that utilize the spatial distribution of contact electrodes to detect various ranges of tactile pressures. The device consists of a suspended elastomer diaphragm, with a carbon nanotube thin-film on the bottom, which makes contact with the electrodes on the substrate with applied pressure. The electrodes separated by set distances become connected in sequence with tactile pressure, enabling consecutive electrodes to produce a signal. Thus, the pressure is detected not by how much of a signal is produced but by which of the electrodes is registering an output. By modulating the diaphragm diameter, and suspension height, it was possible to tune the pressure sensitivity and sensing range. Also, adding a fingerprint ridge structure enabled the sensor to detect the periodicity of sub-millimeter grating patterns on a silicon wafer.

Remotely deployable aerial inspection using tactile sensors

Science.gov (United States)

MacLeod, C. N.; Cao, J.; Pierce, S. G.; Sullivan, J. C.; Pipe, A. G.; Dobie, G.; Summan, R.

2014-02-01

For structural monitoring applications, the use of remotely deployable Non-Destructive Evaluation (NDE) inspection platforms offer many advantages, including improved accessibility, greater safety and reduced cost, when compared to traditional manual inspection techniques. The use of such platforms, previously reported by researchers at the University Strathclyde facilitates the potential for rapid scanning of large areas and volumes in hazardous locations. A common problem for both manual and remote deployment approaches lies in the intrinsic stand-off and surface coupling issues of typical NDE probes. The associated complications of these requirements are obviously significantly exacerbated when considering aerial based remote inspection and deployment, resulting in simple visual techniques being the preferred sensor payload. Researchers at Bristol Robotics Laboratory have developed biomimetic tactile sensors modelled on the facial whiskers (vibrissae) of animals such as rats and mice, with the latest sensors actively sweeping their tips across the surface in a back and forth motion. The current work reports on the design and performance of an aerial inspection platform and the suitability of tactile whisking sensors to aerial based surface monitoring applications.

Fingerprint-Inspired Flexible Tactile Sensor for Accurately Discerning Surface Texture.

Science.gov (United States)

Cao, Yudong; Li, Tie; Gu, Yang; Luo, Hui; Wang, Shuqi; Zhang, Ting

2018-04-01

Inspired by the epidermal-dermal and outer microstructures of the human fingerprint, a novel flexible sensor device is designed to improve haptic perception and surface texture recognition, which is consisted of single-walled carbon nanotubes, polyethylene, and polydimethylsiloxane with interlocked and outer micropyramid arrays. The sensor shows high pressure sensitivity (-3.26 kPa -1 in the pressure range of 0-300 Pa), and it can detect the shear force changes induced by the dynamic interaction between the outer micropyramid structure on the sensor and the tested material surface, and the minimum dimension of the microstripe that can be discerned is as low as 15 µm × 15 µm (interval × width). To demonstrate the texture discrimination capability, the sensors are tested for accurately discerning various surface textures, such as the textures of different fabrics, Braille characters, the inverted pyramid patterns, which will have great potential in robot skins and haptic perception, etc. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

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

Science.gov (United States)

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.

Development of 3D carbon nanotube interdigitated finger electrodes on polymer substrate for flexible capacitive sensor application

International Nuclear Information System (INIS)

Hu, Chih-Fan; Wang, Jhih-Yu; Fang, Weileun; Liu, Yu-Chia; Tsai, Ming-Han

2013-01-01

This study reports a novel approach to the implementation of 3D carbon nanotube (CNT) interdigitated finger electrodes on flexible polymer, and the detection of strain, bending curvature, tactile force and proximity distance are demonstrated. The merits of the presented CNT-based flexible sensor are as follows: (1) the silicon substrate is patterned to enable the formation of 3D vertically aligned CNTs on the substrate surface; (2) polymer molding on the silicon substrate with 3D CNTs is further employed to transfer the 3D CNTs to the flexible polymer substrate; (3) the CNT–polymer composite (∼70 μm in height) is employed to form interdigitated finger electrodes to increase the sensing area and initial capacitance; (4) other structures such as electrical routings, resistors and mechanical supporters are also available using the CNT–polymer composite. The preliminary fabrication results demonstrate a flexible capacitive sensor with 50 μm high CNT interdigitated electrodes on a poly-dimethylsiloxane substrate. The tests show that the typical capacitance change is several dozens of fF and the gauge factor is in the range of 3.44–4.88 for strain and bending curvature measurement; the sensitivity of the tactile sensor is 1.11% N −1 ; a proximity distance near 2 mm away from the sensor can be detected. (paper)

High-Performance Flexible Force and Temperature Sensing Array with a Robust Structure

Science.gov (United States)

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.

A multifunctional PVDF-based tactile sensor for minimally invasive surgery

Science.gov (United States)

Sokhanvar, S.; Packirisamy, M.; Dargahi, J.

2007-08-01

In this paper a multifunctional tactile sensor system using PVDF (polyvinylidene fluoride), is proposed, designed, analyzed, tested and validated. The working principle of the sensor is in such a way that it can be used in combination with almost any end-effectors. However, the sensor is particularly designed to be integrated with minimally invasive surgery (MIS) tools. In addition, the structural and transduction materials are selected to be compatible with micro-electro-mechanical systems (MEMS) technology, so that miniaturization would be possible. The corrugated shape of the sensor ensures the safe tissue grasping and compatibility with the traditional tooth-like end effectors of MIS tools. A unit of this sensor comprised of a base, a flexible beam and three PVDF sensing elements. Two PVDF sensing elements sandwiched at the end supports work in thickness mode to measure the magnitude and position of applied load. The third PVDF sensing element is attached to the beam and it works in the extensional mode to measure the softness of the contact object. The proposed sensor is modeled both analytically and numerically and a series of simulations are performed in order to estimate the characteristics of the sensor in measuring the magnitude and position of a point load, distributed load, and also the softness of the contact object. Furthermore, in order to validate the theoretical results, the prototyped sensor was tested and the results are compared. The results are very promising and proving the capability of the sensor for haptic sensing.

Three Realizations and Comparison of Hardware for Piezoresistive Tactile Sensors

Science.gov (United States)

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

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

Directory of Open Access Journals (Sweden)

Peter Kampmann

2014-04-01

Full Text Available 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.

Large Scale Triboelectric Nanogenerator and Self-Powered Flexible Sensor for Human Sleep Monitoring

Directory of Open Access Journals (Sweden)

Xiaoheng Ding

2018-05-01

Full Text Available The triboelectric nanogenerator (TENG and its application as a sensor is a popular research subject. There is demand for self-powered, flexible sensors with high sensitivity and high power-output for the next generation of consumer electronics. In this study, a 300 mm × 300 mm carbon nanotube (CNT-doped porous PDMS film was successfully fabricated wherein the CNT influenced the micropore structure. A self-powered TENG tactile sensor was established according to triboelectric theory. The CNT-doped porous TENG showed a voltage output seven times higher than undoped porous TENG and 16 times higher than TENG with pure PDMS, respectively. The TENG successfully acquired human motion signals, breath signals, and heartbeat signals during a sleep monitoring experiment. The results presented here may provide an effective approach for fabricating large-scale and low-cost flexible TENG sensors.

A Novel Two-Wire Fast Readout Approach for Suppressing Cable Crosstalk in a Tactile Resistive Sensor Array.

Science.gov (United States)

Wu, Jianfeng; Wang, Yu; Li, Jianqing; Song, Aiguo

2016-05-18

For suppressing the crosstalk problem due to wire resistances and contacted resistances of the long flexible cables in tactile sensing systems, we present a novel two-wire fast readout approach for the two-dimensional resistive sensor array in shared row-column fashion. In the approach, two wires are used for every driving electrode and every sampling electrode in the resistive sensor array. The approach with a high readout rate, though it requires a large number of wires and many sampling channels, solves the cable crosstalk problem. We also verified the approach's performance with Multisim simulations and actual experiments.

A Novel Two-Wire Fast Readout Approach for Suppressing Cable Crosstalk in a Tactile Resistive Sensor Array

Directory of Open Access Journals (Sweden)

Jianfeng Wu

2016-05-01

Full Text Available For suppressing the crosstalk problem due to wire resistances and contacted resistances of the long flexible cables in tactile sensing systems, we present a novel two-wire fast readout approach for the two-dimensional resistive sensor array in shared row-column fashion. In the approach, two wires are used for every driving electrode and every sampling electrode in the resistive sensor array. The approach with a high readout rate, though it requires a large number of wires and many sampling channels, solves the cable crosstalk problem. We also verified the approach’s performance with Multisim simulations and actual experiments.

A Novel Tactile Sensor with Electromagnetic Induction and Its Application on Stick-Slip Interaction Detection

Directory of Open Access Journals (Sweden)

Yanjie Liu

2016-03-01

Full Text Available Real-time detection of contact states, such as stick-slip interaction between a robot and an object on its end effector, is crucial for the robot to grasp and manipulate the object steadily. This paper presents a novel tactile sensor based on electromagnetic induction and its application on stick-slip interaction. An equivalent cantilever-beam model of the tactile sensor was built and capable of constructing the relationship between the sensor output and the friction applied on the sensor. With the tactile sensor, a new method to detect stick-slip interaction on the contact surface between the object and the sensor is proposed based on the characteristics of friction change. Furthermore, a prototype was developed for a typical application, stable wafer transferring on a wafer transfer robot, by considering the spatial magnetic field distribution and the sensor size according to the requirements of wafer transfer. The experimental results validate the sensing mechanism of the tactile sensor and verify its feasibility of detecting stick-slip on the contact surface between the wafer and the sensor. The sensing mechanism also provides a new approach to detect the contact state on the soft-rigid surface in other robot-environment interaction systems.

A Novel Tactile Sensor with Electromagnetic Induction and Its Application on Stick-Slip Interaction Detection

Science.gov (United States)

Liu, Yanjie; Han, Haijun; Liu, Tao; Yi, Jingang; Li, Qingguo; Inoue, Yoshio

2016-01-01

Real-time detection of contact states, such as stick-slip interaction between a robot and an object on its end effector, is crucial for the robot to grasp and manipulate the object steadily. This paper presents a novel tactile sensor based on electromagnetic induction and its application on stick-slip interaction. An equivalent cantilever-beam model of the tactile sensor was built and capable of constructing the relationship between the sensor output and the friction applied on the sensor. With the tactile sensor, a new method to detect stick-slip interaction on the contact surface between the object and the sensor is proposed based on the characteristics of friction change. Furthermore, a prototype was developed for a typical application, stable wafer transferring on a wafer transfer robot, by considering the spatial magnetic field distribution and the sensor size according to the requirements of wafer transfer. The experimental results validate the sensing mechanism of the tactile sensor and verify its feasibility of detecting stick-slip on the contact surface between the wafer and the sensor. The sensing mechanism also provides a new approach to detect the contact state on the soft-rigid surface in other robot-environment interaction systems. PMID:27023545

Tactile shoe inlays for high speed pressure monitoring

DEFF Research Database (Denmark)

Drimus, Alin; Mátéfi-Tempfli, Stefan

2015-01-01

This work describes the development of flexible tactile sensor shoe inlays for humanoid robots. Their design is based on a sandwich structure of flexible layers with a thin sheet of piezoresistive rubber as main transducer element. The layout and patterning of top and bottom electrodes give 1024...... pressure sensitive cells and the use of high speed electronics and multiplexing algorithms provides frame rates of 100 Hz. The sensors tolerate overloads while showing a consistent output. The developed prototypes show a high potential not only for robotics, but also for use in sensorised human prosthetics....

Paper-Based Active Tactile Sensor Array.

Science.gov (United States)

Zhong, Qize; Zhong, Junwen; Cheng, Xiaofeng; Yao, Xu; Wang, Bo; Li, Wenbo; Wu, Nan; Liu, Kang; Hu, Bin; Zhou, Jun

2015-11-25

A paper-based active tactile sensor -array (PATSA) with a dynamic sensitivity of 0.35 V N(-1) is demonstrated. The pixel position of the PATSA can be routed by analyzing the real-time recording voltages in the pressing process. The PATSA performance, which remains functional when removing partial areas, reveals that the device has a potential application to customized electronic skins. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Tactile sensor of hardness recognition based on magnetic anomaly detection

Science.gov (United States)

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.

Precise shape reconstruction by active pattern in total-internal-reflection-based tactile sensor.

Science.gov (United States)

Saga, Satoshi; Taira, Ryosuke; Deguchi, Koichiro

2014-03-01

We are developing a total-internal-reflection-based tactile sensor in which the shape is reconstructed using an optical reflection. This sensor consists of silicone rubber, an image pattern, and a camera. It reconstructs the shape of the sensor surface from an image of a pattern reflected at the inner sensor surface by total internal reflection. In this study, we propose precise real-time reconstruction by employing an optimization method. Furthermore, we propose to use active patterns. Deformation of the reflection image causes reconstruction errors. By controlling the image pattern, the sensor reconstructs the surface deformation more precisely. We implement the proposed optimization and active-pattern-based reconstruction methods in a reflection-based tactile sensor, and perform reconstruction experiments using the system. A precise deformation experiment confirms the linearity and precision of the reconstruction.

A finger-shaped tactile sensor for fabric surfaces evaluation by 2-dimensional active sliding touch.

Science.gov (United States)

Hu, Haihua; Han, Yezhen; Song, Aiguo; Chen, Shanguang; Wang, Chunhui; Wang, Zheng

2014-03-11

Sliding tactile perception is a basic function for human beings to determine the mechanical properties of object surfaces and recognize materials. Imitating this process, this paper proposes a novel finger-shaped tactile sensor based on a thin piezoelectric polyvinylidene fluoride (PVDF) film for surface texture measurement. A parallelogram mechanism is designed to ensure that the sensor applies a constant contact force perpendicular to the object surface, and a 2-dimensional movable mechanical structure is utilized to generate the relative motion at a certain speed between the sensor and the object surface. By controlling the 2-dimensional motion of the finger-shaped sensor along the object surface, small height/depth variation of surface texture changes the output charge of PVDF film then surface texture can be measured. In this paper, the finger-shaped tactile sensor is used to evaluate and classify five different kinds of linen. Fast Fourier Transformation (FFT) is utilized to get original attribute data of surface in the frequency domain, and principal component analysis (PCA) is used to compress the attribute data and extract feature information. Finally, low dimensional features are classified by Support Vector Machine (SVM). The experimental results show that this finger-shaped tactile sensor is effective and high accurate for discriminating the five textures.

3D printed stretchable capacitive sensors for highly sensitive tactile and electrochemical sensing

Science.gov (United States)

Li, Kai; Wei, Hong; Liu, Wenguang; Meng, Hong; Zhang, Peixin; Yan, Chaoyi

2018-05-01

Developments of innovative strategies for the fabrication of stretchable sensors are of crucial importance for their applications in wearable electronic systems. In this work, we report the successful fabrication of stretchable capacitive sensors using a novel 3D printing method for highly sensitive tactile and electrochemical sensing applications. Unlike conventional lithographic or templated methods, the programmable 3D printing technique can fabricate complex device structures in a cost-effective and facile manner. We designed and fabricated stretchable capacitive sensors with interdigital and double-vortex designs and demonstrated their successful applications as tactile and electrochemical sensors. Especially, our stretchable sensors exhibited a detection limit as low as 1 × 10-6 M for NaCl aqueous solution, which could have significant potential applications when integrated in electronics skins.

Evaluation of the MEMS based portable respiratory training system with a tactile sensor for respiratory-gated radiotherapy

Science.gov (United States)

Moon, Sun Young; Yoon, Myonggeun; Chung, Mijoo; Chung, Weon Kuu; Kim, Dong Wook

2017-10-01

In respiratory-gated radiotherapy, it is important to maintain the regular respiratory cycles of patients. If patients undergo respiration training, their regular breathing pattern is affected. Therefore, we developed a respiratory training system based on a micro electromechanical system (MEMS) and evaluated the feasibility of the MEMS in radiotherapy. By comparing the measured signal before and after radiation exposure, we confirmed the effects of radiation. By evaluating the period of the electric signal emitted by a tactile sensor and its constancy, the performance of the tactile sensor was confirmed. Moreover, by comparing the delay between the motion of the MEMS and the electric signal from the tactile sensor, we confirmed the reaction time of the tactile sensor. The results showed that a baseline shift occurred for an accumulated dose of 400 Gy in the sensor, and both the amplitude and period changed. The period of the signal released by the tactile sensor was 5.39 and its standard deviation was 0.06. Considering the errors from the motion phantom, a standard deviation of 0.06 was desirable. The delay time was within 0.5 s and not distinguishable by a patient. We confirmed the performance of the MEMS and concluded that MEMS could be applied to patients for respiratory-gated radiotherapy.

Tactile Data Entry System

Science.gov (United States)

Adams, Richard J.

2015-01-01

The patent-pending Glove-Enabled Computer Operations (GECO) design leverages extravehicular activity (EVA) glove design features as platforms for instrumentation and tactile feedback, enabling the gloves to function as human-computer interface devices. Flexible sensors in each finger enable control inputs that can be mapped to any number of functions (e.g., a mouse click, a keyboard strike, or a button press). Tracking of hand motion is interpreted alternatively as movement of a mouse (change in cursor position on a graphical user interface) or a change in hand position on a virtual keyboard. Programmable vibro-tactile actuators aligned with each finger enrich the interface by creating the haptic sensations associated with control inputs, such as recoil of a button press.

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

Science.gov (United States)

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.

Biologically inspired multi-layered synthetic skin for tactile feedback in prosthetic limbs.

Science.gov (United States)

Osborn, Luke; Nguyen, Harrison; Betthauser, Joseph; Kaliki, Rahul; Thakor, Nitish

2016-08-01

The human body offers a template for many state-of-the-art prosthetic devices and sensors. In this work, we present a novel, sensorized synthetic skin that mimics the natural multi-layered nature of mechanoreceptors found in healthy glabrous skin to provide tactile information. The multi-layered sensor is made up of flexible piezoresistive textiles that act as force sensitive resistors (FSRs) to convey tactile information, which are embedded within a silicone rubber to resemble the compliant nature of human skin. The top layer of the synthetic skin is capable of detecting small loads less than 5 N whereas the bottom sensing layer responds reliably to loads over 7 N. Finite element analysis (FEA) of a simplified human fingertip and the synthetic skin was performed. Results suggest similarities in behavior during loading. A natural tactile event is simulated by loading the synthetic skin on a prosthetic limb. Results show the sensors' ability to detect applied loads as well as the ability to simulate neural spiking activity based on the derivative and temporal differences of the sensor response. During the tactile loading, the top sensing layer responded 0.24 s faster than the bottom sensing layer. A synthetic biologically-inspired skin such as this will be useful for enhancing the functionality of prosthetic limbs through tactile feedback.

Slip detection with accelerometer and tactile sensors in a robotic hand model

Science.gov (United States)

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.

High Resolution Tactile Sensors for Curved Robotic Fingertips

DEFF Research Database (Denmark)

Drimus, Alin; Jankovics, Vince; Gorsic, Matija

2014-01-01

Tactile sensing is a key element for various animals that interact with the environment and surrounding objects. Touch provides information about contact forces, torques and pressure distribution and by the means of exploration it provides object properties such as geometry, stiffness and texture...... trivial to obtain, dealing with limited accuracy, occlusions and calibration problems. In terms of sensors for static stimuli, such as pressure, there are a range of technologies that can be used to manufacture transducers with various results[5].......Tactile sensing is a key element for various animals that interact with the environment and surrounding objects. Touch provides information about contact forces, torques and pressure distribution and by the means of exploration it provides object properties such as geometry, stiffness and texture[5...

A ferrofluid based artificial tactile sensor with magnetic field control

Energy Technology Data Exchange (ETDEWEB)

Volkova, T.I., E-mail: tatiana.volkova@tu-ilmenau.de [Technical Mechanics Group, Faculty of Mechanical Engineering, Technische Universität Ilmenau, Ilmenau D-98684 (Germany); Böhm, V., E-mail: valter.boehm@tu-ilmenau.de [Technical Mechanics Group, Faculty of Mechanical Engineering, Technische Universität Ilmenau, Ilmenau D-98684 (Germany); Naletova, V.A., E-mail: naletova@imec.msu.ru [Faculty of Mechanics and Mathematics, Lomonosov Moscow State University, 119991 Moscow (Russian Federation); Kaufhold, T., E-mail: tobias.kaufhold@tu-ilmenau.de [Technical Mechanics Group, Faculty of Mechanical Engineering, Technische Universität Ilmenau, Ilmenau D-98684 (Germany); Becker, F., E-mail: felix.becker@tu-ilmenau.de [Technical Mechanics Group, Faculty of Mechanical Engineering, Technische Universität Ilmenau, Ilmenau D-98684 (Germany); Zeidis, I., E-mail: igor.zeidis@tu-ilmenau.de [Technical Mechanics Group, Faculty of Mechanical Engineering, Technische Universität Ilmenau, Ilmenau D-98684 (Germany); Zimmermann, K., E-mail: klaus.zimmermann@tu-ilmenau.de [Technical Mechanics Group, Faculty of Mechanical Engineering, Technische Universität Ilmenau, Ilmenau D-98684 (Germany)

2017-06-01

The paper deals with a tactile sensor inspired by biological hairs of mammals. The working principle is based on the effect of the magnetic force exerted on a paramagnetic body submerged into a ferrofluid volume under the influence of a nonuniform magnetic field. The deflection of the sensor's rod caused by external mechanical stimuli may be unambiguously identified by the distortion of the magnetic field, which occurs due to the motion of the attached body in the ferrofluid. The magnetic force acting on the body is evaluated experimentally and theoretically for the nonuniform magnetic field of a permanent magnet. The controlled oscillations of the rod are realised by applying a nonuniform magnetic field of periodically altering direction. - Highlights: • A design approach of a tactile sensor inspired by special mammalian hairs is presented. • The working principle is based on magnetic properties of a ferrofluid in magnetic fields. • The magnetic force acting on a body submerged into a ferrofluid volume is evaluated. • External mechanical stimuli may be identified by the distortion of the magnetic field. • The controlled whisking-like oscillations of the sensor's rod are realised experimentally.

A ferrofluid based artificial tactile sensor with magnetic field control

International Nuclear Information System (INIS)

Volkova, T.I.; Böhm, V.; Naletova, V.A.; Kaufhold, T.; Becker, F.; Zeidis, I.; Zimmermann, K.

2017-01-01

The paper deals with a tactile sensor inspired by biological hairs of mammals. The working principle is based on the effect of the magnetic force exerted on a paramagnetic body submerged into a ferrofluid volume under the influence of a nonuniform magnetic field. The deflection of the sensor's rod caused by external mechanical stimuli may be unambiguously identified by the distortion of the magnetic field, which occurs due to the motion of the attached body in the ferrofluid. The magnetic force acting on the body is evaluated experimentally and theoretically for the nonuniform magnetic field of a permanent magnet. The controlled oscillations of the rod are realised by applying a nonuniform magnetic field of periodically altering direction. - Highlights: • A design approach of a tactile sensor inspired by special mammalian hairs is presented. • The working principle is based on magnetic properties of a ferrofluid in magnetic fields. • The magnetic force acting on a body submerged into a ferrofluid volume is evaluated. • External mechanical stimuli may be identified by the distortion of the magnetic field. • The controlled whisking-like oscillations of the sensor's rod are realised experimentally.

Large-Area High-Performance Flexible Pressure Sensor with Carbon Nanotube Active Matrix for Electronic Skin.

Science.gov (United States)

Nela, Luca; Tang, Jianshi; Cao, Qing; Tulevski, George; Han, Shu-Jen

2018-03-14

Artificial "electronic skin" is of great interest for mimicking the functionality of human skin, such as tactile pressure sensing. Several important performance metrics include mechanical flexibility, operation voltage, sensitivity, and accuracy, as well as response speed. In this Letter, we demonstrate a large-area high-performance flexible pressure sensor built on an active matrix of 16 × 16 carbon nanotube thin-film transistors (CNT TFTs). Made from highly purified solution tubes, the active matrix exhibits superior flexible TFT performance with high mobility and large current density, along with a high device yield of nearly 99% over 4 inch sample area. The fully integrated flexible pressure sensor operates within a small voltage range of 3 V and shows superb performance featuring high spatial resolution of 4 mm, faster response than human skin (<30 ms), and excellent accuracy in sensing complex objects on both flat and curved surfaces. This work may pave the road for future integration of high-performance electronic skin in smart robotics and prosthetic solutions.

Enhancing Perception with Tactile Object Recognition in Adaptive Grippers for Human–Robot Interaction

Directory of Open Access Journals (Sweden)

Juan M. Gandarias

2018-02-01

Full Text Available The use of tactile perception can help first response robotic teams in disaster scenarios, where visibility conditions are often reduced due to the presence of dust, mud, or smoke, distinguishing human limbs from other objects with similar shapes. Here, the integration of the tactile sensor in adaptive grippers is evaluated, measuring the performance of an object recognition task based on deep convolutional neural networks (DCNNs using a flexible sensor mounted in adaptive grippers. A total of 15 classes with 50 tactile images each were trained, including human body parts and common environment objects, in semi-rigid and flexible adaptive grippers based on the fin ray effect. The classifier was compared against the rigid configuration and a support vector machine classifier (SVM. Finally, a two-level output network has been proposed to provide both object-type recognition and human/non-human classification. Sensors in adaptive grippers have a higher number of non-null tactels (up to 37% more, with a lower mean of pressure values (up to 72% less than when using a rigid sensor, with a softer grip, which is needed in physical human–robot interaction (pHRI. A semi-rigid implementation with 95.13% object recognition rate was chosen, even though the human/non-human classification had better results (98.78% with a rigid sensor.

Enhancing Perception with Tactile Object Recognition in Adaptive Grippers for Human-Robot Interaction.

Science.gov (United States)

Gandarias, Juan M; Gómez-de-Gabriel, Jesús M; García-Cerezo, Alfonso J

2018-02-26

The use of tactile perception can help first response robotic teams in disaster scenarios, where visibility conditions are often reduced due to the presence of dust, mud, or smoke, distinguishing human limbs from other objects with similar shapes. Here, the integration of the tactile sensor in adaptive grippers is evaluated, measuring the performance of an object recognition task based on deep convolutional neural networks (DCNNs) using a flexible sensor mounted in adaptive grippers. A total of 15 classes with 50 tactile images each were trained, including human body parts and common environment objects, in semi-rigid and flexible adaptive grippers based on the fin ray effect. The classifier was compared against the rigid configuration and a support vector machine classifier (SVM). Finally, a two-level output network has been proposed to provide both object-type recognition and human/non-human classification. Sensors in adaptive grippers have a higher number of non-null tactels (up to 37% more), with a lower mean of pressure values (up to 72% less) than when using a rigid sensor, with a softer grip, which is needed in physical human-robot interaction (pHRI). A semi-rigid implementation with 95.13% object recognition rate was chosen, even though the human/non-human classification had better results (98.78%) with a rigid sensor.

Tactile Sensor Array with Fiber Bragg Gratings in Quasi-Distributed Sensing

Directory of Open Access Journals (Sweden)

Marcelo A. Pedroso

2018-01-01

Full Text Available This work describes the development of a quasi-distributed real-time tactile sensing system with a reduced number of fiber Bragg grating-based sensors and reports its use with a reconstruction method based on differential evolution. The sensing system is comprised of six fiber Bragg gratings encapsulated in silicone elastomer to form a tactile sensor array with total dimensions of 60 × 80 mm, divided into eight sensing cells with dimensions of 20 × 30 mm. Forces applied at the central position of the sensor array resulted in linear response curves for the gratings, highlighting their coupled responses and allowing the application of compressive sensing. The reduced number of sensors regarding the number of sensing cells results in an undetermined inverse problem, solved with a compressive sensing algorithm with the aid of differential evolution method. The system is capable of identifying and quantifying up to four different loads at four different cells with relative errors lower than 10.5% and signal-to-noise ratio better than 12 dB.

A flexible capacitive tactile sensing array with floating electrodes

International Nuclear Information System (INIS)

Cheng, M-Y; Huang, X-H; Ma, C-W; Yang, Y-J

2009-01-01

In this work, we present the development of a capacitive tactile sensing array realized by using MEMS fabrication techniques and flexible printed circuit board (FPCB) technologies. The sensing array, which consists of two micromachined polydimethlysiloxane (PDMS) structures and a FPCB, will be used as the artificial skin for robot applications. Each capacitive sensing element comprises two sensing electrodes and a common floating electrode. The sensing electrodes and the metal interconnect for signal scanning are implemented on the FPCB, while the floating electrode is patterned on one of the PDMS structures. This special design can effectively reduce the complexity of the device structure and thus makes the device highly manufacturable. The characteristics of the devices with different dimensions are measured and discussed. The corresponding scanning circuits are also designed and implemented. The tactile images induced by the PMMA stamps of different shapes are also successfully captured by a fabricated 8 × 8 array

Flexible magnetoimpedance sensor

International Nuclear Information System (INIS)

Li, Bodong; Kavaldzhiev, Mincho N.; Kosel, Jürgen

2015-01-01

Flexible magnetoimpedance (MI) sensors fabricated using a NiFe/Cu/NiFe tri-layer on Kapton substrate have been studied. A customized flexible microstrip transmission line was employed to investigate the MI sensors's magnetic field and frequency responses and their dependence on the sensors's deflection. For the first time, the impedance characteristic is obtained through reflection coefficient analysis over a wide range of frequencies from 0.1 MHz to 3 GHz and for deflections ranging from zero curvature to a radius of 7.2 cm. The sensor element maintains a high MI ratio of up to 90% and magnetic sensitivity of up to 9.2%/Oe over different bending curvatures. The relationship between the curvature and material composition is discussed based on the magnetostriction effect and stress simulations. The sensor's large frequency range, simple fabrication process and high sensitivity provide a great potential for flexible electronics and wireless applications. - Highlights: • A flexible magnetoimpedance (MI) sensor is developed. • Studies are carried out using a flexible microstrip transmission line. • An MI ratio of up to 90% is obtained. • The effect of magnetostriction is studied

Combining Electromyography and Tactile Myography to Improve Hand and Wrist Activity Detection in Prostheses

Directory of Open Access Journals (Sweden)

Noémie Jaquier

2017-10-01

Full Text Available Despite recent advances in prosthetics and assistive robotics in general, robust simultaneous and proportional control of dexterous prosthetic devices remains an unsolved problem, mainly because of inadequate sensorization. In this paper, we study the application of regression to muscle activity, detected using a flexible tactile sensor recording muscle bulging in the forearm (tactile myography—TMG. The sensor is made of 320 highly sensitive cells organized in an array forming a bracelet. We propose the use of Gaussian process regression to improve the prediction of wrist, hand and single-finger activation, using TMG, surface electromyography (sEMG; the traditional approach in the field, and a combination of the two. We prove the effectiveness of the approach for different levels of activations in a real-time goal-reaching experiment using tactile data. Furthermore, we performed a batch comparison between the different forms of sensorization, using a Gaussian process with different kernel distances.

Flexible magnetoimpedance sensor

KAUST Repository

Li, Bodong; Kavaldzhiev, Mincho; Kosel, Jü rgen

2015-01-01

Flexible magnetoimpedance (MI) sensors fabricated using a NiFe/Cu/NiFe tri-layer on Kapton substrate have been studied. A customized flexible microstrip transmission line was employed to investigate the MI sensors's magnetic field and frequency

Feasibility study of patient motion monitoring using tactile array sensor

International Nuclear Information System (INIS)

Kim, Tae Ho; Kang, Seong Hee; Kim, Dong Su; Cho, Min Seok; Kim, Kyeong Hyeon; Suh, Tae Suk; Kim, Si Yong

2014-01-01

The aim of this study is to evaluate patient pretreatment set-up error and intra-fraction motion using the tactile array sensors (Pressure Profile Systems Inc, Los Angeles, CA) which could measure distributed pressure profiles along the contacting surface and to check a feasibility of the sensor (tactile array sensor) in the patient motion monitoring. Laser alignment and optical camera based monitoring system are very useful for reduce patient set-up error but these systems could not monitor the blind area like patient's back position. Actually after patient alignment using laser or optical monitoring system, it was assumed that there is no error in the patient's back position (pressure profile distribution). But if an error occurs in the patient's back position, it will affect the radiation therapy accuracy. In spite of optical motion monitoring or using the immobilization tool, distributed pressure profiles of patient's back position was changed during inter and intra-fraction. For more accurate patient set-up, blind area (patient's back) monitoring was necessary. We expect that the proposed method will be very useful for make up for the weakness of optical monitoring method

Feasibility study of patient motion monitoring using tactile array sensor

Energy Technology Data Exchange (ETDEWEB)

Kim, Tae Ho; Kang, Seong Hee; Kim, Dong Su; Cho, Min Seok; Kim, Kyeong Hyeon; Suh, Tae Suk [Dept. of Biomedical Engineering, Research Institute of Biomedical Engineering, the Catholic University of Korea, Seoul (Korea, Republic of); Kim, Si Yong [Dept. of Radiation Oncology, Virginia Commonwealth University, Richmond (United States)

2014-11-15

The aim of this study is to evaluate patient pretreatment set-up error and intra-fraction motion using the tactile array sensors (Pressure Profile Systems Inc, Los Angeles, CA) which could measure distributed pressure profiles along the contacting surface and to check a feasibility of the sensor (tactile array sensor) in the patient motion monitoring. Laser alignment and optical camera based monitoring system are very useful for reduce patient set-up error but these systems could not monitor the blind area like patient's back position. Actually after patient alignment using laser or optical monitoring system, it was assumed that there is no error in the patient's back position (pressure profile distribution). But if an error occurs in the patient's back position, it will affect the radiation therapy accuracy. In spite of optical motion monitoring or using the immobilization tool, distributed pressure profiles of patient's back position was changed during inter and intra-fraction. For more accurate patient set-up, blind area (patient's back) monitoring was necessary. We expect that the proposed method will be very useful for make up for the weakness of optical monitoring method.

Flexible magnetoimpedance sensor

KAUST Repository

Li, Bodong

2015-03-01

Flexible magnetoimpedance (MI) sensors fabricated using a NiFe/Cu/NiFe tri-layer on Kapton substrate have been studied. A customized flexible microstrip transmission line was employed to investigate the MI sensors\\'s magnetic field and frequency responses and their dependence on the sensors\\'s deflection. For the first time, the impedance characteristic is obtained through reflection coefficient analysis over a wide range of frequencies from 0.1 MHz to 3 GHz and for deflections ranging from zero curvature to a radius of 7.2 cm. The sensor element maintains a high MI ratio of up to 90% and magnetic sensitivity of up to 9.2%/Oe over different bending curvatures. The relationship between the curvature and material composition is discussed based on the magnetostriction effect and stress simulations. The sensor\\'s large frequency range, simple fabrication process and high sensitivity provide a great potential for flexible electronics and wireless applications.

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

Science.gov (United States)

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.

Fabrication of a thin-film capacitive force sensor array for tactile feedback in robotic surgery.

Science.gov (United States)

Paydar, Omeed H; Wottawa, Christopher R; Fan, Richard E; Dutson, Erik P; Grundfest, Warren S; Culjat, Martin O; Candler, Rob N

2012-01-01

Although surgical robotic systems provide several advantages over conventional minimally invasive techniques, they are limited by a lack of tactile feedback. Recent research efforts have successfully integrated tactile feedback components onto surgical robotic systems, and have shown significant improvement to surgical control during in vitro experiments. The primary barrier to the adoption of tactile feedback in clinical use is the unavailability of suitable force sensing technologies. This paper describes the design and fabrication of a thin-film capacitive force sensor array that is intended for integration with tactile feedback systems. This capacitive force sensing technology could provide precise, high-sensitivity, real-time responses to both static and dynamic loads. Capacitive force sensors were designed to operate with optimal sensitivity and dynamic range in the range of forces typical in minimally invasive surgery (0-40 N). Initial results validate the fabrication of these capacitive force-sensing arrays. We report 16.3 pF and 146 pF for 1-mm(2) and 9-mm(2) capacitive areas, respectively, whose values are within 3% of theoretical predictions.

Bio-Inspired PVDF-Based, Mouse Whisker Mimicking, Tactile Sensor

Directory of Open Access Journals (Sweden)

Mohsin Islam Tiwana

2016-10-01

Full Text Available The design and fabrication of a Polyvinylidene fluoride (PVDF based, mouse (or rodent whisker mimicking, tactile sensor is presented. Unlike previous designs reported in the literature, this sensor mimics the mouse whisker not only mechanically, but it also makes macro movements just like a real mouse whisker in a natural environment. We have developed a mathematical model and performed finite element analysis using COMSOL, in order to optimise the whisker to have the same natural frequency as that of a biological whisker. Similarly, we have developed a control system that enables the whisker mimicking sensor to vibrate at variable frequencies and conducted practical experiments to validate the response of the sensor. The natural frequency of the whisker can be designed anywhere between 35 and 110 Hz, the same as a biological whisker, by choosing different materials and physical dimensions. The control system of this sensor enables the whisker to vibrate between 5 and 236 Hz.

Polymer Thick-Film Sensors: Possibilities for Smartcard Biometrics

NARCIS (Netherlands)

Henderson, N.J.; Papakostas, T.V.; White, N.M.; Hartel, Pieter H.

In this paper the potential of polymer thick-film sensors are assessed for use as biometric sensors on smartcards. Piezoelectric and piezoresistive sensors have been printed on flexible polyester, then bonded to smartcard blanks. The tactile interaction of a person with these sensors has been

Single-Grasp Object Classification and Feature Extraction with Simple Robot Hands and Tactile Sensors.

Science.gov (United States)

Spiers, Adam J; Liarokapis, Minas V; Calli, Berk; Dollar, Aaron M

2016-01-01

Classical robotic approaches to tactile object identification often involve rigid mechanical grippers, dense sensor arrays, and exploratory procedures (EPs). Though EPs are a natural method for humans to acquire object information, evidence also exists for meaningful tactile property inference from brief, non-exploratory motions (a 'haptic glance'). In this work, we implement tactile object identification and feature extraction techniques on data acquired during a single, unplanned grasp with a simple, underactuated robot hand equipped with inexpensive barometric pressure sensors. Our methodology utilizes two cooperating schemes based on an advanced machine learning technique (random forests) and parametric methods that estimate object properties. The available data is limited to actuator positions (one per two link finger) and force sensors values (eight per finger). The schemes are able to work both independently and collaboratively, depending on the task scenario. When collaborating, the results of each method contribute to the other, improving the overall result in a synergistic fashion. Unlike prior work, the proposed approach does not require object exploration, re-grasping, grasp-release, or force modulation and works for arbitrary object start positions and orientations. Due to these factors, the technique may be integrated into practical robotic grasping scenarios without adding time or manipulation overheads.

Optical-to-Tactile Translator

Science.gov (United States)

Langevin, Maurice L. (Inventor); Moynihan, Philip I. (Inventor)

2000-01-01

An optical-to-tactile translator provides an aid for the visually impaired by translating a near-field scene to a tactile signal corresponding to said near-field scene. An optical sensor using a plurality of active pixel sensors (APS) converts the optical image within the near-field scene to a digital signal. The digital signal is then processed by a microprocessor and a simple shape signal is generated based on the digital signal. The shape signal is then communicated to a tactile transmitter where the shape signal is converted into a tactile signal using a series of contacts. The shape signal may be an outline of the significant shapes determined in the near-field scene, or the shape signal may comprise a simple symbolic representation of common items encountered repeatedly. The user is thus made aware of the unseen near-field scene, including potential obstacles and dangers, through a series of tactile contacts. In a preferred embodiment, a range determining device such as those commonly found on auto-focusing cameras is included to limit the distance that the optical sensor interprets the near-field scene.

Tactile Evaluation Feedback System for Multi-Layered Structure Inspired by Human Tactile Perception Mechanism.

Science.gov (United States)

Hashim, Iza Husna Mohamad; Kumamoto, Shogo; Takemura, Kenjiro; Maeno, Takashi; Okuda, Shin; Mori, Yukio

2017-11-11

Tactile sensation is one type of valuable feedback in evaluating a product. Conventionally, sensory evaluation is used to get direct subjective responses from the consumers, in order to improve the product's quality. However, this method is a time-consuming and costly process. Therefore, this paper proposes a novel tactile evaluation system that can give tactile feedback from a sensor's output. The main concept of this system is hierarchically layering the tactile sensation, which is inspired by the flow of human perception. The tactile sensation is classified from low-order of tactile sensation (LTS) to high-order of tactile sensation (HTS), and also to preference. Here, LTS will be correlated with physical measures. Furthermore, the physical measures that are used to correlate with LTS are selected based on four main aspects of haptic information (roughness, compliance, coldness, and slipperiness), which are perceived through human tactile sensors. By using statistical analysis, the correlation between each hierarchy was obtained, and the preference was derived in terms of physical measures. A verification test was conducted by using unknown samples to determine the reliability of the system. The results showed that the system developed was capable of estimating preference with an accuracy of approximately 80%.

The Scanning of Power Deformation of Tyre Surface by Tactile Piesoresistive sensors

Directory of Open Access Journals (Sweden)

Ferdinand Hurta

2004-01-01

Full Text Available Our work describes a static non-destructive method of measuring the contact pressures of tyres. The distribution of contact pressures during the contact of the tyre with a solid base represents one of the indicators we use. In this process, it is convenient to use matrix tactile sensors based on piezoresistive method of data collection.

Wearable Flexible Sensors: A Review

KAUST Repository

Nag, Anindya

2017-05-18

The paper provides a review on some of the significant research work done on wearable flexible sensors (WFS). Sensors fabricated with flexible materials have been attached to a person along with the embedded system to monitor a parameter and transfer the significant data to the monitoring unit for further analyses. The use of wearable sensors has played a quite important role to monitor physiological parameters of a person to minimize any malfunctioning happening in the body. The paper categorizes the work according to the materials used for designing the system, the network protocols and different types of activities that were being monitored. The challenges faced by the current sensing systems and future opportunities for the wearable flexible sensors regarding its market values are also briefly explained in the paper.

Wearable Flexible Sensors: A Review

KAUST Repository

Nag, Anindya; Mukhopadhyay, Subhas Chandra; Kosel, Jü rgen

2017-01-01

The paper provides a review on some of the significant research work done on wearable flexible sensors (WFS). Sensors fabricated with flexible materials have been attached to a person along with the embedded system to monitor a parameter and transfer the significant data to the monitoring unit for further analyses. The use of wearable sensors has played a quite important role to monitor physiological parameters of a person to minimize any malfunctioning happening in the body. The paper categorizes the work according to the materials used for designing the system, the network protocols and different types of activities that were being monitored. The challenges faced by the current sensing systems and future opportunities for the wearable flexible sensors regarding its market values are also briefly explained in the paper.

Sensor Technologies on Flexible Substrates

Science.gov (United States)

Koehne, Jessica

2016-01-01

NASA Ames has developed sensor technologies on flexible substrates integrated into textiles for personalized environment monitoring and human performance evaluation. Current technologies include chemical sensing for gas leak and event monitoring and biological sensors for human health and performance monitoring. Targeted integration include next generation EVA suits and flexible habitats.

Flexible magnetoimpidence sensor

KAUST Repository

Kavaldzhiev, Mincho

2015-05-01

Recently, flexible electronic devices have attracted increasing interest, due to the opportunities they promise for new applications such as wearable devices, where the components are required to flex during normal use[1]. In this light, different magnetic sensors, like microcoil, spin valve, giant magnetoresistance (GMR), magnetoimpedance (MI), have been studied previously on flexible substrates.

An insect-inspired bionic sensor for tactile localisation and material classification with state-dependent modulation

Directory of Open Access Journals (Sweden)

Luca ePatanè

2012-08-01

Full Text Available Insects carry a pair of antennae on their head: multimodal sensory organs that serve a wide range of sensory-guided behaviours. During locomotion, antennae are involved in near-range orientation, for example in detecting, localising, probing and negotiating obstacles.Here we present a bionic, active tactile sensing system inspired by insect antennae. It comprises an actuated elastic rod equipped with a terminal acceleration sensor. The measurement principle is based on the analysis of damped harmonic oscillations registered upon contact with an object. The dominant frequency of the oscillation is extracted to determine the distance of the contact point along the probe, and basal angular encoders allow tactile localisation in a polar coordinate system. Finally, the damping behaviour of the registered signal is exploited to determine the most likely material.The tactile sensor is tested in four approaches with increasing neural plausibility: First, we show that peak extraction from the Fourier spectrum is sufficient for tactile localisation with position errors below 1%. Also, the damping property of the extracted frequency is used for material classification. Second, we show that the Fourier spectrum can be analysed by an Artificial Neural Network which can be trained to decode contact distance and to classify contact materials. Thirdly, we show how efficiency can be improved by band-pass filtering the Fourier spectrum by application of non-negative matrix factorisation. This reduces the input dimension by 95% while reducing classification performance by 8% only. Finally, we replace the FFT by an array of spiking neurons with gradually differing resonance properties, such that their spike rate is a function of the input frequency. We show that this network can be applied to detect tactile contact events of a wheeled robot, and how detrimental effects of robot velocity on antennal dynamics can be suppressed by state-dependent modulation of the

Artificial tactile sensing in minimally invasive surgery - a new technical approach.

Science.gov (United States)

Schostek, Sebastian; Ho, Chi-Nghia; Kalanovic, Daniel; Schurr, Marc O

2006-01-01

The loss of tactile sensation is a commonly known drawback of minimally invasive surgery (MIS). Since the advent of MIS, research activities in providing tactile information to the surgeon are still ongoing, in order to improve patient safety and to extend the indications for MIS. We have designed a tactile sensor system comprising a tactile laparoscopic grasper for surgical palpation. For this purpose, we developed a novel tactile sensor technology which allows the manufacturing of an integrated sensor array within an acceptable price range. The array was integrated into the jaws of a 10mm laparoscopic grasper. The tactile data are transferred wirelessly via Bluetooth and are presented visually to the surgeon. The goal was to be able to obtain information about the shape and consistency of tissue structures by gently compressing the tissue between the jaws of the tactile instrument and thus to be able to recognize and assess anatomical or pathological structures, even if they are hidden in the tissue. With a prototype of the tactile sensor system we have conducted bench-tests as well as in-vitro and in-vivo experiments. The system proved feasibility in an experimental environment, it was easy to use, and the novel tactile sensor array was applicable for both palpation and grasping manoeuvres with forces of up to 60N. The tactile data turned out to be a useful supplement to the minimal amount of haptic feedback that is provided by current endoscopic instruments and the endoscopic image under certain conditions.

Flexible heartbeat sensor for wearable device.

Science.gov (United States)

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.

Universal Robot Hand Equipped with Tactile and Joint Torque Sensors: Development and Experiments on Stiffness Control and Object Recognition

Directory of Open Access Journals (Sweden)

Hiroyuki NAKAMOTO

2007-04-01

Full Text Available Various humanoid robots have been developed and multifunction robot hands which are able to attach those robots like human hand is needed. But a useful robot hand has not been depeveloped, because there are a lot of problems such as control method of many degrees of freedom and processing method of enormous sensor outputs. Realizing such robot hand, we have developed five-finger robot hand. In this paper, the detailed structure of developed robot hand is described. The robot hand we developed has five fingers of multi-joint that is equipped with joint torque sensors and tactile sensors. We report experimental results of a stiffness control with the developed robot hand. Those results show that it is possible to change the stiffness of joints. Moreover we propose an object recognition method with the tactile sensor. The validity of that method is assured by experimental results.

Flexible Temperature Sensors on Fibers

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Marcin Sloma

2010-08-01

Full Text Available The aim of this paper is to present research dedicated to the elaboration of novel, miniaturized flexible temperature sensors for textronic applications. Examined sensors were manufactured on a single yarn, which ensures their high flexibility and good compatibility with textiles. Stable and linear characteristics were obtained by special technological process and applied temperature profiles. As a thermo-sensitive materials the innovative polymer compositions filled with multiwalled carbon nanotubes were used. Elaborated material was adapted to printing and dip-coating techniques to produce NTC composites. Nanotube sensors were free from tensometric effect typical for other carbon-polymer sensor, and demonstrated TCR of 0.13%/K. Obtained temperature sensors, compatible with textile structure, can be applied in rapidly developing smart textiles and be used for health and protections purposes.

Flexible and Compressible PEDOT:PSS@Melamine Conductive Sponge Prepared via One-Step Dip Coating as Piezoresistive Pressure Sensor for Human Motion Detection.

Science.gov (United States)

Ding, Yichun; Yang, Jack; Tolle, Charles R; Zhu, Zhengtao

2018-05-09

Flexible and wearable pressure sensor may offer convenient, timely, and portable solutions to human motion detection, yet it is a challenge to develop cost-effective materials for pressure sensor with high compressibility and sensitivity. Herein, a cost-efficient and scalable approach is reported to prepare a highly flexible and compressible conductive sponge for piezoresistive pressure sensor. The conductive sponge, poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate) (PEDOT:PSS)@melamine sponge (MS), is prepared by one-step dip coating the commercial melamine sponge (MS) in an aqueous dispersion of poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate) (PEDOT:PSS). Due to the interconnected porous structure of MS, the conductive PEDOT:PSS@MS has a high compressibility and a stable piezoresistive response at the compressive strain up to 80%, as well as good reproducibility over 1000 cycles. Thereafter, versatile pressure sensors fabricated using the conductive PEDOT:PSS@MS sponges are attached to the different parts of human body; the capabilities of these devices to detect a variety of human motions including speaking, finger bending, elbow bending, and walking are evaluated. Furthermore, prototype tactile sensory array based on these pressure sensors is demonstrated.

Magnetic nanocomposite sensor

KAUST Repository

Alfadhel, Ahmed

2016-05-06

A magnetic nanocomposite device is described herein for a wide range of sensing applications. The device utilizes the permanent magnetic behavior of the nanowires to allow operation without the application of an additional magnetic field to magnetize the nanowires, which simplifies miniaturization and integration into microsystems. In5 addition, the nanocomposite benefits from the high elasticity and easy patterning of the polymer-based material, leading to a corrosion-resistant, flexible material that can be used to realize extreme sensitivity. In combination with magnetic sensor elements patterned underneath the nanocomposite, the nanocomposite device realizes highly sensitive and power efficient flexible artificial cilia sensors for flow measurement or tactile sensing.

Vertically aligned multiwalled carbon nanotubes for pressure, tactile and vibration sensing.

Science.gov (United States)

Yilmazoglu, O; Popp, A; Pavlidis, D; Schneider, J J; Garth, D; Schüttler, F; Battenberg, G

2012-03-02

We report a simple method for the micro-nano integration of flexible, vertically aligned multiwalled CNT arrays sandwiched between a top and bottom carbon layer via a porous alumina (Al(2)O(3)) template approach. The electromechanical properties of the flexible CNT arrays have been investigated under mechanical stress conditions. First experiments show highly sensitive piezoresistive sensors with a resistance decrease of up to ∼35% and a spatial resolution of <1 mm. The results indicate that these CNT structures can be utilized for tactile sensing components. They also confirm the feasibility of accessing and utilizing nanoscopic CNT bundles via lithographic processing. The method involves room-temperature processing steps and standard microfabrication techniques.

A Tactile Sensor Using Piezoresistive Beams for Detection of the Coefficient of Static Friction.

Science.gov (United States)

Okatani, Taiyu; Takahashi, Hidetoshi; Noda, Kentaro; Takahata, Tomoyuki; Matsumoto, Kiyoshi; Shimoyama, Isao

2016-05-18

This paper reports on a tactile sensor using piezoresistive beams for detection of the coefficient of static friction merely by pressing the sensor against an object. The sensor chip is composed of three pairs of piezoresistive beams arranged in parallel and embedded in an elastomer; this sensor is able to measure the vertical and lateral strains of the elastomer. The coefficient of static friction is estimated from the ratio of the fractional resistance changes corresponding to the sensing elements of vertical and lateral strains when the sensor is in contact with an object surface. We applied a normal force on the sensor surface through objects with coefficients of static friction ranging from 0.2 to 1.1. The fractional resistance changes corresponding to vertical and lateral strains were proportional to the applied force. Furthermore, the relationship between these responses changed according to the coefficients of static friction. The experimental result indicated the proposed sensor could determine the coefficient of static friction before a global slip occurs.

An Overview of the Development of Flexible Sensors.

Science.gov (United States)

Han, Su-Ting; Peng, Haiyan; Sun, Qijun; Venkatesh, Shishir; Chung, Kam-Sing; Lau, Siu Chuen; Zhou, Ye; Roy, V A L

2017-09-01

Flexible sensors that efficiently detect various stimuli relevant to specific environmental or biological species have been extensively studied due to their great potential for the Internet of Things and wearable electronics applications. The application of flexible and stretchable electronics to device-engineering technologies has enabled the fabrication of slender, lightweight, stretchable, and foldable sensors. Here, recent studies on flexible sensors for biological analytes, ions, light, and pH are outlined. In addition, contemporary studies on device structure, materials, and fabrication methods for flexible sensors are discussed, and a market overview is provided. The conclusion presents challenges and perspectives in this field. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Tactile Evaluation Feedback System for Multi-Layered Structure Inspired by Human Tactile Perception Mechanism

Directory of Open Access Journals (Sweden)

Iza Husna Mohamad Hashim

2017-11-01

Full Text Available Tactile sensation is one type of valuable feedback in evaluating a product. Conventionally, sensory evaluation is used to get direct subjective responses from the consumers, in order to improve the product’s quality. However, this method is a time-consuming and costly process. Therefore, this paper proposes a novel tactile evaluation system that can give tactile feedback from a sensor’s output. The main concept of this system is hierarchically layering the tactile sensation, which is inspired by the flow of human perception. The tactile sensation is classified from low-order of tactile sensation (LTS to high-order of tactile sensation (HTS, and also to preference. Here, LTS will be correlated with physical measures. Furthermore, the physical measures that are used to correlate with LTS are selected based on four main aspects of haptic information (roughness, compliance, coldness, and slipperiness, which are perceived through human tactile sensors. By using statistical analysis, the correlation between each hierarchy was obtained, and the preference was derived in terms of physical measures. A verification test was conducted by using unknown samples to determine the reliability of the system. The results showed that the system developed was capable of estimating preference with an accuracy of approximately 80%.

Flexible MEMS: A novel technology to fabricate flexible sensors and electronics

Science.gov (United States)

Tu, Hongen

This dissertation presents the design and fabrication techniques used to fabricate flexible MEMS (Micro Electro Mechanical Systems) devices. MEMS devices and CMOS(Complementary Metal-Oxide-Semiconductor) circuits are traditionally fabricated on rigid substrates with inorganic semiconductor materials such as Silicon. However, it is highly desirable that functional elements like sensors, actuators or micro fluidic components to be fabricated on flexible substrates for a wide variety of applications. Due to the fact that flexible substrate is temperature sensitive, typically only low temperature materials, such as polymers, metals, and organic semiconductor materials, can be directly fabricated on flexible substrates. A novel technology based on XeF2(xenon difluoride) isotropic silicon etching and parylene conformal coating, which is able to monolithically incorporate high temperature materials and fluidic channels, was developed at Wayne State University. The technology was first implemented in the development of out-of-plane parylene microneedle arrays that can be individually addressed by integrated flexible micro-channels. These devices enable the delivery of chemicals with controlled temporal and spatial patterns and allow us to study neurotransmitter-based retinal prosthesis. The technology was further explored by adopting the conventional SOI-CMOS processes. High performance and high density CMOS circuits can be first fabricated on SOI wafers, and then be integrated into flexible substrates. Flexible p-channel MOSFETs (Metal-Oxide-Semiconductor Field-Effect-Transistors) were successfully integrated and tested. Integration of pressure sensors and flow sensors based on single crystal silicon has also been demonstrated. A novel smart yarn technology that enables the invisible integration of sensors and electronics into fabrics has been developed. The most significant advantage of this technology is its post-MEMS and post-CMOS compatibility. Various high

Robotic Tactile Sensors Fabricated from a Monolithic Silicon Integrated Circuit and a Piezoelectric Polyvinylidene Fluoride Thin Film

Science.gov (United States)

1991-12-01

thi efecs could be accounted for. A high impedance switch network resulted in the aityto etally apply a fix&. ,zw the entire electrode array structure...sesrCmnipo-wil (if a I wo-itmetsitiial array of clusely spared : axels should be cajpable -it fundmental image seivsinm and thius. renile: iii ,fbIot Willh...is said to be piezoresistive. Piezoresistive tactile sensors incorporate this principle in tile design of tile sensor as the transducing material

Human-computer interface glove using flexible piezoelectric sensors

Science.gov (United States)

Cha, Youngsu; Seo, Jeonggyu; Kim, Jun-Sik; Park, Jung-Min

2017-05-01

In this note, we propose a human-computer interface glove based on flexible piezoelectric sensors. We select polyvinylidene fluoride as the piezoelectric material for the sensors because of advantages such as a steady piezoelectric characteristic and good flexibility. The sensors are installed in a fabric glove by means of pockets and Velcro bands. We detect changes in the angles of the finger joints from the outputs of the sensors, and use them for controlling a virtual hand that is utilized in virtual object manipulation. To assess the sensing ability of the piezoelectric sensors, we compare the processed angles from the sensor outputs with the real angles from a camera recoding. With good agreement between the processed and real angles, we successfully demonstrate the user interaction system with the virtual hand and interface glove based on the flexible piezoelectric sensors, for four hand motions: fist clenching, pinching, touching, and grasping.

Driving Interface Based on Tactile Sensors for Electric Wheelchairs or Trolleys

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Andrés Trujillo-León

2014-02-01

Full Text Available This paper introduces a novel device based on a tactile interface to replace the attendant joystick in electric wheelchairs. It can also be used in other vehicles such as shopping trolleys. Its use allows intuitive driving that requires little or no training, so its usability is high. This is achieved by a tactile sensor located on the handlebar of the chair or trolley and the processing of the information provided by it. When the user interacts with the handle of the chair or trolley, he or she exerts a pressure pattern that depends on the intention to accelerate, brake or turn to the left or right. The electronics within the device then perform the signal conditioning and processing of the information received, identifying the intention of the user on the basis of this pattern using an algorithm, and translating it into control signals for the control module of the wheelchair. These signals are equivalent to those provided by a joystick. This proposal aims to help disabled people and their attendees and prolong the personal autonomy in a context of aging populations.

A screen-printed flexible flow sensor

International Nuclear Information System (INIS)

Moschos, A; Kaltsas, G; Syrovy, T; Syrova, L

2017-01-01

A thermal flow sensor was printed on a flexible plastic substrate using exclusively screen-printing techniques. The presented device was implemented with custom made screen-printed thermistors, which allows simple, cost-efficient production on a variety of flexible substrates while maintaining the typical advantages of thermal flow sensors. Evaluation was performed for both static (zero flow) and dynamic conditions using a combination of electrical measurements and IR imaging techniques in order to determine important characteristics, such as temperature response, output repeatability, etc. The flow sensor was characterized utilizing the hot-wire and calorimetric principles of operation, while the preliminary results appear to be very promising, since the sensor was successfully evaluated and displayed adequate sensitivity in a relatively wide flow range. (paper)

A Tactile Sensor Using Piezoresistive Beams for Detection of the Coefficient of Static Friction

Science.gov (United States)

Okatani, Taiyu; Takahashi, Hidetoshi; Noda, Kentaro; Takahata, Tomoyuki; Matsumoto, Kiyoshi; Shimoyama, Isao

2016-01-01

This paper reports on a tactile sensor using piezoresistive beams for detection of the coefficient of static friction merely by pressing the sensor against an object. The sensor chip is composed of three pairs of piezoresistive beams arranged in parallel and embedded in an elastomer; this sensor is able to measure the vertical and lateral strains of the elastomer. The coefficient of static friction is estimated from the ratio of the fractional resistance changes corresponding to the sensing elements of vertical and lateral strains when the sensor is in contact with an object surface. We applied a normal force on the sensor surface through objects with coefficients of static friction ranging from 0.2 to 1.1. The fractional resistance changes corresponding to vertical and lateral strains were proportional to the applied force. Furthermore, the relationship between these responses changed according to the coefficients of static friction. The experimental result indicated the proposed sensor could determine the coefficient of static friction before a global slip occurs. PMID:27213374

Displaying Sensed Tactile Cues with a Fingertip Haptic Device.

Science.gov (United States)

Pacchierotti, Claudio; Prattichizzo, Domenico; Kuchenbecker, Katherine J

2015-01-01

Telerobotic systems enable humans to explore and manipulate remote environments for applications such as surgery and disaster response, but few such systems provide the operator with cutaneous feedback. This article presents a novel approach to remote cutaneous interaction; our method is compatible with any fingertip tactile sensor and any mechanical tactile display device, and it does not require a position/force or skin deformation model. Instead, it directly maps the sensed stimuli to the best possible input commands for the device's motors using a data set recorded with the tactile sensor inside the device. As a proof of concept, we considered a haptic system composed of a BioTac tactile sensor, in charge of measuring contact deformations, and a custom 3-DoF cutaneous device with a flat contact platform, in charge of applying deformations to the user's fingertip. To validate the proposed approach and discover its inherent tradeoffs, we carried out two remote tactile interaction experiments. The first one evaluated the error between the tactile sensations registered by the BioTac in a remote environment and the sensations created by the cutaneous device for six representative tactile interactions and 27 variations of the display algorithm. The normalized average errors in the best condition were 3.0 percent of the BioTac's full 12-bit scale. The second experiment evaluated human subjects' experiences for the same six remote interactions and eight algorithm variations. The average subjective rating for the best algorithm variation was 8.2 out of 10, where 10 is best.

Hybrid piezoresistive-optical tactile sensor for simultaneous measurement of tissue stiffness and detection of tissue discontinuity in robot-assisted minimally invasive surgery

Science.gov (United States)

Bandari, Naghmeh M.; Ahmadi, Roozbeh; Hooshiar, Amir; Dargahi, Javad; Packirisamy, Muthukumaran

2017-07-01

To compensate for the lack of touch during minimally invasive and robotic surgeries, tactile sensors are integrated with surgical instruments. Surgical tools with tactile sensors have been used mainly for distinguishing among different tissues and detecting malignant tissues or tumors. Studies have revealed that malignant tissue is most likely stiffer than normal. This would lead to the formation of a sharp discontinuity in tissue mechanical properties. A hybrid piezoresistive-optical-fiber sensor is proposed. This sensor is investigated for its capabilities in tissue distinction and detection of a sharp discontinuity. The dynamic interaction of the sensor and tissue is studied using finite element method. The tissue is modeled as a two-term Mooney-Rivlin hyperelastic material. For experimental verification, the sensor was microfabricated and tested under the same conditions as of the simulations. The simulation and experimental results are in a fair agreement. The sensor exhibits an acceptable linearity, repeatability, and sensitivity in characterizing the stiffness of different tissue phantoms. Also, it is capable of locating the position of a sharp discontinuity in the tissue. Due to the simplicity of its sensing principle, the proposed hybrid sensor could also be used for industrial applications.

Feasibility study of patient motion monitoring by using tactile array sensors

Science.gov (United States)

Kim, Tae-Ho; Kang, Seong-Hee; Kim, Dong-Su; Cho, Min-Seok; Kim, Kyeong-Hyeon; Suh, Tae-Suk; Kim, Siyong

2015-07-01

An ideal alignment method based on the external anatomical surface of the patient should consider the entire region of interest. However, optical-camera-based systems cannot blindly monitor such areas as the patient's back, for example. Furthermore, collecting enough information to correct the associated deformation error is impossible. The study aim is to propose a new patient alignment method using tactile array sensors that can measure the distributed pressure profiles along the contact surface. The TactArray system includes one sensor, a signal-conditioning device (USB drive/interface electronics, power supply, and cables), and a PC. The tactile array sensor was placed between the patient's back and the treatment couch, and the deformations at different location on the patient's back were evaluated. Three healthy male volunteers were enrolled in this study, and pressure profile distributions (PPDs) were obtained with and without immobilization. After the initial pretreatment setup using the laser alignment system, the PPD of the patient's back was acquired. The results were obtained at four different times and included a reference PPD dataset. The contact area and the center-of-pressure value were also acquired based on the PPD data for a more elaborate quantitative data analysis. To evaluate the clinical feasibility of using the proposed alignment method for reducing the deformation error, we implemented a real-time self-correction procedure. Despite the initial alignment, we confirmed that PPD variations existed in both cases of the volunteer studies (with and without the use of the immobilization tool). Additionally, we confirmed that the contact area and the center of pressure varied in both cases, and those variations were observed in all three volunteers. With the proposed alignment method and the real-time selfcorrection procedure, the deformation error was significantly reduced. The proposed alignment method can be used to account for the limitation of

Nanowire FET Based Neural Element for Robotic Tactile Sensing Skin

Directory of Open Access Journals (Sweden)

William Taube Navaraj

2017-09-01

Full Text Available This paper presents novel Neural Nanowire Field Effect Transistors (υ-NWFETs based hardware-implementable neural network (HNN approach for tactile data processing in electronic skin (e-skin. The viability of Si nanowires (NWs as the active material for υ-NWFETs in HNN is explored through modeling and demonstrated by fabricating the first device. Using υ-NWFETs to realize HNNs is an interesting approach as by printing NWs on large area flexible substrates it will be possible to develop a bendable tactile skin with distributed neural elements (for local data processing, as in biological skin in the backplane. The modeling and simulation of υ-NWFET based devices show that the overlapping areas between individual gates and the floating gate determines the initial synaptic weights of the neural network - thus validating the working of υ-NWFETs as the building block for HNN. The simulation has been further extended to υ-NWFET based circuits and neuronal computation system and this has been validated by interfacing it with a transparent tactile skin prototype (comprising of 6 × 6 ITO based capacitive tactile sensors array integrated on the palm of a 3D printed robotic hand. In this regard, a tactile data coding system is presented to detect touch gesture and the direction of touch. Following these simulation studies, a four-gated υ-NWFET is fabricated with Pt/Ti metal stack for gates, source and drain, Ni floating gate, and Al2O3 high-k dielectric layer. The current-voltage characteristics of fabricated υ-NWFET devices confirm the dependence of turn-off voltages on the (synaptic weight of each gate. The presented υ-NWFET approach is promising for a neuro-robotic tactile sensory system with distributed computing as well as numerous futuristic applications such as prosthetics, and electroceuticals.

Hybrid-Actuated Finger Prosthesis with Tactile Sensing

Directory of Open Access Journals (Sweden)

Cheng Yee Low

2013-10-01

Full Text Available Finger prostheses are devices developed to emulate the functionality of natural human fingers. On top of their aesthetic appearance in terms of shape, size and colour, such biomimetic devices require a high level of dexterity. They must be capable of gripping an object, and even manipulating it in the hand. This paper presents a biomimetic robotic finger actuated by a hybrid mechanism and integrated with a tactile sensor. The hybrid actuation mechanism comprises a DC micromotor and a Shape Memory Alloy (SMA wire. A customized test rig has been developed to measure the force and stroke produced by the SMA wire. In parallel with the actuator development, experimental investigations have been conducted on Quantum Tunnelling Composite (QTC and Pressure Conductive Rubber (PCR towards the development of a tactile sensor for the finger. The viability of using these materials for tactile sensing has been determined. Such a hybrid actuation approach aided with tactile sensing capability enables a finger design as an integral part of a prosthetic hand for applications up to the transradial amputation level.

Application of carbon nanotubes flexible strain sensor in smart textiles

Directory of Open Access Journals (Sweden)

Qiong CHENG

2017-10-01

Full Text Available Smart textiles have not only the necessary functions of daily wear, but also the intelligence. The focus of the current textile materials research is the selection of flexible material. For flexible materials, carbon material is one of the ideal materials for preparing flexible strain gauges. The application of flexible strain sensor prepared by carbon nanotubes as a flexible material in smart textiles is the research content. The research status of carbon nanotubes flexible strain sensor is introduced from the aspects of the structure, properties and application. The characteristics and functions of flexible strain gages prepared with carbon nanotube fibers and carbon nanotube films as flexible materials are discussed in terms of selection, preparation method, performance test and application. At the same time, the advantages and disadvantages of the flexible strain sensor of carbon nanotubes are reviewed from the aspects of preparation difficulty, production cost and practical application effect. High sensitivity with high strain will be a key research direction for carbon nanotube flexible strain sensors.

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

Science.gov (United States)

2017-02-23

biological tissues. Chuang et al. [4] further employed the two- spring model to design a piezoelectric tactile sensor with a hard copper ball embedded in a...technique [12]. Because the printed graphene flakes must be sintered above 200 °C for good adhesion and better property on a silicon substrate with...electroplating a Cu mold, (c) stripping the photoresist followed by the removal of the seed layer using Cu etchant and BOE, (d) inkjet printing graphene flakes

Flexible micro flow sensor for micro aerial vehicles

Science.gov (United States)

Zhu, Rong; Que, Ruiyi; Liu, Peng

2017-12-01

This article summarizes our studies on micro flow sensors fabricated on a flexible polyimide circuit board by a low-cost hybrid process of thin-film deposition and circuit printing. The micro flow sensor has merits of flexibility, structural simplicity, easy integrability with circuits, and good sensing performance. The sensor, which adheres to an object surface, can detect the surface flow around the object. In our study, we install the fabricated micro flow sensors on micro aerial vehicles (MAVs) to detect the surface flow variation around the aircraft wing and deduce the aerodynamic parameters of the MAVs in flight. Wind tunnel experiments using the sensors integrated with the MAVs are also conducted.

Robotic Tactile Sensing Technologies and System

CERN Document Server

Dahiya, Ravinder S

2013-01-01

Future robots are expected to work closely and interact safely with real-world objects and humans alike. Sense of touch is important in this context, as it helps estimate properties such as shape, texture, hardness, material type and many more; provides action related information, such as slip detection; and helps carrying out actions such as rolling an object between fingers without dropping it. This book presents an in-depth description of the solutions available for gathering tactile data, obtaining aforementioned tactile information from the data and effectively using the same in various robotic tasks. Better integration of tactile sensors on a robot’s body is prerequisite for the effective utilization of tactile data. For this reason, the hardware, software and application related issues (and resulting trade-offs) that must be considered to make tactile sensing an effective component of robotic platforms are discussed in-depth.To this end, human touch sensing has also been explored. The design hints co...

Field-effect enhanced triboelectric colloidal quantum dot flexible sensor

Science.gov (United States)

Meng, Lingju; Xu, Qiwei; Fan, Shicheng; Dick, Carson R.; Wang, Xihua

2017-10-01

Flexible electronics, which is of great importance as fundamental sensor and communication technologies for many internet-of-things applications, has established a huge market encroaching into the trillion-dollar market of solid state electronics. For the capability of being processed by printing or spraying, colloidal quantum dots (CQDs) play an increasingly important role in flexible electronics. Although the electrical properties of CQD thin-films are expected to be stable on flexible substrates, their electrical performance could be tuned for applications in flexible touch sensors. Here, we report CQD touch sensors employing polydimethylsiloxane (PDMS) triboelectric films. The electrical response of touching activity is enhanced by incorporating CQD field-effect transistors into the device architecture. Thanks to the use of the CQD thin film as a current amplifier, the field-effect CQD touch sensor shows a fast response to various touching materials, even being bent to a large curvature. It also shows a much higher output current density compared to a PDMS triboelectric touch sensor.

A flexible infrared sensor for tissue oximetry

DEFF Research Database (Denmark)

Petersen, Søren Dahl; Thyssen, Anders; Engholm, Mathias

2013-01-01

We present a flexible infrared sensor for use in tissue oximetry with the aim of treating prematurely born infants. The sensor will detect the oxygen saturation in brain tissue through near infrared spectroscopy. The sensor itself consists of several individual silicon photo detectors fully...

Spatial asymmetry in tactile sensor skin deformation aids perception of edge orientation during haptic exploration.

Science.gov (United States)

Ponce Wong, Ruben D; Hellman, Randall B; Santos, Veronica J

2014-01-01

Upper-limb amputees rely primarily on visual feedback when using their prostheses to interact with others or objects in their environment. A constant reliance upon visual feedback can be mentally exhausting and does not suffice for many activities when line-of-sight is unavailable. Upper-limb amputees could greatly benefit from the ability to perceive edges, one of the most salient features of 3D shape, through touch alone. We present an approach for estimating edge orientation with respect to an artificial fingertip through haptic exploration using a multimodal tactile sensor on a robot hand. Key parameters from the tactile signals for each of four exploratory procedures were used as inputs to a support vector regression model. Edge orientation angles ranging from -90 to 90 degrees were estimated with an 85-input model having an R (2) of 0.99 and RMS error of 5.08 degrees. Electrode impedance signals provided the most useful inputs by encoding spatially asymmetric skin deformation across the entire fingertip. Interestingly, sensor regions that were not in direct contact with the stimulus provided particularly useful information. Methods described here could pave the way for semi-autonomous capabilities in prosthetic or robotic hands during haptic exploration, especially when visual feedback is unavailable.

MoveBots - Flexible Object Handling using Dexterous Grippers

DEFF Research Database (Denmark)

Jørgensen, Jimmy Alison

.This dissertation present work that focus on increasing flexibility ofrobotic grasping by using simulation tools, dexterous hands and tactile sensors.The work is centered on development of tools and methods for graspplanning, analysis and simulation.Overall the research contributes with valuable tools......Within recent years there has been an increased focus in flexible automationin industrial production. This focus is strongly related to the demandfor small product batches and individually customized products. To enablesuch flexibility large machinery is exchanged or upgraded with high degreeof...... freedom robot manipulators. These manipulators are programmable andmultipurpose and often only limited by their gripper systems. These limitationsare significant since the design and flexibility of the gripper determineswhich objects the system can handle.Current gripper systems are typically simple...

The output characteristic of cantilever-like tactile sensor based on the inverse magnetostrictive effect

Directory of Open Access Journals (Sweden)

Lili Wan

2017-05-01

Full Text Available The output characteristic model of a magnetostrictive cantilever-like tactile sensor has been founded based on the inverse-magnetostrictive effect, the flexure mode, and the Jiles-Atherton model. The magnetostrictive sensor has been designed and an output voltage is analyzed under the conditions of bias magnetic field, contact pressure and deflection of cantilever beam. The experiment has been performed to determine the relation among the induced output voltage, bias magnetic field, and pressure. It is found that the peak of the induced output voltage increases with an increasing pressure under the bias magnetic field of 4.8kA/m. The experimental result agrees well with the theoretical one and it means that the model can describe the relation among the induced output voltage, bias magnetic field, and pressure. The sensor with a Galfenol sheet may hold potentials in sample characterization and deformation predication in artificial intelligence area.

A ph sensor based on a flexible substrate

Science.gov (United States)

Huang, Wen-Ding

pH sensor is an essential component used in many chemical, food, and bio-material industries. Conventional glass electrodes have been used to construct pH sensors, however, have some disadvantages. Glass electrodes are easily affected by alkaline or HF solution, they require a high input impedance pH meter, they often exhibit a sluggish response. In some specific applications, it is also difficult to use glass electrodes for in vivo biomedical or food monitoring applications due to the difficulty of size miniaturization, planarization and polymerization based on current manufacturing technologies. In this work, we have demonstrated a novel flexible pH sensor based on low-cost sol-gel fabrication process of iridium oxide (IrOx) sensing film (IROF). A pair of flexible miniature IrOx/AgCl electrode generated the action potential from the solution by electrochemical mechanism to obtain the pH level of the reagent. The fabrication process including sol-gel, thermal oxidation, and the electro-plating process of the silver chloride (AgCl) reference electrode were reported in the work. The IrOx film was verified and characterized using electron dispersive analysis (EDAX), scanning electron microscope (SEM), and x-ray diffraction (XRD). The flexible pH sensor's performance and characterization have been investigated with different testing parameters such as sensitivity, response time, stability, reversibility, repeatability, selectivity and temperature dependence. The flexible IrOx pH sensors exhibited promising sensing performance with a near-Nernstian response of sensitivity which is between --51.1mV/pH and --51.7mV/pH in different pH levels ranging from 1.5 to 12 at 25°C. Two applications including gastroesophageal reflux disease (GERD) diagnosis and food freshness wireless monitoring using our micro-flexible IrOx pH sensors were demonstrated. For the GERD diagnosing system, we embedded the micro flexible pH sensor on a 1.2cmx3.8cm of the capsule size of wireless sensor

Evaluation of Circle Diameter by Distributed Tactile Information in Active Tracing

Directory of Open Access Journals (Sweden)

Hiroyuki Nakamoto

2013-01-01

Full Text Available Active touch with voluntary movement on the surface of an object is important for human to obtain the local and detailed features on it. In addition, the active touch is considered to enhance the human spatial resolution. In order to improve dexterity performance of multifinger robotic hands, it is necessary to study an active touch method for robotic hands. In this paper, first, we define four requirements of a tactile sensor for active touch and design a distributed tactile sensor model, which can measure a distribution of compressive deformation. Second, we suggest a measurement process with the sensor model, a synthesis method of distributed deformations. In the experiments, a five-finger robotic hand with tactile sensors traces on the surface of cylindrical objects and evaluates the diameters. We confirm that the hand can obtain more information of the diameters by tracing the finger.

Flexible Graphene-Based Wearable Gas and Chemical Sensors.

Science.gov (United States)

Singh, Eric; Meyyappan, M; Nalwa, Hari Singh

2017-10-11

Wearable electronics is expected to be one of the most active research areas in the next decade; therefore, nanomaterials possessing high carrier mobility, optical transparency, mechanical robustness and flexibility, lightweight, and environmental stability will be in immense demand. Graphene is one of the nanomaterials that fulfill all these requirements, along with other inherently unique properties and convenience to fabricate into different morphological nanostructures, from atomically thin single layers to nanoribbons. Graphene-based materials have also been investigated in sensor technologies, from chemical sensing to detection of cancer biomarkers. The progress of graphene-based flexible gas and chemical sensors in terms of material preparation, sensor fabrication, and their performance are reviewed here. The article provides a brief introduction to graphene-based materials and their potential applications in flexible and stretchable wearable electronic devices. The role of graphene in fabricating flexible gas sensors for the detection of various hazardous gases, including nitrogen dioxide (NO 2 ), ammonia (NH 3 ), hydrogen (H 2 ), hydrogen sulfide (H 2 S), carbon dioxide (CO 2 ), sulfur dioxide (SO 2 ), and humidity in wearable technology, is discussed. In addition, applications of graphene-based materials are also summarized in detecting toxic heavy metal ions (Cd, Hg, Pb, Cr, Fe, Ni, Co, Cu, Ag), and volatile organic compounds (VOCs) including nitrobenzene, toluene, acetone, formaldehyde, amines, phenols, bisphenol A (BPA), explosives, chemical warfare agents, and environmental pollutants. The sensitivity, selectivity and strategies for excluding interferents are also discussed for graphene-based gas and chemical sensors. The challenges for developing future generation of flexible and stretchable sensors for wearable technology that would be usable for the Internet of Things (IoT) are also highlighted.

Highly Sensitive Flexible Magnetic Sensor Based on Anisotropic Magnetoresistance Effect.

Science.gov (United States)

Wang, Zhiguang; Wang, Xinjun; Li, Menghui; Gao, Yuan; Hu, Zhongqiang; Nan, Tianxiang; Liang, Xianfeng; Chen, Huaihao; Yang, Jia; Cash, Syd; Sun, Nian-Xiang

2016-11-01

A highly sensitive flexible magnetic sensor based on the anisotropic magnetoresistance effect is fabricated. A limit of detection of 150 nT is observed and excellent deformation stability is achieved after wrapping of the flexible sensor, with bending radii down to 5 mm. The flexible AMR sensor is used to read a magnetic pattern with a thickness of 10 μm that is formed by ferrite magnetic inks. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

3-Axis Fully-Integrated Capacitive Tactile Sensor with Flip-Bonded CMOS on LTCC Interposer.

Science.gov (United States)

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.

Magnetic Nanocomposite Cilia Sensors

KAUST Repository

Alfadhel, Ahmed

2016-07-19

Recent progress in the development of artificial skin concepts is a result of the increased demand for providing environment perception such as touch and flow sensing to robots, prosthetics and surgical tools. Tactile sensors are the essential components of artificial skins and attracted considerable attention that led to the development of different technologies for mimicking the complex sense of touch in humans. This dissertation work is devoted to the development of a bioinspired tactile sensing technology that imitates the extremely sensitive hair-like cilia receptors found in nature. The artificial cilia are fabricated from permanent magnetic, biocompatible and highly elastic nanocomposite material, and integrated on a giant magneto-impedance magnetic sensor to measure the stray field. A force that bends the cilia changes the stray field and is therefore detected with the magnetic sensor, providing high performance in terms of sensitivity, power consumption and versatility. The nanocomposite is made of Fe nanowires (NWs) incorporated into polydimethylsiloxane (PDMS). Fe NWs have a high remanent magnetization, due the shape anisotropy; thus, they are acting as permanent nano-magnets. This allows remote device operation and avoids the need for a magnetic field to magnetize the NWs, benefiting miniaturization and the possible range of applications. The magnetic properties of the nanocomposite can be easily tuned by modifying the NWs concentration or by aligning the NWs to define a magnetic anisotropy. Tactile sensors are realized on flexible and rigid substrates that can detect flow, vertical and shear forces statically and dynamically, with a high resolution and wide operating range. The advantage to operate the sensors in liquids and air has been utilized to measure flows in different fluids in a microfluidic channel. Various dynamic studies were conducted with the tactile sensor demonstrating the detection of moving objects or the texture of objects. Overall

Object Recognition and Localization: The Role of Tactile Sensors

Directory of Open Access Journals (Sweden)

Achint Aggarwal

2014-02-01

Full Text Available Tactile sensors, because of their intrinsic insensitivity to lighting conditions and water turbidity, provide promising opportunities for augmenting the capabilities of vision sensors in applications involving object recognition and localization. This paper presents two approaches for haptic object recognition and localization for ground and underwater environments. The first approach called Batch Ransac and Iterative Closest Point augmented Particle Filter (BRICPPF is based on an innovative combination of particle filters, Iterative-Closest-Point algorithm, and a feature-based Random Sampling and Consensus (RANSAC algorithm for database matching. It can handle a large database of 3D-objects of complex shapes and performs a complete six-degree-of-freedom localization of static objects. The algorithms are validated by experimentation in ground and underwater environments using real hardware. To our knowledge this is the first instance of haptic object recognition and localization in underwater environments. The second approach is biologically inspired, and provides a close integration between exploration and recognition. An edge following exploration strategy is developed that receives feedback from the current state of recognition. A recognition by parts approach is developed which uses the BRICPPF for object sub-part recognition. Object exploration is either directed to explore a part until it is successfully recognized, or is directed towards new parts to endorse the current recognition belief. This approach is validated by simulation experiments.

Flexible wearable sensor nodes with solar energy harvesting.

Science.gov (United States)

Taiyang Wu; Arefin, Md Shamsul; Redoute, Jean-Michel; Yuce, Mehmet Rasit

2017-07-01

Wearable sensor nodes have gained a lot of attention during the past few years as they can monitor and record people's physical parameters in real time. Wearable sensor nodes can promote healthy lifestyles and prevent the occurrence of potential illness or injuries. This paper presents a flexible wearable sensor system powered by an efficient solar energy harvesting technique. It can measure the subject's heartbeats using a photoplethysmography (PPG) sensor and perform activity monitoring using an accelerometer. The solar energy harvester adopts an output current based maximum power point tracking (MPPT) algorithm, which controls the solar panel to operate within its high output power range. The power consumption of the flexible sensor nodes has been investigated under different operation conditions. Experimental results demonstrate that wearable sensor nodes can work for more than 12 hours when they are powered by the solar energy harvester for 3 hours in the bright sunlight.

Design of flexible thermoelectric generator as human body sensor

DEFF Research Database (Denmark)

Qing, Shaowei; Rezaniakolaei, Alireza; Rosendahl, Lasse Aistrup

2018-01-01

Flexible thermoelectric generator (TEG) became an attractive technology that has been widely used especially for curved surfaces applications. This study aims an optimal design of a flexible TEG for human body application. The flexible TEG is part of a sensor and supplies required electrical power...... for data transmission by the sensor. The TEG module includes ink based thermoelements made of nano-carbon bismuth telluride materials. One flexible fin conducts the body heat to the TEG module and there are two fins that exchange the heat from the cold side of the TEG to the ambient. The proposed design...

Soft pneumatic actuator skin with piezoelectric sensors for vibrotactile feedback

Directory of Open Access Journals (Sweden)

Harshal Arun Sonar

2016-01-01

Full Text Available The latest wearable technologies demand more intuitive and sophisticated interfaces for communication, sensing, and feedback closer to the body. Evidently, such interfaces require flexibility and conformity without losing their functionality even on rigid surfaces. Although there has been various research efforts in creating tactile feedback to improve various haptic interfaces and master-slave manipulators, we are yet to see a comprehensive device that can both supply vibratory actuation and tactile sensing. This paper describes a soft pneumatic actuator (SPA based, SPA-skin prototype that allows bidirectional tactile information transfer to facilitate simpler and responsive wearable interface. We describe the design and fabrication of a 1.4 mm-thick vibratory SPA - skin that is integrated with piezoelectric sensors. We examine in detail the mechanical performance compared to the SPA model and the sensitivity of the sensors for the application in vibrotactile feedback. Experimental findings show that this ultra-thin SPA and the unique integration process of the discrete lead zirconate titanate (PZT based piezoelectric sensors achieve high resolution of soft contact sensing as well as accurate control on vibrotactile feedback by closing the control loop.

Durable Tactile Glove for Human or Robot Hand

Science.gov (United States)

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.

Flexible pressure sensors for smart protective clothing against impact loading

International Nuclear Information System (INIS)

Wang, Fei; Zhu, Bo; Shu, Lin; Tao, Xiaoming

2014-01-01

The development of smart protective clothing will facilitate the quick detection of injuries from contact sports, traffic collisions and other accidents. To obtain real-time information like spatial and temporal pressure distributions on the clothing, flexible pressure sensor arrays are required. Based on a resistive fabric strain sensor we demonstrate all flexible, resistive pressure sensors with a large workable pressure range (0–8 MPa), a high sensitivity (1 MPa −1 ) and an excellent repeatability (lowest non-repeatability ±2.4% from 0.8 to 8 MPa) that can be inexpensively fabricated using fabric strain sensors and biocompatible polydimethylsiloxane (PDMS). The pressure sensitivity is tunable by using elastomers with different elasticities or by the pre-strain control of fabric strain sensors. Finite element simulation further confirms the sensor design. The simple structure, large workable pressure range, high sensitivity, high flexibility, facile fabrication and low cost of these pressure sensors make them promising candidates for smart protective clothing against impact loading. (paper)

Artificial Skin Ridges Enhance Local Tactile Shape Discrimination

Directory of Open Access Journals (Sweden)

Shuzhi Sam Ge

2011-09-01

Full Text Available One of the fundamental requirements for an artificial hand to successfully grasp and manipulate an object is to be able to distinguish different objects’ shapes and, more specifically, the objects’ surface curvatures. In this study, we investigate the possibility of enhancing the curvature detection of embedded tactile sensors by proposing a ridged fingertip structure, simulating human fingerprints. In addition, a curvature detection approach based on machine learning methods is proposed to provide the embedded sensors with the ability to discriminate the surface curvature of different objects. For this purpose, a set of experiments were carried out to collect tactile signals from a 2 × 2 tactile sensor array, then the signals were processed and used for learning algorithms. To achieve the best possible performance for our machine learning approach, three different learning algorithms of Naïve Bayes (NB, Artificial Neural Networks (ANN, and Support Vector Machines (SVM were implemented and compared for various parameters. Finally, the most accurate method was selected to evaluate the proposed skin structure in recognition of three different curvatures. The results showed an accuracy rate of 97.5% in surface curvature discrimination.

Touch sensitive electrorheological fluid based tactile display

Science.gov (United States)

Liu, Yanju; Davidson, Rob; Taylor, Paul

2005-12-01

A tactile display is programmable device whose controlled surface is intended to be investigated by human touch. It has a great number of potential applications in the field of virtual reality and elsewhere. In this research, a 5 × 5 tactile display array including electrorheological (ER) fluid has been developed and investigated. Force responses of the tactile display array have been measured while a probe was moved across the upper surface. The purpose of this was to simulate the action of touch performed by human finger. Experimental results show that the sensed surface information could be controlled effectively by adjusting the voltage activation pattern imposed on the tactels. The performance of the tactile display is durable and repeatable. The touch sensitivity of this ER fluid based tactile display array has also been investigated in this research. The results show that it is possible to sense the touching force normal to the display's surface by monitoring the change of current passing through the ER fluid. These encouraging results are helpful for constructing a new type of tactile display based on ER fluid which can act as both sensor and actuator at the same time.

Pd thin films on flexible substrate for hydrogen sensor

Energy Technology Data Exchange (ETDEWEB)

Öztürk, Sadullah [Fatih Sultan Mehmet Vakıf University, Engineering Faculty, Istanbul (Turkey); Kılınç, Necmettin, E-mail: nkilinc@nigde.edu.tr [Nigde University, Mechatronics Engineering Department, 51245 Nigde (Turkey); Nigde University, Nanotechnology Application and Research Center, 51245 Nigde (Turkey)

2016-07-25

In this work, palladium (Pd) thin films were prepared via RF sputtering method with various thicknesses (6 nm, 20 nm and 60 nm) on both a flexible substrate and a hard substrate. Hydrogen (H{sub 2}) sensing properties of Pd films on flexible substrate have been investigated depending on temperatures (25–100 °C) and H{sub 2} concentrations (600 ppm – 10%). The effect of H{sub 2} on structural properties of the films was also studied. The films were characterized by Scanning Electron Microscopy (SEM) and X-ray diffraction. It is found that whole Pd films on hard substrate show permanent structural deformation after exposed to 10% H{sub 2} for 30 min. But, this H{sub 2} exposure does not causes any structural deformation for 6 nm Pd film on flexible substrate and 6 nm Pd film on flexible substrate shows reversible sensor response up to 10% H{sub 2} concentration without any structural deformation. On the other hand, Pd film sensors that have the thicknesses 20 nm and 60 nm on flexible substrate are irreversible for higher H{sub 2} concentration (>2%) with film deformation. The sensor response of 6 nm Pd film on flexible substrate increased with increasing H{sub 2} concentration up 4% and then saturated. The sensitivity of the film decreased with increasing operation temperature. - Highlights: • Pd thin films fabricated by RF sputtering on both flexible and hard substrates. • Structural deformation observed for films on hard substrate after exposing 10% H{sub 2}. • 6 nm Pd film on flexible substrate shows reversible sensor response up to 10% H{sub 2}. • H{sub 2} sensing properties of film on flexible substrate investigated depending on temperature and concentration. • The sensitivity of the film decreased with increasing operation temperature.

Learning tactile skills through curious exploration

Directory of Open Access Journals (Sweden)

Leo ePape

2012-07-01

Full Text Available We present curiosity-driven, autonomous acquisition of tactile exploratory skills on a biomimetic robot finger equipped with an array of microelectromechanical touch sensors. Instead of building tailored algorithms for solving a specific tactile task, we employ a more general curiosity-driven reinforcement learning approach that autonomously learns a set of motor skills in absence of an explicit teacher signal. In this approach, the acquisition of skills is driven by the information content of the sensory input signals relative to a learner that aims at representing sensory inputs using fewer and fewer computational resources. We show that, from initially random exploration of its environment, the robotic system autonomously develops a small set of basic motor skills that lead to different kinds of tactile input. Next, the system learns how to exploit the learned motor skills to solve supervised texture classification tasks. Our approach demonstrates the feasibility of autonomous acquisition of tactile skills on physical robotic platforms through curiosity-driven reinforcement learning, overcomes typical difficulties of engineered solutions for active tactile exploration and underactuated control, and provides a basis for studying developmental learning through intrinsic motivation in robots.

Optical fiber sensors embedded in flexible polymer foils

Science.gov (United States)

van Hoe, Bram; van Steenberge, Geert; Bosman, Erwin; Missinne, Jeroen; Geernaert, Thomas; Berghmans, Francis; Webb, David; van Daele, Peter

2010-04-01

In traditional electrical sensing applications, multiplexing and interconnecting the different sensing elements is a major challenge. Recently, many optical alternatives have been investigated including optical fiber sensors of which the sensing elements consist of fiber Bragg gratings. Different sensing points can be integrated in one optical fiber solving the interconnection problem and avoiding any electromagnetical interference (EMI). Many new sensing applications also require flexible or stretchable sensing foils which can be attached to or wrapped around irregularly shaped objects such as robot fingers and car bumpers or which can even be applied in biomedical applications where a sensor is fixed on a human body. The use of these optical sensors however always implies the use of a light-source, detectors and electronic circuitry to be coupled and integrated with these sensors. The coupling of these fibers with these light sources and detectors is a critical packaging problem and as it is well-known the costs for packaging, especially with optoelectronic components and fiber alignment issues are huge. The end goal of this embedded sensor is to create a flexible optical sensor integrated with (opto)electronic modules and control circuitry. To obtain this flexibility, one can embed the optical sensors and the driving optoelectronics in a stretchable polymer host material. In this article different embedding techniques for optical fiber sensors are described and characterized. Initial tests based on standard manufacturing processes such as molding and laser structuring are reported as well as a more advanced embedding technique based on soft lithography processing.

Carbon nanotube based pressure sensor for flexible electronics

International Nuclear Information System (INIS)

So, Hye-Mi; Sim, Jin Woo; Kwon, Jinhyeong; Yun, Jongju; Baik, Seunghyun; Chang, Won Seok

2013-01-01

Highlights: • The electromechanical change of vertically aligned carbon nanotubes. • Fabrication of CNT field-effect transistor on flexible substrate. • CNT based FET integrated active pressure sensor. • The integrated device yields an increase in the source-drain current under pressure. - Abstract: A pressure sensor was developed based on an arrangement of vertically aligned carbon nanotubes (VACNTs) supported by a polydimethylsiloxane (PDMS) matrix. The VACNTs embedded in the PDMS matrix were structurally flexible and provided repeated sensing operation due to the high elasticities of both the polymer and the carbon nanotubes (CNTs). The conductance increased in the presence of a loading pressure, which compressed the material and induced contact between neighboring CNTs, thereby producing a dense current path and better CNT/metal contacts. To achieve flexible functional electronics, VACNTs based pressure sensor was integrated with field-effect transistor, which is fabricated using sprayed semiconducting carbon nanotubes on plastic substrate

Carbon nanotube based pressure sensor for flexible electronics

Energy Technology Data Exchange (ETDEWEB)

So, Hye-Mi [Department of Nano Mechanics, Nanomechanical Systems Research Division, Korea Institute of Machinery and Materials, Daejeon 305-343 (Korea, Republic of); Sim, Jin Woo [Advanced Nano Technology Ltd., Seoul 132-710 (Korea, Republic of); Kwon, Jinhyeong [Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon 305-701 (Korea, Republic of); Yun, Jongju; Baik, Seunghyun [SKKU Advanced Institute of Nanotechnology (SAINT), Department of Energy Science and School of Mechanical Engineering, Sungkyunkwan University, Suwon, Gyeonggi-do 440-746 (Korea, Republic of); Chang, Won Seok, E-mail: paul@kimm.re.kr [Department of Nano Mechanics, Nanomechanical Systems Research Division, Korea Institute of Machinery and Materials, Daejeon 305-343 (Korea, Republic of)

2013-12-15

Highlights: • The electromechanical change of vertically aligned carbon nanotubes. • Fabrication of CNT field-effect transistor on flexible substrate. • CNT based FET integrated active pressure sensor. • The integrated device yields an increase in the source-drain current under pressure. - Abstract: A pressure sensor was developed based on an arrangement of vertically aligned carbon nanotubes (VACNTs) supported by a polydimethylsiloxane (PDMS) matrix. The VACNTs embedded in the PDMS matrix were structurally flexible and provided repeated sensing operation due to the high elasticities of both the polymer and the carbon nanotubes (CNTs). The conductance increased in the presence of a loading pressure, which compressed the material and induced contact between neighboring CNTs, thereby producing a dense current path and better CNT/metal contacts. To achieve flexible functional electronics, VACNTs based pressure sensor was integrated with field-effect transistor, which is fabricated using sprayed semiconducting carbon nanotubes on plastic substrate.

3-Axis Fully-Integrated Capacitive Tactile Sensor with Flip-Bonded CMOS on LTCC Interposer

Directory of Open Access Journals (Sweden)

Sho Asano

2017-10-01

Full Text Available 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.

A CMOS micromachined capacitive tactile sensor with integrated readout circuits and compensation of process variations.

Science.gov (United States)

Tsai, Tsung-Heng; Tsai, Hao-Cheng; Wu, Tien-Keng

2014-10-01

This paper presents a capacitive tactile sensor fabricated in a standard CMOS process. Both of the sensor and readout circuits are integrated on a single chip by a TSMC 0.35 μm CMOS MEMS technology. In order to improve the sensitivity, a T-shaped protrusion is proposed and implemented. This sensor comprises the metal layer and the dielectric layer without extra thin film deposition, and can be completed with few post-processing steps. By a nano-indenter, the measured spring constant of the T-shaped structure is 2.19 kNewton/m. Fully differential correlated double sampling capacitor-to-voltage converter (CDS-CVC) and reference capacitor correction are utilized to compensate process variations and improve the accuracy of the readout circuits. The measured displacement-to-voltage transductance is 7.15 mV/nm, and the sensitivity is 3.26 mV/μNewton. The overall power dissipation is 132.8 μW.

Transparent biocompatible sensor patches for touch sensitive prosthetic limbs

KAUST Repository

Nag, Anindya

2016-12-26

The paper presents the fabrication of transparent, flexible sensor patches developed using a casting technique with polydimethylsiloxane (PDMS) as substrate and a nanocomposite of carbon nanotubes (CNTs) and PDMS as interdigital electrodes. The electrodes act as strain sensitive capacitor. The prototypes were used as touch sensitive sensors attached to the limbs. Experiments results show the sensitivity of the patches towards tactile sensing. The results are very promising and can play a key role in the development of a cost efficient sensing system attached to prosthetic limbs.

Transparent biocompatible sensor patches for touch sensitive prosthetic limbs

KAUST Repository

Nag, Anindya; Mukhopadhyay, Subhas; Kosel, Jü rgen

2016-01-01

The paper presents the fabrication of transparent, flexible sensor patches developed using a casting technique with polydimethylsiloxane (PDMS) as substrate and a nanocomposite of carbon nanotubes (CNTs) and PDMS as interdigital electrodes. The electrodes act as strain sensitive capacitor. The prototypes were used as touch sensitive sensors attached to the limbs. Experiments results show the sensitivity of the patches towards tactile sensing. The results are very promising and can play a key role in the development of a cost efficient sensing system attached to prosthetic limbs.

CVD-Graphene-Based Flexible, Thermoelectrochromic Sensor

Directory of Open Access Journals (Sweden)

Adam Januszko

2017-01-01

Full Text Available The main idea behind this work was demonstrated in a form of a new thermoelectrochromic sensor on a flexible substrate using graphene as an electrically reconfigurable thermal medium (TEChrom™. Our approach relies on electromodulation of thermal properties of graphene on poly(ethylene terephthalate (PET via mechanical destruction of a graphene layer. Graphene applied in this work was obtained by chemical vapor deposition (CVD technique on copper substrate and characterized by Raman and scanning tunneling spectroscopy. Electrical parameters of graphene were evaluated by the van der Pauw method on the transferred graphene layers onto SiO2 substrates by electrochemical delamination method. Two configurations of architecture of sensors, without and with the thermochromic layer, were investigated, taking into account the increase of voltage from 0 to 50 V and were observed by thermographic camera to define heat energy. Current-voltage characteristics obtained for the sensor with damaged graphene layer are linear, and the resistivity is independent from the current applied. The device investigated under 1000 W/m2 exhibited rise of resistivity along with increased temperature. Flexible thermoelectrochromic device with graphene presented here can be widely used as a sensor for both the military and civil monitoring.

Fiscal 1999 achievement report on regional consortium research and development project. Regional consortium research and development in its 3rd year (Research and development of process change accommodating flexible robot technology); 1999 nendo kotei tekiogata flexible robot gijutsu ni kansuru kenkyu kaihatsu seika hokokusho. 3

Energy Technology Data Exchange (ETDEWEB)

NONE

2000-03-01

A prototype force control piston insertion device which does not need jigs is built for use on the assembly line. An extensive reduction in investment for automated facilities is expected to realize because jigs conventionally required for each size are dispensed with. For expanding the scope of force control application, the device is verified for serviceability by use of a 5-axis robot and a visual servo control technique. A combination of vibration control and tracking control is applied to an integrated simulation/experiment environment. For the processing of inner force sensor data, a pseudo contact point monitoring technique is used. A wire type tactile sensor is proposed, which has a flexible-structure moment detector in which a flexible beam like a piano wire is the probe. For the inspection of ICs (integrated circuits), a passive compliance unit and a force control based flexible inserter are fabricated, to be used for a reduction in the number of no-good contacts. Technologies of shock absorption aided by robot terminal device tactile sense and of virtual damper control for shortening the setting time are verified for their validity by use of the IC inspecting inserter. (NEDO)

Tactile Sensing for Dexterous Robotic Hands

Science.gov (United States)

Martin, Toby B.

2000-01-01

Robotic systems will be used as precursors to human exploration to explore the solar system and expand our knowledge of planetary surfaces. Robotic systems will also be used to build habitats and infrastructure required for human presence in space and on other planetary surfaces . Such robots will require a high level of intelligence and automation. The ability to flexibly manipulate their physical environment is one characteristic that makes humans so effective at these building and exploring tasks . The development of a generic autonomous grasp ing capability will greatly enhance the efficiency and ability of robotics to build, maintain and explore. To tele-operate a robot over vast distances of space, with long communication delays, has proven to be troublesome. Having an autonomous grasping capability that can react in real-time to disturbances or adapt to generic objects, without operator intervention, will reduce the probability of mishandled tools and samples and reduce the number of re-grasp attempts due to dropping. One aspect that separates humans from machines is a rich sensor set. We have the ability to feel objects and respond to forces and textures. The development of touch or tactile sensors for use on a robot that emulates human skin and nerves is the basis for this discussion. We will discuss the use of new piezo-electric and resistive materials that have emerged on the market with the intention of developing a touch sensitive sensor. With viable tacti le sensors we will be one step closer to developing an autonomous grasping capability.

Sleep monitoring sensor using flexible metal strain gauge

Science.gov (United States)

Kwak, Yeon Hwa; Kim, Jinyong; Kim, Kunnyun

2018-05-01

This paper presents a sleep monitoring sensor based on a flexible metal strain gauge. As quality of life has improved, interest in sleep quality, and related products, has increased. In this study, unlike a conventional single sensor based on a piezoelectric material, a metal strain gauge-based array sensor based on polyimide and nickel chromium (NiCr) is applied to provide movement direction, respiration, and heartbeat data as well as contact-free use by the user during sleeping. Thin-film-type resistive strain gage sensors are fabricated through the conventional flexible printed circuit board (FPCB) process, which is very useful for commercialization. The measurement of movement direction and respiratory rate during sleep were evaluated, and the heart rate data were compared with concurrent electrocardiogram (ECG) data. An algorithm for analyzing sleep data was developed using MATLAB, and the error rate was 4.2% when compared with ECG for heart rate.

Generation of tactile maps for artificial skin.

Directory of Open Access Journals (Sweden)

Simon McGregor

Full Text Available Prior research has shown that representations of retinal surfaces can be learned from the intrinsic structure of visual sensory data in neural simulations, in robots, as well as by animals. Furthermore, representations of cochlear (frequency surfaces can be learned from auditory data in neural simulations. Advances in hardware technology have allowed the development of artificial skin for robots, realising a new sensory modality which differs in important respects from vision and audition in its sensorimotor characteristics. This provides an opportunity to further investigate ordered sensory map formation using computational tools. We show that it is possible to learn representations of non-trivial tactile surfaces, which require topologically and geometrically involved three-dimensional embeddings. Our method automatically constructs a somatotopic map corresponding to the configuration of tactile sensors on a rigid body, using only intrinsic properties of the tactile data. The additional complexities involved in processing the tactile modality require the development of a novel multi-dimensional scaling algorithm. This algorithm, ANISOMAP, extends previous methods and outperforms them, producing high-quality reconstructions of tactile surfaces in both simulation and hardware tests. In addition, the reconstruction turns out to be robust to unanticipated hardware failure.

3-Axis Fully-Integrated Capacitive Tactile Sensor with Flip-Bonded CMOS on LTCC Interposer †

Science.gov (United States)

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

Haptic exploration of fingertip-sized geometric features using a multimodal tactile sensor

Science.gov (United States)

Ponce Wong, Ruben D.; Hellman, Randall B.; Santos, Veronica J.

2014-06-01

Haptic perception remains a grand challenge for artificial hands. Dexterous manipulators could be enhanced by "haptic intelligence" that enables identification of objects and their features via touch alone. Haptic perception of local shape would be useful when vision is obstructed or when proprioceptive feedback is inadequate, as observed in this study. In this work, a robot hand outfitted with a deformable, bladder-type, multimodal tactile sensor was used to replay four human-inspired haptic "exploratory procedures" on fingertip-sized geometric features. The geometric features varied by type (bump, pit), curvature (planar, conical, spherical), and footprint dimension (1.25 - 20 mm). Tactile signals generated by active fingertip motions were used to extract key parameters for use as inputs to supervised learning models. A support vector classifier estimated order of curvature while support vector regression models estimated footprint dimension once curvature had been estimated. A distal-proximal stroke (along the long axis of the finger) enabled estimation of order of curvature with an accuracy of 97%. Best-performing, curvature-specific, support vector regression models yielded R2 values of at least 0.95. While a radial-ulnar stroke (along the short axis of the finger) was most helpful for estimating feature type and size for planar features, a rolling motion was most helpful for conical and spherical features. The ability to haptically perceive local shape could be used to advance robot autonomy and provide haptic feedback to human teleoperators of devices ranging from bomb defusal robots to neuroprostheses.

Flexible Graphene Transistor Architecture for Optical Sensor Technology

Science.gov (United States)

Ordonez, Richard Christopher

The unique electrical and optoelectronic properties of graphene allow tunable conductivity and broadband electromagnetic absorption that spans the ultraviolet and infrared regimes. However, in the current state-of-art graphene sensor architectures, junction resistance and doping concentration are predominant factors that affect signal strength and sensitivity. Unfortunately, graphene produces high contact resistances with standard electrode materials ( few kilo-ohms), therefore, signal is weak and large carrier concentrations are required to probe sensitivity. Moreover, the atomic thickness of graphene enables the potential for flexible electronics, but there has not been a successful graphene sensor architecture that demonstrates stable operation on flexible substrates and with minimal fabrication cost. In this study, the author explores a novel 3-terminal transistor architecture that integrates twodimensional graphene, liquid metal, and electrolytic gate dielectrics (LM-GFETs: Liquid Metal and Graphene Field-Effect Transistors ). The goal is to deliver a sensitive, flexible, and lightweight transistor architecture that will improve sensor technology and maneuverability. The reported high thermal conductivity of graphene provides potential for room-temperature thermal management without the need of thermal-electric and gas cooling systems that are standard in sensor platforms. Liquid metals provide a unique opportunity for conformal electrodes that maximize surface area contact, therefore, enable flexibility, lower contact resistance, and reduce damage to the graphene materials involved. Lastly, electrolytic gate dielectrics provide conformability and high capacitances needed for high on/off rations and electrostatic gating. Results demonstrated that with minimal fabrication steps the proposed flexible graphene transistor architecture demonstrated ambipolar current-voltage transfer characteristics that are comparable to the current state-of-the-art. An additional

Polydimethylsiloxane (PDMS-Based Flexible Resistive Strain Sensors for Wearable Applications

Directory of Open Access Journals (Sweden)

Jing Chen

2018-02-01

Full Text Available There is growing attention and rapid development on flexible electronic devices with electronic materials and sensing technology innovations. In particular, strain sensors with high elasticity and stretchability are needed for several potential applications including human entertainment technology, human–machine interface, personal healthcare, and sports performance monitoring, etc. This article presents recent advancements in the development of polydimethylsiloxane (PDMS-based flexible resistive strain sensors for wearable applications. First of all, the article shows that PDMS-based stretchable resistive strain sensors are successfully fabricated by different methods, such as the filtration method, printing technology, micromolding method, coating techniques, and liquid phase mixing. Next, strain sensing performances including stretchability, gauge factor, linearity, and durability are comprehensively demonstrated and compared. Finally, potential applications of PDMS-based flexible resistive strain sensors are also discussed. This review indicates that the era of wearable intelligent electronic systems has arrived.

A flexible skin piloerection monitoring sensor

Science.gov (United States)

Kim, Jaemin; Seo, Dae Geon; Cho, Young-Ho

2014-06-01

We have designed, fabricated, and tested a capacitive-type flexible micro sensor for measurement of the human skin piloerection arisen from sudden emotional and environmental change. The present skin piloerection monitoring methods are limited in objective and quantitative measurement by physical disturbance stimulation to the skin due to bulky size and heavy weight of measuring devices. The proposed flexible skin piloerection monitoring sensor is composed of 3 × 3 spiral coplanar capacitor array using conductive polymer for having high capacitive density and thin enough thickness to be attached to human skin. The performance of the skin piloerection monitoring sensor is characterized using the artificial bump, representing human skin goosebump; thus, resulting in the sensitivity of -0.00252%/μm and the nonlinearity of 25.9% for the artificial goosebump deformation in the range of 0-326 μm. We also verified successive human skin piloerection having 3.5 s duration on the subject's dorsal forearms, thus resulting in the capacitance change of -6.2 fF and -9.2 fF for the piloerection intensity of 145 μm and 194 μm, respectively. It is demonstrated experimentally that the proposed sensor is capable to measure the human skin piloerection objectively and quantitatively, thereby suggesting the quantitative evaluation method of the qualitative human emotional status for cognitive human-machine interfaces applications.

Sensory Robot Gripper

DEFF Research Database (Denmark)

Drimus, Alin

The project researches and proposes a tactile sensor system for equipping robotic grippers, thus giving them a sense of touch. We start by reviewing work that covers the building of tactile sensors and we focus on the flexible sensors with multiple sensing elements. As the piezoresistive, capacit......The project researches and proposes a tactile sensor system for equipping robotic grippers, thus giving them a sense of touch. We start by reviewing work that covers the building of tactile sensors and we focus on the flexible sensors with multiple sensing elements. As the piezoresistive......, such as establishing of contact, release of contact or slip. The proposed applications are just a few examples of the advantages of equipping robotic grippers with such a tactile sensor system, that is robust, fast, affordable, adaptable to any kind of gripper and has properties similar to the human sense of touch....... Based on experimental validation, we are confident that our proposed tactile sensor solution can be successfully employed in other application areas like reactive grasping, exploration of unknown objects, slip avoidance, dexterous manipulation or service robotics....

Fiber optical sensor system for shape and haptics for flexible instruments in minimally invasive surgery: overview and status quo

Science.gov (United States)

Ledermann, Christoph; Pauer, Hendrikje; Woern, Heinz

2014-05-01

In minimally invasive surgery, exible mechatronic instruments promise to improve the overall performance of surgical interventions. However, those instruments require highly developed sensors in order to provide haptic feedback to the surgeon or to enable (semi-)autonomous tasks. Precisely, haptic sensors and a shape sensor are required. In this paper, we present our ber optical sensor system of Fiber Bragg Gratings, which consists of a shape sensor, a kinesthetic sensor and a tactile sensor. The status quo of each of the three sensors is described, as well as the concept to integrate them into one ber optical sensor system.

Transparent conductive-polymer strain sensors for touch input sheets of flexible displays

International Nuclear Information System (INIS)

Takamatsu, Seiichi; Takahata, Tomoyuki; Muraki, Masato; Iwase, Eiji; Matsumoto, Kiyoshi; Shimoyama, Isao

2010-01-01

A transparent conductive polymer-based strain-sensor array, designed especially for touch input sheets of flexible displays, was developed. A transparent conductive polymer, namely poly(3, 4-ethylenedioxythiophene):polystyrenesulfonate (PEDOT:PSS), was utilized owing to its strength under repeated mechanical bending. PEDOT:PSS strain sensors with a thickness of 130 nm exhibited light transmittance of 92%, which is the same as the transmittance of ITO electrodes widely used in flat panel displays. We demonstrated that the sensor array on a flexible sheet was able to sustain mechanical bending 300 times at a bending radius of 5 mm. The strain sensor shows a gauge factor of 5.2. The touch point on a flexible sheet could be detected from histograms of the outputs of the strain sensors when the sheet was pushed with an input force of 5 N. The touch input could be detected on the flexible sheet with a curved surface (radius of curvature of 20 mm). These results show that the developed transparent conductive polymer-based strain-sensor array is applicable to touch input sheets of mechanically bendable displays.

Tooteko: a Case Study of Augmented Reality for AN Accessible Cultural Heritage. Digitization, 3d Printing and Sensors for AN Audio-Tactile Experience

Science.gov (United States)

D'Agnano, F.; Balletti, C.; Guerra, F.; Vernier, P.

2015-02-01

Tooteko is a smart ring that allows to navigate any 3D surface with your finger tips and get in return an audio content that is relevant in relation to the part of the surface you are touching in that moment. Tooteko can be applied to any tactile surface, object or sheet. However, in a more specific domain, it wants to make traditional art venues accessible to the blind, while providing support to the reading of the work for all through the recovery of the tactile dimension in order to facilitate the experience of contact with art that is not only "under glass." The system is made of three elements: a high-tech ring, a tactile surface tagged with NFC sensors, and an app for tablet or smartphone. The ring detects and reads the NFC tags and, thanks to the Tooteko app, communicates in wireless mode with the smart device. During the tactile navigation of the surface, when the finger reaches a hotspot, the ring identifies the NFC tag and activates, through the app, the audio track that is related to that specific hotspot. Thus a relevant audio content relates to each hotspot. The production process of the tactile surfaces involves scanning, digitization of data and 3D printing. The first experiment was modelled on the facade of the church of San Michele in Isola, made by Mauro Codussi in the late fifteenth century, and which marks the beginning of the Renaissance in Venice. Due to the absence of recent documentation on the church, the Correr Museum asked the Laboratorio di Fotogrammetria to provide it with the aim of setting up an exhibition about the order of the Camaldolesi, owners of the San Michele island and church. The Laboratorio has made the survey of the facade through laser scanning and UAV photogrammetry. The point clouds were the starting point for prototypation and 3D printing on different supports. The idea of the integration between a 3D printed tactile surface and sensors was born as a final thesis project at the Postgraduate Mastercourse in Digital

Flexible piezotronic strain sensor.

Science.gov (United States)

Zhou, Jun; Gu, Yudong; Fei, Peng; Mai, Wenjie; Gao, Yifan; Yang, Rusen; Bao, Gang; Wang, Zhong Lin

2008-09-01

Strain sensors based on individual ZnO piezoelectric fine-wires (PFWs; nanowires, microwires) have been fabricated by a simple, reliable, and cost-effective technique. The electromechanical sensor device consists of a single electrically connected PFW that is placed on the outer surface of a flexible polystyrene (PS) substrate and bonded at its two ends. The entire device is fully packaged by a polydimethylsiloxane (PDMS) thin layer. The PFW has Schottky contacts at its two ends but with distinctly different barrier heights. The I- V characteristic is highly sensitive to strain mainly due to the change in Schottky barrier height (SBH), which scales linear with strain. The change in SBH is suggested owing to the strain induced band structure change and piezoelectric effect. The experimental data can be well-described by the thermionic emission-diffusion model. A gauge factor of as high as 1250 has been demonstrated, which is 25% higher than the best gauge factor demonstrated for carbon nanotubes. The strain sensor developed here has applications in strain and stress measurements in cell biology, biomedical sciences, MEMS devices, structure monitoring, and more.

Flexible temperature and flow sensor from laser-induced graphene

KAUST Repository

Marengo, Marco; Marinaro, Giovanni; Kosel, Jü rgen

2017-01-01

Herein we present a flexible temperature sensor and a flow speed sensor based on laser-induced graphene. The main benefits arise from peculiar electrical, thermal and mechanical performances of the material thus obtained, along with a cheap

Development of Flexible Pneumatic Cylinder with Built-in Flexible Linear Encoder and Flexible Bending Sensor

Science.gov (United States)

Akagi, Tetsuya; Dohta, Shujiro; Matsushita, Hisashi; Fukuhara, Akimasa

The purpose of this study is to develop a lightweight and intelligent soft actuator which can be safely attached to the human body. A novel flexible pneumatic cylinder that can be used even if it is deformed by external force had been proposed. The cylinder can realize both pushing and pulling motions even if the cylinder bends. In this paper, a flexible pneumatic cylinder with a built-in flexible linear encoder is proposed and tested. The encoder can detect the cylinder displacement even if the cylinder bends. In the next step, to realize an intelligent flexible cylinder, it is essential to recognize the angle of deflection of the cylinder to estimate the direction of the external force. Therefore, a flexible bending sensor that can measure the directional angle by attaching it to the end of the cylinder is also proposed and tested. The tested bending sensor also consists of four inexpensive photo-reflectors set on the circumferential surface to the cylinder tube every 90 degrees from the center of the tube. By measuring the distance between the photo reflector and the surface of the tube at each point, the bending directional angle of the cylinder can be obtained. A low cost measuring system using a micro-computer incorporating a programmed Up/Down counter to measure the displacement of the cylinder is also developed. As a result, it was confirmed that the measuring accuracy of the bending directional angle was good, less than 0.7 degrees as a standard deviation.

Flexible Piezoelectric Sensor-Based Gait Recognition

Directory of Open Access Journals (Sweden)

Youngsu Cha

2018-02-01

Full Text Available Most motion recognition research has required tight-fitting suits for precise sensing. However, tight-suit systems have difficulty adapting to real applications, because people normally wear loose clothes. In this paper, we propose a gait recognition system with flexible piezoelectric sensors in loose clothing. The gait recognition system does not directly sense lower-body angles. It does, however, detect the transition between standing and walking. Specifically, we use the signals from the flexible sensors attached to the knee and hip parts on loose pants. We detect the periodic motion component using the discrete time Fourier series from the signal during walking. We adapt the gait detection method to a real-time patient motion and posture monitoring system. In the monitoring system, the gait recognition operates well. Finally, we test the gait recognition system with 10 subjects, for which the proposed system successfully detects walking with a success rate over 93 %.

Efficient Skin Temperature Sensor and Stable Gel-Less Sticky ECG Sensor for a Wearable Flexible Healthcare Patch.

Science.gov (United States)

Yamamoto, Yuki; Yamamoto, Daisuke; Takada, Makoto; Naito, Hiroyoshi; Arie, Takayuki; Akita, Seiji; Takei, Kuniharu

2017-09-01

Wearable, flexible healthcare devices, which can monitor health data to predict and diagnose disease in advance, benefit society. Toward this future, various flexible and stretchable sensors as well as other components are demonstrated by arranging materials, structures, and processes. Although there are many sensor demonstrations, the fundamental characteristics such as the dependence of a temperature sensor on film thickness and the impact of adhesive for an electrocardiogram (ECG) sensor are yet to be explored in detail. In this study, the effect of film thickness for skin temperature measurements, adhesive force, and reliability of gel-less ECG sensors as well as an integrated real-time demonstration is reported. Depending on the ambient conditions, film thickness strongly affects the precision of skin temperature measurements, resulting in a thin flexible film suitable for a temperature sensor in wearable device applications. Furthermore, by arranging the material composition, stable gel-less sticky ECG electrodes are realized. Finally, real-time simultaneous skin temperature and ECG signal recordings are demonstrated by attaching an optimized device onto a volunteer's chest. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

An Extreme Learning Machine-Based Neuromorphic Tactile Sensing System for Texture Recognition.

Science.gov (United States)

Rasouli, Mahdi; Chen, Yi; Basu, Arindam; Kukreja, Sunil L; Thakor, Nitish V

2018-04-01

Despite significant advances in computational algorithms and development of tactile sensors, artificial tactile sensing is strikingly less efficient and capable than the human tactile perception. Inspired by efficiency of biological systems, we aim to develop a neuromorphic system for tactile pattern recognition. We particularly target texture recognition as it is one of the most necessary and challenging tasks for artificial sensory systems. Our system consists of a piezoresistive fabric material as the sensor to emulate skin, an interface that produces spike patterns to mimic neural signals from mechanoreceptors, and an extreme learning machine (ELM) chip to analyze spiking activity. Benefiting from intrinsic advantages of biologically inspired event-driven systems and massively parallel and energy-efficient processing capabilities of the ELM chip, the proposed architecture offers a fast and energy-efficient alternative for processing tactile information. Moreover, it provides the opportunity for the development of low-cost tactile modules for large-area applications by integration of sensors and processing circuits. We demonstrate the recognition capability of our system in a texture discrimination task, where it achieves a classification accuracy of 92% for categorization of ten graded textures. Our results confirm that there exists a tradeoff between response time and classification accuracy (and information transfer rate). A faster decision can be achieved at early time steps or by using a shorter time window. This, however, results in deterioration of the classification accuracy and information transfer rate. We further observe that there exists a tradeoff between the classification accuracy and the input spike rate (and thus energy consumption). Our work substantiates the importance of development of efficient sparse codes for encoding sensory data to improve the energy efficiency. These results have a significance for a wide range of wearable, robotic

Presentation of Various Tactile Sensations Using Micro-Needle Electrotactile Display.

Directory of Open Access Journals (Sweden)

Mayuko Tezuka

Full Text Available Tactile displays provoke tactile sensations by artificially stimulating tactile receptors. While many types of tactile displays have been developed, electrotactile displays that exploit electric stimulation can be designed to be thin, light, flexible and thus, wearable. However, the high voltages required to stimulate tactile receptors and limited varieties of possible sensations pose problems. In our previous work, we developed an electrotactile display using a micro-needle electrode array that can drastically reduce the required voltage by penetrating through the high-impedance stratum corneum painlessly, but displaying various tactile sensations was still a challenge. In this work, we demonstrate presentation of tactile sensation of different roughness to the subjects, which is enabled by the arrangement of the electrodes; the needle electrodes are on the fingertip and the ground electrode is on the fingernail. With this arrangement, the display can stimulate the tactile receptors that are located not only in the shallow regions of the finger but also those in the deep regions. It was experimentally revealed that the required voltage was further reduced compared to previous devices and that the roughness presented by the display was controlled by the pulse frequency and the switching time, or the stimulation flow rate. The proposed electrotactile display is readily applicable as a new wearable haptic device for advanced information communication technology.

Tactile-STAR: A Novel Tactile STimulator And Recorder System for Evaluating and Improving Tactile Perception.

Science.gov (United States)

Ballardini, Giulia; Carlini, Giorgio; Giannoni, Psiche; Scheidt, Robert A; Nisky, Ilana; Casadio, Maura

2018-01-01

Many neurological diseases impair the motor and somatosensory systems. While several different technologies are used in clinical practice to assess and improve motor functions, somatosensation is evaluated subjectively with qualitative clinical scales. Treatment of somatosensory deficits has received limited attention. To bridge the gap between the assessment and training of motor vs. somatosensory abilities, we designed, developed, and tested a novel, low-cost, two-component (bimanual) mechatronic system targeting tactile somatosensation: the Tactile-STAR -a tactile stimulator and recorder. The stimulator is an actuated pantograph structure driven by two servomotors, with an end-effector covered by a rubber material that can apply two different types of skin stimulation: brush and stretch. The stimulator has a modular design, and can be used to test the tactile perception in different parts of the body such as the hand, arm, leg, big toe, etc. The recorder is a passive pantograph that can measure hand motion using two potentiometers. The recorder can serve multiple purposes: participants can move its handle to match the direction and amplitude of the tactile stimulator, or they can use it as a master manipulator to control the tactile stimulator as a slave. Our ultimate goal is to assess and affect tactile acuity and somatosensory deficits. To demonstrate the feasibility of our novel system, we tested the Tactile-STAR with 16 healthy individuals and with three stroke survivors using the skin-brush stimulation. We verified that the system enables the mapping of tactile perception on the hand in both populations. We also tested the extent to which 30 min of training in healthy individuals led to an improvement of tactile perception. The results provide a first demonstration of the ability of this new system to characterize tactile perception in healthy individuals, as well as a quantification of the magnitude and pattern of tactile impairment in a small cohort of

High performance flexible pH sensor based on polyaniline nanopillar array electrode.

Science.gov (United States)

Yoon, Jo Hee; Hong, Seok Bok; Yun, Seok-Oh; Lee, Seok Jae; Lee, Tae Jae; Lee, Kyoung G; Choi, Bong Gill

2017-03-15

Flexible pH sensor technologies have attracted a great deal of attention in many applications, such as, wearable health care devices and monitors for chemical and biological processes. Here, we fabricated flexible and thin pH sensors using a two electrode configuration comprised of a polyaniline nanopillar (PAN) array working electrode and an Ag/AgCl reference electrode. In order to provide nanostructure, soft lithography using a polymeric blend was employed to create a flexible nanopillar backbone film. Polyaniline-sensing materials were deposited on a patterned-nanopillar array by electrochemical deposition. The pH sensors produced exhibited a near-Nernstian response (∼60.3mV/pH), which was maintained in a bent state. In addition, pH sensors showed other excellent sensor performances in terms of response time, reversibility, repeatability, selectivity, and stability. Copyright © 2016 Elsevier Inc. All rights reserved.

Scheduling policies of intelligent sensors and sensor/actuators in flexible structures

Science.gov (United States)

Demetriou, Michael A.; Potami, Raffaele

2006-03-01

In this note, we revisit the problem of actuator/sensor placement in large civil infrastructures and flexible space structures within the context of spatial robustness. The positioning of these devices becomes more important in systems employing wireless sensor and actuator networks (WSAN) for improved control performance and for rapid failure detection. The ability of the sensing and actuating devices to possess the property of spatial robustness results in reduced control energy and therefore the spatial distribution of disturbances is integrated into the location optimization measures. In our studies, the structure under consideration is a flexible plate clamped at all sides. First, we consider the case of sensor placement and the optimization scheme attempts to produce those locations that minimize the effects of the spatial distribution of disturbances on the state estimation error; thus the sensor locations produce state estimators with minimized disturbance-to-error transfer function norms. A two-stage optimization procedure is employed whereby one first considers the open loop system and the spatial distribution of disturbances is found that produces the maximal effects on the entire open loop state. Once this "worst" spatial distribution of disturbances is found, the optimization scheme subsequently finds the locations that produce state estimators with minimum transfer function norms. In the second part, we consider the collocated actuator/sensor pairs and the optimization scheme produces those locations that result in compensators with the smallest norms of the disturbance-to-state transfer functions. Going a step further, an intelligent control scheme is presented which, at each time interval, activates a subset of the actuator/sensor pairs in order provide robustness against spatiotemporally moving disturbances and minimize power consumption by keeping some sensor/actuators in sleep mode.

Tolerance Towards Sensor Faults: An Application to a Flexible Arm Manipulator

Directory of Open Access Journals (Sweden)

Chee Pin Tan

2006-12-01

Full Text Available As more engineering operations become automatic, the need for robustness towards faults increases. Hence, a fault tolerant control (FTC scheme is a valuable asset. This paper presents a robust sensor fault FTC scheme implemented on a flexible arm manipulator, which has many applications in automation. Sensor faults affect the system's performance in the closed loop when the faulty sensor readings are used to generate the control input. In this paper, the non-faulty sensors are used to reconstruct the faults on the potentially faulty sensors. The reconstruction is subtracted from the faulty sensors to form a compensated ‘virtual sensor’ and this signal (instead of the normally used faulty sensor output is then used to generate the control input. A design method is also presented in which the FTC scheme is made insensitive to any system uncertainties. Two fault conditions are tested; total failure and incipient faults. Then the scheme robustness is tested by implementing the flexible joint's FTC scheme on a flexible link, which has different parameters. Excellent results have been obtained for both cases (joint and link; the FTC scheme caused the system performance is almost identical to the fault-free scenario, whilst providing an indication that a fault is present, even for simultaneous faults.

A Computational Model of a Descending Mechanosensory Pathway Involved in Active Tactile Sensing.

Directory of Open Access Journals (Sweden)

Jan M Ache

2015-07-01

Full Text Available Many animals, including humans, rely on active tactile sensing to explore the environment and negotiate obstacles, especially in the dark. Here, we model a descending neural pathway that mediates short-latency proprioceptive information from a tactile sensor on the head to thoracic neural networks. We studied the nocturnal stick insect Carausius morosus, a model organism for the study of adaptive locomotion, including tactually mediated reaching movements. Like mammals, insects need to move their tactile sensors for probing the environment. Cues about sensor position and motion are therefore crucial for the spatial localization of tactile contacts and the coordination of fast, adaptive motor responses. Our model explains how proprioceptive information about motion and position of the antennae, the main tactile sensors in insects, can be encoded by a single type of mechanosensory afferents. Moreover, it explains how this information is integrated and mediated to thoracic neural networks by a diverse population of descending interneurons (DINs. First, we quantified responses of a DIN population to changes in antennal position, motion and direction of movement. Using principal component (PC analysis, we find that only two PCs account for a large fraction of the variance in the DIN response properties. We call the two-dimensional space spanned by these PCs 'coding-space' because it captures essential features of the entire DIN population. Second, we model the mechanoreceptive input elements of this descending pathway, a population of proprioceptive mechanosensory hairs monitoring deflection of the antennal joints. Finally, we propose a computational framework that can model the response properties of all important DIN types, using the hair field model as its only input. This DIN model is validated by comparison of tuning characteristics, and by mapping the modelled neurons into the two-dimensional coding-space of the real DIN population. This

Tactile friction of topical formulations.

Science.gov (United States)

Skedung, L; Buraczewska-Norin, I; Dawood, N; Rutland, M W; Ringstad, L

2016-02-01

The tactile perception is essential for all types of topical formulations (cosmetic, pharmaceutical, medical device) and the possibility to predict the sensorial response by using instrumental methods instead of sensory testing would save time and cost at an early stage product development. Here, we report on an instrumental evaluation method using tactile friction measurements to estimate perceptual attributes of topical formulations. Friction was measured between an index finger and an artificial skin substrate after application of formulations using a force sensor. Both model formulations of liquid crystalline phase structures with significantly different tactile properties, as well as commercial pharmaceutical moisturizing creams being more tactile-similar, were investigated. Friction coefficients were calculated as the ratio of the friction force to the applied load. The structures of the model formulations and phase transitions as a result of water evaporation were identified using optical microscopy. The friction device could distinguish friction coefficients between the phase structures, as well as the commercial creams after spreading and absorption into the substrate. In addition, phase transitions resulting in alterations in the feel of the formulations could be detected. A correlation was established between skin hydration and friction coefficient, where hydrated skin gave rise to higher friction. Also a link between skin smoothening and finger friction was established for the commercial moisturizing creams, although further investigations are needed to analyse this and correlations with other sensorial attributes in more detail. The present investigation shows that tactile friction measurements have potential as an alternative or complement in the evaluation of perception of topical formulations. © 2015 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

FLEXIBLE PH SENSOR WITH POLYANILINE LAYER BASED ON IMPEDANCE MEASUREMENT

OpenAIRE

Chuang, Cheng-Hsin; Wu, Hsun-Pei; Chen, Cheng-Ho; Wu, Peng-Rong

2012-01-01

A flexible sensor with conducting polyaniline layer for detecting pH value based on the impedance measurement is fabricated and demonstrated in this study. The pH sensor consists of an interdigital electrode array on a flexible printed circuit and a thin-film polyaniline as the sensing layer. As the conductivity of polyaniline depends on the redox state, the impedance change of the polyaniline after it has reacted with different pH value solutions works as the sensing mechanism. In order to o...

A new dynamic tactile display for reconfigurable braille: implementation and tests.

Science.gov (United States)

Motto Ros, Paolo; Dante, Vittorio; Mesin, Luca; Petetti, Erminio; Del Giudice, Paolo; Pasero, Eros

2014-01-01

Different tactile interfaces have been proposed to represent either text (braille) or, in a few cases, tactile large-area screens as replacements for visual displays. None of the implementations so far can be customized to match users' preferences, perceptual differences and skills. Optimal choices in these respects are still debated; we approach a solution by designing a flexible device allowing the user to choose key parameters of tactile transduction. We present here a new dynamic tactile display, a 8 × 8 matrix of plastic pins based on well-established and reliable piezoelectric technology to offer high resolution (pin gap 0.7mm) as well as tunable strength of the pins displacement, and refresh rate up to 50s(-1). It can reproduce arbitrary patterns, allowing it to serve the dual purpose of providing, depending on contingent user needs, tactile rendering of non-character information, and reconfigurable braille rendering. Given the relevance of the latter functionality for the expected average user, we considered testing braille encoding by volunteers a benchmark of primary importance. Tests were performed to assess the acceptance and usability with minimal training, and to check whether the offered flexibility was indeed perceived by the subject as an added value compared to conventional braille devices. Different mappings between braille dots and actual tactile pins were implemented to match user needs. Performances of eight experienced braille readers were defined as the fraction of correct identifications of rendered content. Different information contents were tested (median performance on random strings, words, sentences identification was about 75%, 85%, 98%, respectively, with a significant increase, p < 0.01), obtaining statistically significant improvements in performance during the tests (p < 0.05). Experimental results, together with qualitative ratings provided by the subjects, show a good acceptance and the effectiveness of the proposed solution.

A New Dynamic Tactile Display for Reconfigurable Braille: Implementation and Tests

Directory of Open Access Journals (Sweden)

Paolo eMotto Ros

2014-04-01

Full Text Available Different tactile interfaces have been proposed to represent either text (braille or, in a few cases, tactile large-area screens as replacements for visual displays. None of the implementations so far can be customized to match users preferences, perceptual differences and skills. Optimal choices in these respects are still debated; we approach a solution by designing a flexible device allowing the user to choose key parameters of tactile transduction.We present here a new dynamic tactile display, a 8×8 matrix of plastic pins based on well-established and reliable piezoelectric technology to offer high resolution (pin gap 0.7 mm as well as tunable strength of the pins displacement, and refresh rate up to 50 s-1. It can reproduce arbitrary patterns, allowing it to serve the dual purpose of providing, depending on contingent user needs, tactile rendering of non-character information, and reconfigurable braille rendering. Given the relevance of the latter functionality for the expected average user, we considered testing braille encoding by volunteers a benchmark of primary importance. Tests were performed to assess the acceptance and usability with minimal training, and to check whether the offered flexibility was indeed perceived by the subject as an added value compared to conventional braille devices. Different mappings between braille dots and actual tactile pins were implemented to match user needs.Performances of eight experienced braille readers were defined as the fraction of correct identifications of rendered content. Different information contents were tested (median performance on random strings, words, sentences identification was about 75%, 85%, 98%, respectively, with a significant increase, p< 0.01, obtaining statistically significant improvements in performance during the tests (p< 0.05. Experimental results, together with qualitative ratings provided by the subjects, show a good acceptance and the effectiveness of the proposed

Directly Printable Flexible Strain Sensors for Bending and Contact Feedback of Soft Actuators

Directory of Open Access Journals (Sweden)

Khaled Elgeneidy

2018-02-01

Full Text Available This paper presents a fully printable sensorized bending actuator that can be calibrated to provide reliable bending feedback and simple contact detection. A soft bending actuator following a pleated morphology, as well as a flexible resistive strain sensor, were directly 3D printed using easily accessible FDM printer hardware with a dual-extrusion tool head. The flexible sensor was directly welded to the bending actuator’s body and systematically tested to characterize and evaluate its response under variable input pressure. A signal conditioning circuit was developed to enhance the quality of the sensory feedback, and flexible conductive threads were used for wiring. The sensorized actuator’s response was then calibrated using a vision system to convert the sensory readings to real bending angle values. The empirical relationship was derived using linear regression and validated at untrained input conditions to evaluate its accuracy. Furthermore, the sensorized actuator was tested in a constrained setup that prevents bending, to evaluate the potential of using the same sensor for simple contact detection by comparing the constrained and free-bending responses at the same input pressures. The results of this work demonstrated how a dual-extrusion FDM printing process can be tuned to directly print highly customizable flexible strain sensors that were able to provide reliable bending feedback and basic contact detection. The addition of such sensing capability to bending actuators enhances their functionality and reliability for applications such as controlled soft grasping, flexible wearables, and haptic devices.

Patient cloth with motion recognition sensors based on flexible piezoelectric materials.

Science.gov (United States)

Youngsu Cha; Kihyuk Nam; Doik Kim

2017-07-01

In this paper, we introduce a patient cloth for position monitoring using motion recognition sensors based on flexible piezoelectric materials. The motion recognition sensors are embedded in three parts, which are the knee, hip and back, in the patient cloth. We use polyvinylidene fluoride (PVDF) as the flexible piezoelectric material for the sensors. By using the piezoelectric effect of the PVDF, we detect electrical signals when the cloth is bent or extended. We analyze the sensing values for our human motions by processing the sensor outputs in a custom-made program. Specifically, we focus on the transitions between standing and sitting, and sitting knee extension and supine position, which are important motions for patient monitoring.

High-Sensitivity and Low-Power Flexible Schottky Hydrogen Sensor Based on Silicon Nanomembrane.

Science.gov (United States)

Cho, Minkyu; Yun, Jeonghoon; Kwon, Donguk; Kim, Kyuyoung; Park, Inkyu

2018-04-18

High-performance and low-power flexible Schottky diode-based hydrogen sensor was developed. The sensor was fabricated by releasing Si nanomembrane (SiNM) and transferring onto a plastic substrate. After the transfer, palladium (Pd) and aluminum (Al) were selectively deposited as a sensing material and an electrode, respectively. The top-down fabrication process of flexible Pd/SiNM diode H 2 sensor is facile compared to other existing bottom-up fabricated flexible gas sensors while showing excellent H 2 sensitivity (Δ I/ I 0 > 700-0.5% H 2 concentrations) and fast response time (τ 10-90 = 22 s) at room temperature. In addition, selectivity, humidity, and mechanical tests verify that the sensor has excellent reliability and robustness under various environments. The operating power consumption of the sensor is only in the nanowatt range, which indicates its potential applications in low-power portable and wearable electronics.

Bioinspired Flexible and Highly Responsive Dual-Mode Strain/Magnetism Composite Sensor.

Science.gov (United States)

Huang, Pei; Li, Yuan-Qing; Yu, Xiao-Guang; Zhu, Wei-Bin; Nie, Shu-Yan; Zhang, Hao; Liu, Jin-Rui; Hu, Ning; Fu, Shao-Yun

2018-04-04

The mimicry of human skin to detect both oncoming and physical-contacting object is of great importance in the fields of manufacturing, artificial robots and vehicles, etc. Herein, a novel bioinspired flexible and highly responsive dual-mode strain/magnetism composite sensor, which works via both contact and contactless modes, is first fabricated by incorporating Fe 3 O 4 /silicone system into a carbon fiber aerogel (CFA). The distance dependence of magnetic field endorses the CFA/Fe 3 O 4 /silicone composite possible for spatial sensing due to the introduction of Fe 3 O 4 magnetic nanoparticles. As a result, the as-prepared flexible sensor exhibits precise and real-time response not only to direct-contact compression as usual but also to contactless magnetic field in a wide frequency range from 0.1 to 10 Hz, achieving the maximum variance of 68% and 86% in relative electrical resistance, respectively. The contact and contactless sensing modes of the strain/magnetism sensor are clearly demonstrated by recording the speeds of bicycle riding and walking, respectively. Interestingly, this dual-mode composite sensor exhibits the capacity of identifying the contact and contactless state, which is the first report for flexible sensors. The current protocol is eco-friendly, facile, and thought-provoking for the fabrication of multifunctional sensors.

A Miniaturized Force Sensor Based on Hair-Like Flexible Magnetized Cylinders Deposited Over a Giant Magnetoresistive Sensor

KAUST Repository

Ribeiro, Pedro

2017-06-13

The detection of force with higher resolution than observed in humans (similar to 1 mN) is of great interest for emerging technologies, especially surgical robots, since this level of resolution could allow these devices to operate in extremely sensitive environments without harming these. In this paper, we present a force sensor fabricated with a miniaturized footprint (9 mm(2)), based on the detection of the magnetic field generated by magnetized flexible pillars over a giant magnetoresistive sensor. When these flexible pillars deflect due to external loads, the stray field emitted by these will change, thus varying the GMR sensor resistance. A sensor with an array of five pillars with 200 mu m diameter and 1 mm height was fabricated, achieving a 0 to 26 mN measurement range and capable of detecting a minimum force feature of 630 mu N. A simulation model to predict the distribution of magnetic field generated by the flexible pillars on the sensitive area of the GMR sensor in function of the applied force was developed and validated against the experimental results reported in this paper. The sensor was finally tested as a texture classification system, with the ability of differentiating between four distinct surfaces varying between 0 and 162 mu m root mean square surface roughness.

A Miniaturized Force Sensor Based on Hair-Like Flexible Magnetized Cylinders Deposited Over a Giant Magnetoresistive Sensor

KAUST Repository

Ribeiro, Pedro; Khan, Mohammed Asadullah; Alfadhel, Ahmed; Kosel, Jü rgen; Franco, Fernando; Cardoso, Susana; Bernardino, Alexandre; Santos-Victor, Jose; Jamone, Lorenzo

2017-01-01

The detection of force with higher resolution than observed in humans (similar to 1 mN) is of great interest for emerging technologies, especially surgical robots, since this level of resolution could allow these devices to operate in extremely sensitive environments without harming these. In this paper, we present a force sensor fabricated with a miniaturized footprint (9 mm(2)), based on the detection of the magnetic field generated by magnetized flexible pillars over a giant magnetoresistive sensor. When these flexible pillars deflect due to external loads, the stray field emitted by these will change, thus varying the GMR sensor resistance. A sensor with an array of five pillars with 200 mu m diameter and 1 mm height was fabricated, achieving a 0 to 26 mN measurement range and capable of detecting a minimum force feature of 630 mu N. A simulation model to predict the distribution of magnetic field generated by the flexible pillars on the sensitive area of the GMR sensor in function of the applied force was developed and validated against the experimental results reported in this paper. The sensor was finally tested as a texture classification system, with the ability of differentiating between four distinct surfaces varying between 0 and 162 mu m root mean square surface roughness.

Integration of force reflection with tactile sensing for minimally invasive robotics-assisted tumor localization.

Science.gov (United States)

Talasaz, A; Patel, R V

2013-01-01

Tactile sensing and force reflection have been the subject of considerable research for tumor localization in soft-tissue palpation. The work presented in this paper investigates the relevance of force feedback (presented visually as well as directly) during tactile sensing (presented visually only) for tumor localization using an experimental setup close to one that could be applied for real robotics-assisted minimally invasive surgery. The setup is a teleoperated (master-slave) system facilitated with a state-of-the-art minimally invasive probe with a rigidly mounted tactile sensor at the tip and an externally mounted force sensor at the base of the probe. The objective is to capture the tactile information and measure the interaction forces between the probe and tissue during palpation and to explore how they can be integrated to improve the performance of tumor localization. To quantitatively explore the effect of force feedback on tactile sensing tumor localization, several experiments were conducted by human subjects to locate artificial tumors embedded in the ex vivo bovine livers. The results show that using tactile sensing in a force-controlled environment can realize, on average, 57 percent decrease in the maximum force and 55 percent decrease in the average force applied to tissue while increasing the tumor detection accuracy by up to 50 percent compared to the case of using tactile feedback alone. The results also show that while visual presentation of force feedback gives straightforward quantitative measures, improved performance of tactile sensing tumor localization is achieved at the expense of longer times for the user. Also, the quickness and intuitive data mapping of direct force feedback makes it more appealing to experienced users.

Flexible and Transparent Strain Sensors with Embedded Multiwalled Carbon Nanotubes Meshes.

Science.gov (United States)

Nie, Bangbang; Li, Xiangming; Shao, Jinyou; Li, Xin; Tian, Hongmiao; Wang, Duorui; Zhang, Qiang; Lu, Bingheng

2017-11-22

Strain sensors combining high sensitivity with good transparency and flexibility would be of great usefulness in smart wearable/flexible electronics. However, the fabrication of such strain sensors is still challenging. In this study, new strain sensors with embedded multiwalled carbon nanotubes (MWCNTs) meshes in polydimethylsiloxane (PDMS) films were designed and tested. The strain sensors showed elevated optical transparency of up to 87% and high sensitivity with a gauge factor of 1140 at a small strain of 8.75%. The gauge factors of the sensors were also found relatively stable since they did not obviously change after 2000 stretching/releasing cycles. The sensors were tested to detect motion in the human body, such as wrist bending, eye blinking, mouth phonation, and pulse, and the results were shown to be satisfactory. Furthermore, the fabrication of the strain sensor consisting of mechanically blading MWCNTs aqueous dispersions into microtrenches of prestructured PDMS films was straightforward, was low cost, and resulted in high yield. All these features testify to the great potential of these sensors in future real applications.

Tactile Sensing From Laser-Ablated Metallized PET Films

KAUST Repository

Nag, Anindya

2016-10-17

This paper reports the design, fabrication, and implementation of a novel sensor patch developed from commercial polyethylene terephthalate films metallized with aluminum on one side. The aluminum was ablated with laser to form interdigitated electrodes to make sensor prototypes. The interdigitated electrodes were patterned on the substrate with a laser cutter. Characterization of the prototypes was done to determine their operating frequency followed by experimentation. The prototypes have been used as a tactile sensor showing promising results for using these patches in applications with contact pressures considerably lesser than normal human contact pressure.

Virtual Sensor for Kinematic Estimation of Flexible Links in Parallel Robots.

Science.gov (United States)

Bengoa, Pablo; Zubizarreta, Asier; Cabanes, Itziar; Mancisidor, Aitziber; Pinto, Charles; Mata, Sara

2017-08-23

The control of flexible link parallel manipulators is still an open area of research, endpoint trajectory tracking being one of the main challenges in this type of robot. The flexibility and deformations of the limbs make the estimation of the Tool Centre Point (TCP) position a challenging one. Authors have proposed different approaches to estimate this deformation and deduce the location of the TCP. However, most of these approaches require expensive measurement systems or the use of high computational cost integration methods. This work presents a novel approach based on a virtual sensor which can not only precisely estimate the deformation of the flexible links in control applications (less than 2% error), but also its derivatives (less than 6% error in velocity and 13% error in acceleration) according to simulation results. The validity of the proposed Virtual Sensor is tested in a Delta Robot, where the position of the TCP is estimated based on the Virtual Sensor measurements with less than a 0.03% of error in comparison with the flexible approach developed in ADAMS Multibody Software.

Recent progress of flexible and wearable strain sensors for human-motion monitoring

Science.gov (United States)

Ge, Gang; Huang, Wei; Shao, Jinjun; Dong, Xiaochen

2018-01-01

With the rapid development of human artificial intelligence and the inevitably expanding markets, the past two decades have witnessed an urgent demand for the flexible and wearable devices, especially the flexible strain sensors. Flexible strain sensors, incorporated the merits of stretchability, high sensitivity and skin-mountable, are emerging as an extremely charming domain in virtue of their promising applications in artificial intelligent realms, human-machine systems and health-care devices. In this review, we concentrate on the transduction mechanisms, building blocks of flexible physical sensors, subsequently property optimization in terms of device structures and sensing materials in the direction of practical applications. Perspectives on the existing challenges are also highlighted in the end. Project supported by the NNSF of China (Nos. 61525402, 61604071), the Key University Science Research Project of Jiangsu Province (No. 15KJA430006), and the Natural Science Foundation of Jiangsu Province (No. BK20161012).

Flexible Pressure Sensor with Ag Wrinkled Electrodes Based on PDMS Substrate

Directory of Open Access Journals (Sweden)

Jianli Cui

2016-12-01

Full Text Available Flexible pressure sensors are essential components of electronic skins for future attractive applications ranging from human healthcare monitoring to biomedical diagnostics, robotic skins, and prosthetic limbs. Here we report a new kind of flexible pressure sensor. The sensors are capacitive, and composed of two Ag wrinkled electrodes separated by a carbon nanotubes (CNTs/polydimethylsiloxane (PDMS composite deformable dielectric layer. Ag wrinkled electrodes were formed by vacuum deposition on top of pre-strained and relaxed PDMS substrates which were treated using an O2 plasma, a surface functionalization process, and a magnetron sputtering process. Ultimately, the developed sensor exhibits a maximum sensitivity of 19.80% kPa−1 to capacitance, great durability over 500 cycles, and rapid mechanical responses (<200 ms. We also demonstrate that our sensor can be used to effectively detect the location and distribution of finger pressure.

Tactile display for virtual 3D shape rendering

CERN Document Server

Mansutti, Alessandro; Bordegoni, Monica; Cugini, Umberto

2017-01-01

This book describes a novel system for the simultaneous visual and tactile rendering of product shapes which allows designers to simultaneously touch and see new product shapes during the conceptual phase of product development. This system offers important advantages, including potential cost and time savings, compared with the standard product design process in which digital 3D models and physical prototypes are often repeatedly modified until an optimal design is achieved. The system consists of a tactile display that is able to represent, within a real environment, the shape of a product. Designers can explore the rendered surface by touching curves lying on the product shape, selecting those curves that can be considered style features and evaluating their aesthetic quality. In order to physically represent these selected curves, a flexible surface is modeled by means of servo-actuated modules controlling a physical deforming strip. The tactile display is designed so as to be portable, low cost, modular,...

Strengthening of Back Muscles Using a Module of Flexible Strain Sensors

Directory of Open Access Journals (Sweden)

Wan-Chun Chuang

2015-02-01

Full Text Available This research aims at developing a flexible strain module applied to the strengthening of back muscles. Silver films were sputtered onto flexible substrates to produce a flexible sensor. Assuming that back muscle elongation is positively correlated with the variations in skin surface length, real-time resistance changes exhibited by the sensor during simulated training sessions were measured. The results were used to identify the relationship between resistance change of sensors and skin surface stretch. In addition, muscle length changes from ultrasound images were used to determine the feasibility of a proof of concept sensor. Furthermore, this module is capable of detecting large muscle contractions, some of which may be undesirable for the prescribed training strategy. Therefore, the developed module can facilitate real-time assessments of the movement accuracy of users during training, and the results are instantly displayed on a screen. People using the developed training system can immediately adjust their posture to the appropriate position. Thus, the training mechanism can be constructed to help user improve the efficiency of back muscle strengthening.

Parametric Optimization of Lateral NIPIN Phototransistors for Flexible Image Sensors

Directory of Open Access Journals (Sweden)

Min Seok Kim

2017-08-01

Full Text Available Curved image sensors, which are a key component in bio-inspired imaging systems, have been widely studied because they can improve an imaging system in various aspects such as low optical aberrations, small-form, and simple optics configuration. Many methods and materials to realize a curvilinear imager have been proposed to address the drawbacks of conventional imaging/optical systems. However, there have been few theoretical studies in terms of electronics on the use of a lateral photodetector as a flexible image sensor. In this paper, we demonstrate the applicability of a Si-based lateral phototransistor as the pixel of a high-efficiency curved photodetector by conducting various electrical simulations with technology computer aided design (TCAD. The single phototransistor is analyzed with different device parameters: the thickness of the active cell, doping concentration, and structure geometry. This work presents a method to improve the external quantum efficiency (EQE, linear dynamic range (LDR, and mechanical stability of the phototransistor. We also evaluated the dark current in a matrix form of phototransistors to estimate the feasibility of the device as a flexible image sensor. Moreover, we fabricated and demonstrated an array of phototransistors based on our study. The theoretical study and design guidelines of a lateral phototransistor create new opportunities in flexible image sensors.

Conformable Skin-Like Conductive Thin Films with AgNWs Strips for Flexible Electronic Devices

Directory of Open Access Journals (Sweden)

Yuhang SUN

2015-08-01

Full Text Available Keeping good conductivity at high stretching strain is one of the main requirements for the fabrication of flexible electronic devices. The elastic nature of siloxane-based elastomers enables many innovative designs in wearable sensor devices and non-invasive insertion instruments, including skin-like tactile sensors. Over the last few years, polydimethylsiloxane (PDMS thin films have been widely used as the substrates in the fabrication of flexible electronic devices due to their good elasticity and outstanding biocompatibility. However, these kind of thin films usually suffer poor resistance to tearing and insufficient compliance to curved surfaces, which limits their applications. Currently no three-dimensionally mountable tactile sensor arrays have been reported commercially available. In this work, we developed a kind of mechanically compliant skin-like conductive thin film by patterning silver nano wire traces in strip-style on Dragon Skin® (DS substrates instead of PDMS. High cross- link quality was achieved then. To further improve the conductivity, a thin gold layer was coated onto the silver nanowires (AgNWs strips. Four different gold deposition routines have been designed and investigated by using different E-beam and spin coating processing methods. Owning to the intrinsically outstanding physical property of the Dragon Skin material and the uniform embedment built in the gold deposition processes, the DS/AgNWs thin films showed convincible advantages over PDMS/AgNWs thin films in both mechanical capability and conductive stability. Through experimental tests, the DS/AgNWs electrode thin films were proven to be able to maintain high conductivity following repeated linear deformations.

Flexible optical fiber sensor based on polyurethane

DEFF Research Database (Denmark)

Kaysir, Md Rejvi; Stefani, Alessio; Lwin, Richard

Polyurethane (PU) based hollow core fibers are investigated as optical sensors. The flexibility of PU fibers makes it suitable for sensing mechanical perturbations. We fabricated a PU fiber using the fiber drawing method, characterized the fiber and experimentally demonstrated a simple way...... to measure deformation, in the form of applied pressure....

Fibre optic sensor on robot end effector for flexible assembly

International Nuclear Information System (INIS)

Yung, K.L.; Lau, W.S.; Choi, C.K.; Shan, Y.Y.

1995-01-01

A fibre optic sensor system was constructed for use on robot end effectors for flexible assembly. The sensor detected the deviations between robot end effector and the workpiece. The signal was fed back to robot controller to shift the end effector until the centre of end effector and the centre of workpiece were aligned at the correct orientation. Then workpiece can be grasped symmetrically. Sensor fusion concept was used to guard against sensor system failure. Fuzzy linguistic variable and control rule concept were introduced in the sensor integration. The experimental setup for the sensor integrated system was shown. The accuracy was also discussed

Temperature sensor realized by inkjet printing process on flexible substrate

International Nuclear Information System (INIS)

Dankoco, M.D.; Tesfay, G.Y.; Benevent, E.; Bendahan, M.

2016-01-01

Highlights: • Flexible temperature sensor was realized by inkjet printing process on Kapton substrate. • The jetting parameters were optimized to obtain evenly distributed silver coating layers and a large meander forming the sensor. • The Temperature sensor studied offers a good sensitivity, a good linearity and less than 5% hysteresis in extended measurement in the range of 20–60 °C. - Abstract: The objective of this study is to realize a printed and flexible temperature sensor to achieve surface temperature measurement of the human body. The sensor is a thermistor composed silver (Ag) deposited on a Polyimide substrate (Kapton HN). The meander was patterned by inkjet printing with a drop-on-demand Jetlab4 (Microfab Technologies Inc.). The resistance temperature coefficients have been studied in the temperature range of 20–60 °C with a range of voltage between 0 and 1 V. The stability versus time has also been measured without a sensor layer protection. The sensitive area of the sensor, silver lines width and the gap between the electrical conductors were, respectively 6.2 cm 2 , 300 μm, 60 μm. The mean temperature sensor sensitivity found was 2.23 × 10 −3 °C −1 . The results show a good linearity and less than 5% hysteresis in the extended measurement.

Object texture recognition by dynamic tactile sensing using active exploration

DEFF Research Database (Denmark)

Drimus, Alin; Børlum Petersen, Mikkel; Bilberg, Arne

with a dynamic tactile transducer based on polyvinylidene fluoride (PVDF) piezoelectric film. Different test surfaces are actively explored and the signal from the sensor is used for feature extraction, which is subsequently used for classification. A comparison between the significance of different extracted......For both humans and robots, tactile sensing is important for interaction with the environment: it is the core sensing used for exploration and manipulation of objects. In this paper, we present a method for determining object texture by active exploration with a robotic fingertip equipped...

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

Science.gov (United States)

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.

A Flexible and Highly Sensitive Piezoresistive Pressure Sensor Based on Micropatterned Films Coated with Carbon Nanotubes

Directory of Open Access Journals (Sweden)

Jia-lin Yao

2016-01-01

Full Text Available Excellent flexibility, high sensitivity, and low consumption are essential characteristics in flexible microtube pressure sensing occasion, for example, implantable medical devices, industrial pipeline, and microfluidic chip. This paper reports a flexible, highly sensitive, and ultrathin piezoresistive pressure sensor for fluid pressure sensing, whose sensing element is micropatterned films with conductive carbon nanotube layer. The flexible pressure sensor, the thickness of which is 40 ± 10 μm, could be economically fabricated by using biocompatible polydimethylsiloxane (PDMS. Experimental results show that the flexible pressure sensor has high sensitivity (0.047 kPa−1 in gas sensing and 5.6 × 10−3 kPa−1 in liquid sensing and low consumption (<180 μW, and the sensor could be used to measure the pressure in curved microtubes.

Novel Approaches for Bio-inspired Mechano-Sensors

DEFF Research Database (Denmark)

Drimus, Alin; Bilberg, Arne

2011-01-01

In this paper, we present novel approaches for building tactile- array sensors for use in robotic grippers inspired from biology. We start by describing the sense of touch for humans and we continue by propos- ing dierent methods to build sensors that mimic this behaviour. For the static tactile...

3D printed flexible capacitive force sensor with a simple micro-controller based readout

NARCIS (Netherlands)

Schouten, Martijn G.; Sanders, Remco; Krijnen, Gijs

2017-01-01

This paper describes the development of a proof of principle of a flexible force sensor and the corresponding readout circuit. The flexible force sensor consists of a parallel plate capacitor that is 3D printed using regular and conductive thermoplastic poly-urethane (TPU). The capacitance change

High performance flexible pH sensor based on carboxyl-functionalized and DEP aligned SWNTs

International Nuclear Information System (INIS)

Liu, Lu; Shao, Jinyou; Li, Xiangming; Zhao, Qiang; Nie, Bangbang; Xu, Chuan; Ding, Haitao

2016-01-01

Highlights: • The flexible chemiresistive pH sensor based on two-terminal microsensors eliminating the need for a reference electrode, is simple in structure and can be fabricated on a variety of substrates such as PET, PI and PVC. • SWNTs as an ideal one dimensional material are carboxyl-functionalized to make the pH sensor show high sensitivity and outstanding flexibility for practical applications. • DEP technique is used to manipulate and position SWNTs into appropriate locations and desired formations to improve the metal-nanotube interface and highly rapid detection of pH value, resulting in better overall device performance. • Mechanical bendability of the pH sensor, which arises from the combination of flexible PET substrates and SWNTs, offer a significant improvement for applications that are difficult or impossible to achieve with traditional sensors on rigid substrates. - Abstract: The detection and control of the pH is very important in many biomedical and chemical reaction processes. A miniaturized flexible pH sensor that is light weight, robust, and conformable is very important in many applications, such as multifunctional lab-on-a-chip systems or wearable biomedical devices. In this work, we demonstrate a flexible chemiresistive pH sensor based on dielectrophoresis (DEP) aligned carboxyl-functionalized single-walled carbon nanotubes (SWNTs). Decorated carboxyl groups can react with hydrogen (H"+) and hydroxide (OH"−) ions, enabling the sensor to be capable of sensing the pH. DEP is used to deposit well-organized and highly aligned SWNTs in desired locations, which improves the metal-nanotube interface and highly rapid detection of the pH, resulting in better overall device performance. When pH buffer solutions are dropped onto such SWNTs, the H"+ and OH"− ions caninteract with the carboxyl groups and affect the generation of holes and electrons in the SWNTs, leading to resistance variations in the SWNTs. The results shows that the

High performance flexible pH sensor based on carboxyl-functionalized and DEP aligned SWNTs

Energy Technology Data Exchange (ETDEWEB)

Liu, Lu; Shao, Jinyou, E-mail: jyshao@mail.xjtu.edu.cn; Li, Xiangming; Zhao, Qiang; Nie, Bangbang; Xu, Chuan; Ding, Haitao

2016-11-15

Highlights: • The flexible chemiresistive pH sensor based on two-terminal microsensors eliminating the need for a reference electrode, is simple in structure and can be fabricated on a variety of substrates such as PET, PI and PVC. • SWNTs as an ideal one dimensional material are carboxyl-functionalized to make the pH sensor show high sensitivity and outstanding flexibility for practical applications. • DEP technique is used to manipulate and position SWNTs into appropriate locations and desired formations to improve the metal-nanotube interface and highly rapid detection of pH value, resulting in better overall device performance. • Mechanical bendability of the pH sensor, which arises from the combination of flexible PET substrates and SWNTs, offer a significant improvement for applications that are difficult or impossible to achieve with traditional sensors on rigid substrates. - Abstract: The detection and control of the pH is very important in many biomedical and chemical reaction processes. A miniaturized flexible pH sensor that is light weight, robust, and conformable is very important in many applications, such as multifunctional lab-on-a-chip systems or wearable biomedical devices. In this work, we demonstrate a flexible chemiresistive pH sensor based on dielectrophoresis (DEP) aligned carboxyl-functionalized single-walled carbon nanotubes (SWNTs). Decorated carboxyl groups can react with hydrogen (H{sup +}) and hydroxide (OH{sup −}) ions, enabling the sensor to be capable of sensing the pH. DEP is used to deposit well-organized and highly aligned SWNTs in desired locations, which improves the metal-nanotube interface and highly rapid detection of the pH, resulting in better overall device performance. When pH buffer solutions are dropped onto such SWNTs, the H{sup +} and OH{sup −} ions caninteract with the carboxyl groups and affect the generation of holes and electrons in the SWNTs, leading to resistance variations in the SWNTs. The results

Integration of piezo-capacitive and piezo-electric nanoweb based pressure sensors for imaging of static and dynamic pressure distribution.

Science.gov (United States)

Jeong, Y J; Oh, T I; Woo, E J; Kim, K J

2017-07-01

Recently, highly flexible and soft pressure distribution imaging sensor is in great demand for tactile sensing, gait analysis, ubiquitous life-care based on activity recognition, and therapeutics. In this study, we integrate the piezo-capacitive and piezo-electric nanowebs with the conductive fabric sheets for detecting static and dynamic pressure distributions on a large sensing area. Electrical impedance tomography (EIT) and electric source imaging are applied for reconstructing pressure distribution images from measured current-voltage data on the boundary of the hybrid fabric sensor. We evaluated the piezo-capacitive nanoweb sensor, piezo-electric nanoweb sensor, and hybrid fabric sensor. The results show the feasibility of static and dynamic pressure distribution imaging from the boundary measurements of the fabric sensors.

Low Cost and Flexible UAV Deployment of Sensors

DEFF Research Database (Denmark)

Sørensen, Lars Yndal; Jacobsen, Lars Toft; Hansen, John Paulin

2017-01-01

-collection needs. The main contribution is the extensible architecture for modularized airborne sensor deployment and real-time data visualisation. Our open-source Android application provides data collection, flight path definition and map tools. Total cost of the system is below 800 dollars. The flexibility...

Inert gas narcosis has no influence on thermo-tactile sensation.

Science.gov (United States)

Jakovljević, Miroljub; Vidmar, Gaj; Mekjavic, Igor B

2012-05-01

Contribution of skin thermal sensors under inert gas narcosis to the raising hypothermia is not known. Such information is vital for understanding the impact of narcosis on behavioural thermoregulation, diver safety and judgment of thermal (dis)comfort in the hyperbaric environment. So this study aimed at establishing the effects of normoxic concentration of 30% nitrous oxide (N(2)O) on thermo-tactile threshold sensation by studying 16 subjects [eight females and eight males; eight sensitive (S) and eight non-sensitive (NS) to N(2)O]. Their mean (SD) age was 22.1 (1.8) years, weight 72.8 (15.3) kg, height 1.75 (0.10) m and body mass index 23.8 (3.8) kg m(-2). Quantitative thermo-tactile sensory testing was performed on forearm, upper arm and thigh under two experimental conditions: breathing air (air trial) and breathing normoxic mixture of 30% N(2)O (N(2)O trial) in the mixed sequence. Difference in thermo-tactile sensitivity thresholds between two groups of subjects in two experimental conditions was analysed by 3-way mixed-model analysis of covariance. There were no statistically significant differences in thermo-tactile thresholds either between the Air and N(2)O trials, or between S and NS groups, or between females and males, or with respect to body mass index. Some clinically insignificant lowering of thermo-tactile thresholds occurred only for warm thermo-tactile thresholds on upper arm and thigh. The results indicated that normoxic mixture of 30% N(2)O had no influence on thermo-tactile sensation in normothermia.

Nozzle-less Ultrasonic Spray Deposition for Flexible Ammonia and Ozone Gas Sensors

Directory of Open Access Journals (Sweden)

Mónica ACUAUTLA

2016-06-01

Full Text Available In the last years printing and flexible electronic is transforming the way we used electronic devices. Among these, special interest is given to the development of gas sensors for industrial and environmental applications. Nozzle-less ultrasonic spray deposition is a simple and precise technique, which offers good homogeneity and high quality of the sensitive thin film. In addition, it represents a potential fabrication process for flexible electronic with low cost production and low waste of material. In this paper, nanoparticles of zinc oxide were deposited by nozzle-less ultrasonic spray deposition on flexible substrate. The sensing properties towards reducing and oxidizing gases in function of the operational temperature are reported. The flexible platform consists in titanium/platinum interdigitated electrodes and a micro-heater device, both fabricated by lift-off and photolithography. The operating temperature of the sensor is also challenging in term of power consumption. It is allowing the reaction with the exposure gases. Most of the semiconducting metal oxide materials used for gas sensing applications require high temperatures above 250 °C. Flexible gas sensors fabricated in this work present good responses towards ammonia and ozone at 300 °C and 200 °C respectively, with fast response and recovery time in a wide range of gas concentration.

Scalable Microfabrication Procedures for Adhesive-Integrated Flexible and Stretchable Electronic Sensors

Science.gov (United States)

Kang, Dae Y.; Kim, Yun-Soung; Ornelas, Gladys; Sinha, Mridu; Naidu, Keerthiga; Coleman, Todd P.

2015-01-01

New classes of ultrathin flexible and stretchable devices have changed the way modern electronics are designed to interact with their target systems. Though more and more novel technologies surface and steer the way we think about future electronics, there exists an unmet need in regards to optimizing the fabrication procedures for these devices so that large-scale industrial translation is realistic. This article presents an unconventional approach for facile microfabrication and processing of adhesive-peeled (AP) flexible sensors. By assembling AP sensors on a weakly-adhering substrate in an inverted fashion, we demonstrate a procedure with 50% reduced end-to-end processing time that achieves greater levels of fabrication yield. The methodology is used to demonstrate the fabrication of electrical and mechanical flexible and stretchable AP sensors that are peeled-off their carrier substrates by consumer adhesives. In using this approach, we outline the manner by which adhesion is maintained and buckling is reduced for gold film processing on polydimethylsiloxane substrates. In addition, we demonstrate the compatibility of our methodology with large-scale post-processing using a roll-to-roll approach. PMID:26389915

Fatigue Crack Length Sizing Using a Novel Flexible Eddy Current Sensor Array

Directory of Open Access Journals (Sweden)

Ruifang Xie

2015-12-01

Full Text Available The eddy current probe, which is flexible, array typed, highly sensitive and capable of quantitative inspection is one practical requirement in nondestructive testing and also a research hotspot. A novel flexible planar eddy current sensor array for the inspection of microcrack presentation in critical parts of airplanes is developed in this paper. Both exciting and sensing coils are etched on polyimide films using a flexible printed circuit board technique, thus conforming the sensor to complex geometric structures. In order to serve the needs of condition-based maintenance (CBM, the proposed sensor array is comprised of 64 elements. Its spatial resolution is only 0.8 mm, and it is not only sensitive to shallow microcracks, but also capable of sizing the length of fatigue cracks. The details and advantages of our sensor design are introduced. The working principal and the crack responses are analyzed by finite element simulation, with which a crack length sizing algorithm is proposed. Experiments based on standard specimens are implemented to verify the validity of our simulation and the efficiency of the crack length sizing algorithm. Experimental results show that the sensor array is sensitive to microcracks, and is capable of crack length sizing with an accuracy within ±0.2 mm.

A Flexible Flow Sensor System and Its Characteristics for Fluid Mechanics Measurements

Directory of Open Access Journals (Sweden)

Ruiyi Que

2009-11-01

Full Text Available In this paper, we present a novel micromachined hot-film flow sensor system realized by a technique using a film depositing processes and incorporating a standard printed circuit. Sensor electrodes and electronic circuits are preprinted on a flexible substrate of polyimide (PI, i.e., a flexible printed circuit board (FPCB. The sensing element, which is made of Cr/Ni/Pt with a temperature coefficient of resistance around 2,000 ppm/K, is fabricated on the FPCB by either magnetron sputtering technology or pulsed laser deposition (PLD. The sensor can be packed efficiently at high-density and integrated with signal processing circuits without additional pads. A simple fabrication process using mature technique and materials selection guarantees that the time and costs are greatly reduced. Both steady-state and transient characteristics of the sensors are experimentally tested, and the results presented to validate the effectiveness of the sensors.

Flexible temperature and flow sensor from laser-induced graphene

KAUST Repository

Marengo, Marco

2017-12-25

Herein we present a flexible temperature sensor and a flow speed sensor based on laser-induced graphene. The main benefits arise from peculiar electrical, thermal and mechanical performances of the material thus obtained, along with a cheap and simple fabrication process. The temperature sensor is a negative temperature coefficient thermistor with non-linear response typical of semi-metals. The thermistor shows a 4% decrease of the resistance in a temperature range of 20–60 °C. The flow sensor exploits the piezoresistive properties of laser-induced graphene and can be used both in gaseous and liquid media thanks to a protective polydimethylsiloxane coating. Main characteristics are ultra-fast response and versatility in design offered by the laser technology.

Flexible textile-based strain sensor induced by contacts

International Nuclear Information System (INIS)

Zhang, Hui

2015-01-01

In this paper, the contact effects are used as the key sensing element to develop flexible textile-structured strain sensors. The structures of the contact are analyzed theoretically and the contact resistances are investigated experimentally. The electromechanical properties of the textiles are investigated to find the key factors which determine the sensitivity, repeatability, and linearity of the sensor. The sensing mechanism is based on the change of contact resistance induced by the change of the configuration of the textiles. In order to improve the performance of the textile strain sensor, the contact resistance is designed based on the electromechanical properties of the fabric. It can be seen from the results that the performance of the sensor is largely affected by the structure of the contacts, which are determined by the morphology of fiber surface and the structures of the yarn and fabric. (paper)

IR Sensor Synchronizing Active Shutter Glasses for 3D HDTV with Flexible Liquid Crystal Lenses

Directory of Open Access Journals (Sweden)

Jeong In Han

2013-12-01

Full Text Available IR sensor synchronizing active shutter glasses for three-dimensional high definition television (3D HDTV were developed using a flexible liquid crystal (FLC lens. The FLC lens was made on a polycarbonate (PC substrate using conventional liquid crystal display (LCD processes. The flexible liquid crystal lens displayed a maximum transmission of 32% and total response time of 2.56 ms. The transmittance, the contrast ratio and the response time of the flexible liquid crystal lens were superior to those of glass liquid crystal lenses. Microcontroller unit and drivers were developed as part of a reception module with power supply for the IR sensor synchronizing active shutter glasses with the flexible liquid crystal lens prototypes. IR sensor synchronizing active shutter glasses for 3D HDTV with flexible liquid crystal lenses produced excellent 3D images viewing characteristics.

Investigation of the touch sensitivity of ER fluid based tactile display

Science.gov (United States)

Liu, Yanju; Davidson, Rob; Taylor, Paul

2005-05-01

A tactile display is programmable device whose controlled surface is intended to be investigated by human touch. It has a great number of potential applications in the field of virtual reality and elsewhere. In this research, a 5x5 touch sensitive tactile display array including electrorheological (ER) fluid has been developed and investigated. Experimental results show that the sensed surface information could be controlled effectively by adjusting the voltage activation pattern imposed on the tactels. In the meantime, it is possible to sense the touching force normal to the display"s surface by monitoring the change of current passing through the ER fluid. These encouraging results are helpful for constructing a new type of tactile display based on ER fluid which can act as both sensor and actuator at the same time.

Force control in the absence of visual and tactile feedback

NARCIS (Netherlands)

Mugge, W.; Abbink, D.A.; Schouten, Alfred Christiaan; van der Helm, F.C.T.; Arendzen, J.H.; Meskers, C.G.M.

2013-01-01

Motor control tasks like stance or object handling require sensory feedback from proprioception, vision and touch. The distinction between tactile and proprioceptive sensors is not frequently made in dynamic motor control tasks, and if so, mostly based on signal latency. We previously found that

Discrimination of Dynamic Tactile Contact by Temporally Precise Event Sensing in Spiking Neuromorphic Networks.

Science.gov (United States)

Lee, Wang Wei; Kukreja, Sunil L; Thakor, Nitish V

2017-01-01

This paper presents a neuromorphic tactile encoding methodology that utilizes a temporally precise event-based representation of sensory signals. We introduce a novel concept where touch signals are characterized as patterns of millisecond precise binary events to denote pressure changes. This approach is amenable to a sparse signal representation and enables the extraction of relevant features from thousands of sensing elements with sub-millisecond temporal precision. We also proposed measures adopted from computational neuroscience to study the information content within the spiking representations of artificial tactile signals. Implemented on a state-of-the-art 4096 element tactile sensor array with 5.2 kHz sampling frequency, we demonstrate the classification of transient impact events while utilizing 20 times less communication bandwidth compared to frame based representations. Spiking sensor responses to a large library of contact conditions were also synthesized using finite element simulations, illustrating an 8-fold improvement in information content and a 4-fold reduction in classification latency when millisecond-precise temporal structures are available. Our research represents a significant advance, demonstrating that a neuromorphic spatiotemporal representation of touch is well suited to rapid identification of critical contact events, making it suitable for dynamic tactile sensing in robotic and prosthetic applications.

Flexible thin film magnetoimpedance sensors

International Nuclear Information System (INIS)

Kurlyandskaya, G.V.; Fernández, E.; Svalov, A.; Burgoa Beitia, A.; García-Arribas, A.; Larrañaga, A.

2016-01-01

Magnetically soft thin film deposited onto polymer substrates is an attractive option for flexible electronics including magnetoimpedance (MI) applications. MI FeNi/Ti based thin film sensitive elements were designed and prepared using the sputtering technique by deposition onto rigid and flexible substrates at different deposition rates. Their structure, magnetic properties and MI were comparatively analyzed. The main structural features were sufficiently accurately reproduced in the case of deposition onto cyclo olefine polymer substrates compared to glass substrates for the same conditions. Although for the best condition (28 nm/min rate) of the deposition onto polymer a significant reduction of the MI field sensitivity was found satisfactory for sensor applications sensitivity: 45%/Oe was obtained for a frequency of 60 MHz. - Highlights: • [FeNi/Ti] 3 /Cu/[FeNi/Ti] 3 films were prepared by sputtering at different deposition rates. • Polymer substrates insure sufficiently accurate reproducibility of the film structure. • High deposition rate of 28 nm/min insures the highest values of the magnetoimpedance sensitivity. • Deposition onto polymer results in the satisfactory magnetoimpedance sensitivity of 45%/Oe.

Flexible thin film magnetoimpedance sensors

Energy Technology Data Exchange (ETDEWEB)

Kurlyandskaya, G.V., E-mail: galina@we.lc.ehu.es [Universidad del País Vasco, UPV/EHU, Departamento de Electricidad y Electrónica, P.O. Box 644, Bilbao 48080 (Spain); Ural Federal University, Laboratory of Magnetic sensoric, Lenin Ave. 51, 620083 Ekaterinburg (Russian Federation); Fernández, E. [BCMaterials UPV-EHU, Vizcaya Science and Technology Park, 48160 Derio (Spain); Svalov, A. [Universidad del País Vasco, UPV/EHU, Departamento de Electricidad y Electrónica, P.O. Box 644, Bilbao 48080 (Spain); Ural Federal University, Laboratory of Magnetic sensoric, Lenin Ave. 51, 620083 Ekaterinburg (Russian Federation); Burgoa Beitia, A. [Universidad del País Vasco, UPV/EHU, Departamento de Electricidad y Electrónica, P.O. Box 644, Bilbao 48080 (Spain); García-Arribas, A. [Universidad del País Vasco, UPV/EHU, Departamento de Electricidad y Electrónica, P.O. Box 644, Bilbao 48080 (Spain); BCMaterials UPV-EHU, Vizcaya Science and Technology Park, 48160 Derio (Spain); Larrañaga, A. [SGIker, Servicios Generales de Investigación, Universidad del País Vasco (UPV/EHU), 48080 Bilbao (Spain)

2016-10-01

Magnetically soft thin film deposited onto polymer substrates is an attractive option for flexible electronics including magnetoimpedance (MI) applications. MI FeNi/Ti based thin film sensitive elements were designed and prepared using the sputtering technique by deposition onto rigid and flexible substrates at different deposition rates. Their structure, magnetic properties and MI were comparatively analyzed. The main structural features were sufficiently accurately reproduced in the case of deposition onto cyclo olefine polymer substrates compared to glass substrates for the same conditions. Although for the best condition (28 nm/min rate) of the deposition onto polymer a significant reduction of the MI field sensitivity was found satisfactory for sensor applications sensitivity: 45%/Oe was obtained for a frequency of 60 MHz. - Highlights: • [FeNi/Ti]{sub 3}/Cu/[FeNi/Ti]{sub 3} films were prepared by sputtering at different deposition rates. • Polymer substrates insure sufficiently accurate reproducibility of the film structure. • High deposition rate of 28 nm/min insures the highest values of the magnetoimpedance sensitivity. • Deposition onto polymer results in the satisfactory magnetoimpedance sensitivity of 45%/Oe.

Flexible carbon nanotube sensors for nerve agent simulants

Energy Technology Data Exchange (ETDEWEB)

Cattanach, Kyle; Kulkarni, Rashmi D; Kozlov, Mikhail; Manohar, Sanjeev K [Alan G MacDiarmid Center for Innovation, Department of Chemistry, University of Texas at Dallas, Richardson 75083-0688 (United States)

2006-08-28

Chemiresistor-based vapour sensors made from network films of single-walled carbon nanotube (SWNT) bundles on flexible plastic substrates (polyethylene terephthalate, PET) can be used to detect chemical warfare agent simulants for the nerve agents Sarin (diisopropyl methylphosphonate, DIMP) and Soman (dimethyl methylphosphonate, DMMP). Large, reproducible resistance changes (75-150%), are observed upon exposure to DIMP or DMMP vapours, and concentrations as low as 25 ppm can be detected. Robust sensor response to simulant vapours is observed even in the presence of large equilibrium concentrations of interferent vapours commonly found in battle-space environments, such as hexane, xylene and water (10 000 ppm each), suggesting that both DIMP and DMMP vapours are capable of selectively displacing other vapours from the walls of the SWNTs. Response to these interferent vapours can be effectively filtered out by using a 2 {mu}m thick barrier film of the chemoselective polymer polyisobutylene (PIB) on the SWNT surface. These network films are composed of a 1-2 {mu}m thick non-woven mesh of SWNT bundles (15-30 nm diameter), whose sensor response is qualitatively and quantitatively different from previous studies on individual SWNTs, or a network of individual SWNTs, suggesting that vapour sorption at interbundle sites could be playing an important role. This study also shows that the line patterning method used in device fabrication to obtain any desired pattern of films of SWNTs on flexible substrates can be used to rapidly screen simulants at high concentrations before developing more complicated sensor systems.

Stress distribution and contact area measurements of a gecko toe using a high-resolution tactile sensor.

Science.gov (United States)

Eason, Eric V; Hawkes, Elliot W; Windheim, Marc; Christensen, David L; Libby, Thomas; Cutkosky, Mark R

2015-02-02

The adhesive systems of geckos have been widely studied and have been a great source of bioinspiration. Load-sharing (i.e. preventing stress concentrations through equal distribution of loads) is necessary to maximize the performance of an adhesive system, but it is not known to what extent load-sharing occurs in gecko toes. In this paper, we present in vivo measurements of the stress distribution and contact area on the toes of a tokay gecko (Gekko gecko) using a custom tactile sensor with 100 μm spatial resolution. We found that the stress distributions were nonuniform, with large variations in stress between and within lamellae, suggesting that load-sharing in the tokay gecko is uneven. These results may be relevant to the understanding of gecko morphology and the design of improved synthetic adhesive systems.

Stress distribution and contact area measurements of a gecko toe using a high-resolution tactile sensor

International Nuclear Information System (INIS)

Eason, Eric V; Hawkes, Elliot W; Christensen, David L; Cutkosky, Mark R; Windheim, Marc; Libby, Thomas

2015-01-01

The adhesive systems of geckos have been widely studied and have been a great source of bioinspiration. Load-sharing (i.e. preventing stress concentrations through equal distribution of loads) is necessary to maximize the performance of an adhesive system, but it is not known to what extent load-sharing occurs in gecko toes. In this paper, we present in vivo measurements of the stress distribution and contact area on the toes of a tokay gecko (Gekko gecko) using a custom tactile sensor with 100 μm spatial resolution. We found that the stress distributions were nonuniform, with large variations in stress between and within lamellae, suggesting that load-sharing in the tokay gecko is uneven. These results may be relevant to the understanding of gecko morphology and the design of improved synthetic adhesive systems. (paper)

Magnetic resonance imaging-compatible tactile sensing device based on a piezoelectric array.

Science.gov (United States)

Hamed, Abbi; Masamune, Ken; Tse, Zion Tsz Ho; Lamperth, Michael; Dohi, Takeyoshi

2012-07-01

Minimally invasive surgery is a widely used medical technique, one of the drawbacks of which is the loss of direct sense of touch during the operation. Palpation is the use of fingertips to explore and make fast assessments of tissue morphology. Although technologies are developed to equip minimally invasive surgery tools with haptic feedback capabilities, the majority focus on tissue stiffness profiling and tool-tissue interaction force measurement. For greatly increased diagnostic capability, a magnetic resonance imaging-compatible tactile sensor design is proposed, which allows minimally invasive surgery to be performed under image guidance, combining the strong capability of magnetic resonance imaging soft tissue and intuitive palpation. The sensing unit is based on a piezoelectric sensor methodology, which conforms to the stringent mechanical and electrical design requirements imposed by the magnetic resonance environment The sensor mechanical design and the device integration to a 0.2 Tesla open magnetic resonance imaging scanner are described, together with the device's magnetic resonance compatibility testing. Its design limitations and potential future improvements are also discussed. A tactile sensing unit based on a piezoelectric sensor principle is proposed, which is designed for magnetic resonance imaging guided interventions.

Fabrication of amorphous InGaZnO thin-film transistor-driven flexible thermal and pressure sensors

International Nuclear Information System (INIS)

Park, Ick-Joon; Jeong, Chan-Yong; Song, Sang-Hun; Kwon, Hyuck-In; Cho, In-Tak; Lee, Jong-Ho; Cho, Eou-Sik; Kwon, Sang Jik; Kim, Bosul; Cheong, Woo-Seok

2012-01-01

In this work, we present the results concerning the use of amorphous indium–gallium–zinc–oxide (a-IGZO) thin-film transistor (TFT) as a driving transistor of the flexible thermal and pressure sensors which are applicable to artificial skin systems. Although the a-IGZO TFT has been attracting much attention as a driving transistor of the next-generation flat panel displays, no study has been performed about the application of this new device to the driving transistor of the flexible sensors yet. The proposed thermal sensor pixel is composed of the series-connected a-IGZO TFT and ZnO-based thermistor fabricated on a polished metal foil, and the ZnO-based thermistor is replaced by the pressure sensitive rubber in the pressure sensor pixel. In both sensor pixels, the a-IGZO TFT acts as the driving transistor and the temperature/pressure-dependent resistance of the ZnO-based thermistor/pressure-sensitive rubber mainly determines the magnitude of the output currents. The fabricated a-IGZO TFT-driven flexible thermal sensor shows around a seven times increase in the output current as the temperature increases from 20 °C to 100 °C, and the a-IGZO TFT-driven flexible pressure sensors also exhibit high sensitivity under various pressure environments. (paper)

A Compact Inductive Position Sensor Made by Inkjet Printing Technology on a Flexible Substrate

Directory of Open Access Journals (Sweden)

Nataša Samardžić

2012-01-01

Full Text Available This paper describes the design, simulation and fabrication of an inductive angular position sensor on a flexible substrate. The sensor is composed of meandering silver coils printed on a flexible substrate (Kapton film using inkjet technology. The flexibility enables that after printing in the plane, the coils could be rolled and put inside each other. By changing the angular position of the internal coil (rotor related to the external one (stator, the mutual inductance is changed and consequently the impedance. It is possible to determine the angular position from the measured real and imaginary part of the impedance, in our case in the frequency range from 1 MHz to 10 MHz. Experimental results were compared with simulation results obtained by in-house developed software tool, and very good agreement has been achieved. Thanks to the simple design and fabrication, smaller package space requirements and weight, the presented sensor represents a cost-effective alternative to the other sensors currently used in series production applications.

Flexible surface acoustic wave respiration sensor for monitoring obstructive sleep apnea syndrome

Science.gov (United States)

Jin, Hao; Tao, Xiang; Dong, Shurong; Qin, Yiheng; Yu, Liyang; Luo, Jikui; Deen, M. Jamal

2017-11-01

Obstructive sleep apnea syndrome (OSAS) has received much attention in recent years due to its significant harm to human health and high morbidity rate. A respiration monitoring system is needed to detect OSAS, so that the patient can receive treatment in a timely manner. Wired and wireless OSAS monitoring systems have been developed, but they require a wire connection and batteries to operate, and they are bulky, heavy and not user-friendly. In this paper, we propose the use of a flexible surface acoustic wave (SAW) microsensor to detect and monitor OSAS by measuring the humidity change associated with the respiration of a person. SAW sensors on rigid 128° YX LiNbO3 substrate are also characterized for this application. Results show both types of SAW sensors are suitable for OSAS monitoring with good sensitivity, repeatability and reliability, and the response time and recovery time for the flexible SAW sensors are 1.125 and 0.75 s, respectively. Our work demonstrates the potential for an innovative flexible microsensor for the detection and monitoring of OSAS.

Tactile Perception of Roughness and Hardness to Discriminate Materials by Friction-Induced Vibration

Directory of Open Access Journals (Sweden)

Shuyang Ding

2017-11-01

Full Text Available The human fingertip is an exquisitely powerful bio-tactile sensor in perceiving different materials based on various highly-sensitive mechanoreceptors distributed all over the skin. The tactile perception of surface roughness and material hardness can be estimated by skin vibrations generated during a fingertip stroking of a surface instead of being maintained in a static position. Moreover, reciprocating sliding with increasing velocities and pressures are two common behaviors in humans to discriminate different materials, but the question remains as to what the correlation of the sliding velocity and normal load on the tactile perceptions of surface roughness and hardness is for material discrimination. In order to investigate this correlation, a finger-inspired crossed-I beam structure tactile tester has been designed to mimic the anthropic tactile discrimination behaviors. A novel method of characterizing the fast Fourier transform integral (FFT slope of the vibration acceleration signal generated from fingertip rubbing on surfaces at increasing sliding velocity and normal load, respectively, are defined as kv and kw, and is proposed to discriminate the surface roughness and hardness of different materials. Over eight types of materials were tested, and they proved the capability and advantages of this high tactile-discriminating method. Our study may find applications in investigating humanoid robot perceptual abilities.

Flexible and disposable plasmonic refractive index sensor using nanoimprint lithography

Science.gov (United States)

Mohapatra, Saswat; Moirangthem, Rakesh S.

2018-03-01

Nanostructure based plasmonic sensors are highly demanding in various areas due to their label-free and real-time detection capability. In this work, we developed an inexpensive flexible plasmonic sensor using optical disc nanograting via soft UV-nanoimprint lithography (UV-NIL). The polydimethylsiloxane (PDMS) stamp was used to transfer the nanograting structure from digital versatile discs (DVDs) to flexible and transparent polyethylene terephthalate (PET) substrate. Further, the plasmonic sensing substrate was obtained after coating a gold thin film on the top of the imprinted sample. The surface plasmon resonance (SPR) modes excited on gold coated nanograting structure appeared as a dip in the reflectance spectra measured at normal incident of white light in ambient air medium. Electromagnetic simulation based on finite element method (FEM) was used to understand and analyze the excited SPR modes and it is a very close agreement with the experimental results. The bulk refractive index (RI) sensing was performed by the sensor chip using water-glycerol mixture with different concentrations. Experimentally, the bulk RI sensitivity was found to be 797+/-17 nm/RIU.

Ferroelectric Zinc Oxide Nanowire Embedded Flexible Sensor for Motion and Temperature Sensing.

Science.gov (United States)

Shin, Sung-Ho; Park, Dae Hoon; Jung, Joo-Yun; Lee, Min Hyung; Nah, Junghyo

2017-03-22

We report a simple method to realize multifunctional flexible motion sensor using ferroelectric lithium-doped ZnO-PDMS. The ferroelectric layer enables piezoelectric dynamic sensing and provides additional motion information to more precisely discriminate different motions. The PEDOT:PSS-functionalized AgNWs, working as electrode layers for the piezoelectric sensing layer, resistively detect a change of both movement or temperature. Thus, through the optimal integration of both elements, the sensing limit, accuracy, and functionality can be further expanded. The method introduced here is a simple and effective route to realize a high-performance flexible motion sensor with integrated multifunctionalities.

Materials and Techniques for Implantable Nutrient Sensing Using Flexible Sensors Integrated with Metal-Organic Frameworks.

Science.gov (United States)

Ling, Wei; Liew, Guoguang; Li, Ya; Hao, Yafeng; Pan, Huizhuo; Wang, Hanjie; Ning, Baoan; Xu, Hang; Huang, Xian

2018-06-01

The combination of novel materials with flexible electronic technology may yield new concepts of flexible electronic devices that effectively detect various biological chemicals to facilitate understanding of biological processes and conduct health monitoring. This paper demonstrates single- or multichannel implantable flexible sensors that are surface modified with conductive metal-organic frameworks (MOFs) such as copper-MOF and cobalt-MOF with large surface area, high porosity, and tunable catalysis capability. The sensors can monitor important nutriments such as ascorbicacid, glycine, l-tryptophan (l-Trp), and glucose with detection resolutions of 14.97, 0.71, 4.14, and 54.60 × 10 -6 m, respectively. In addition, they offer sensing capability even under extreme deformation and complex surrounding environment with continuous monitoring capability for 20 d due to minimized use of biological active chemicals. Experiments using live cells and animals indicate that the MOF-modified sensors are biologically safe to cells, and can detect l-Trp in blood and interstitial fluid. This work represents the first effort in integrating MOFs with flexible sensors to achieve highly specific and sensitive implantable electrochemical detection and may inspire appearance of more flexible electronic devices with enhanced capability in sensing, energy storage, and catalysis using various properties of MOFs. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Optimal sensor configuration for flexible structures with multi-dimensional mode shapes

International Nuclear Information System (INIS)

Chang, Minwoo; Pakzad, Shamim N

2015-01-01

A framework for deciding the optimal sensor configuration is implemented for civil structures with multi-dimensional mode shapes, which enhances the applicability of structural health monitoring for existing structures. Optimal sensor placement (OSP) algorithms are used to determine the best sensor configuration for structures with a priori knowledge of modal information. The signal strength at each node is evaluated by effective independence and modified variance methods. Euclidean norm of signal strength indices associated with each node is used to expand OSP applicability into flexible structures. The number of sensors for each method is determined using the threshold for modal assurance criterion (MAC) between estimated (from a set of observations) and target mode shapes. Kriging is utilized to infer the modal estimates for unobserved locations with a weighted sum of known neighbors. A Kriging model can be expressed as a sum of linear regression and random error which is assumed as the realization of a stochastic process. This study presents the effects of Kriging parameters for the accurate estimation of mode shapes and the minimum number of sensors. The feasible ranges to satisfy MAC criteria are investigated and used to suggest the adequate searching bounds for associated parameters. The finite element model of a tall building is used to demonstrate the application of optimal sensor configuration. The dynamic modes of flexible structure at centroid are appropriately interpreted into the outermost sensor locations when OSP methods are implemented. Kriging is successfully used to interpolate the mode shapes from a set of sensors and to monitor structures associated with multi-dimensional mode shapes. (paper)

Sensor placement optimization for structural modal identification of flexible structures using genetic algorithm

International Nuclear Information System (INIS)

Jung, B. K.; Cho, J. R.; Jeong, W. B.

2015-01-01

The position of vibration sensors influences the modal identification quality of flexible structures for a given number of sensors, and the quality of modal identification is usually estimated in terms of correlation between the natural modes using the modal assurance criterion (MAC). The sensor placement optimization is characterized by the fact that the design variables are not continuous but discrete, implying that the conventional sensitivity-driven optimization methods are not applicable. In this context, this paper presents the application of genetic algorithm to the sensor placement optimization for improving the modal identification quality of flexible structures. A discrete-type optimization problem using genetic algorithm is formulated by defining the sensor positions and the MAC as the design variables and the objective function, respectively. The proposed GA-based evolutionary optimization method is validated through the numerical experiment with a rectangular plate, and its excellence is verified from the comparison with the cases using different modal correlation measures.

The Use of Tactile Sensors and PIV Analysis for Understanding the Bearing Mechanism of Pile Groups.

Science.gov (United States)

You, Zhijia; Chen, Yulong

2018-02-06

Model tests were carried out in dry silica sand under pile loading and visualizing observation to investigate the behavior of a pile group. The pile group consisted of nine cylindrical model piles of 40 mm in diameter in most tests or three rectangular parallelepiped model piles in the visualizing observation. Pile spacings of 200 mm and 100 mm between pile centers were used in the models. Tactile sensors were installed to measure the pressure distribution in the ground and colored sand layer with particle image velocimetry (PIV) analysis to reveal the ground deformation in addition to strain gauges inside the model piles to investigate the interaction among group piles. The tests results showed that a narrower spacing between piles resulted in a wider affected area of the ground and the interaction was more significant below the tips.

Passive wireless structural health monitoring sensor made with a flexible planar dipole antenna

International Nuclear Information System (INIS)

Jang, Sang-Dong; Kim, Jaehwan

2012-01-01

Cheap and efficient wireless sensors have been widely studied by electronics and communication technology development. In this paper, a flexible planar dipole antenna based passive wireless strain sensor has been investigated. The planar dipole antenna is designed for X band and made on a flexible polymer substrate using a conventional photolithography process. The fabricated dipole antenna is attached to a nonmetallic cantilever beam and monitors its bending strain. Mechanical strain and load impedance of the dipole antenna can change its resonance frequency, return loss and reflected signal. The return loss and reflected signals of the dipole antenna sensor are characterized by using a network analyzer. The strain sensitivity of the sensor is proportional to the return loss variation with the bending strain of the cantilever beam. The magnitude of reflected signals increases as the bending strain increases. (technical note)

Ultrathin flexible piezoelectric sensors for monitoring eye fatigue

Science.gov (United States)

Lü, Chaofeng; Wu, Shuang; Lu, Bingwei; Zhang, Yangyang; Du, Yangkun; Feng, Xue

2018-02-01

Eye fatigue is a symptom induced by long-term work of both eyes and brains. Without proper treatment, eye fatigue may incur serious problems. Current studies on detecting eye fatigue mainly focus on computer vision detect technology which can be very unreliable due to occasional bad visual conditions. As a solution, we proposed a wearable conformal in vivo eye fatigue monitoring sensor that contains an array of piezoelectric nanoribbons integrated on an ultrathin flexible substrate. By detecting strains on the skin of eyelid, the sensors may collect information about eye blinking, and, therefore, reveal human’s fatigue state. We first report the design and fabrication of the piezoelectric sensor and experimental characterization of voltage responses of the piezoelectric sensors. Under bending stress, the output voltage curves yield key information about the motion of human eyelid. We also develop a theoretical model to reveal the underlying mechanism of detecting eyelid motion. Both mechanical load test and in vivo test are conducted to convince the working performance of the sensors. With satisfied durability and high sensitivity, this sensor may efficiently detect abnormal eyelid motions, such as overlong closure, high blinking frequency, low closing speed and weak gazing strength, and may hopefully provide feedback for assessing eye fatigue in time so that unexpected situations can be prevented.

Novel fabrication of flexible graphene-based chemical sensors with heaters using soft lithographic patterning method.

Science.gov (United States)

Jung, Min Wook; Myung, Sung; Song, Wooseok; Kang, Min-A; Kim, Sung Ho; Yang, Cheol-Soo; Lee, Sun Sook; Lim, Jongsun; Park, Chong-Yun; Lee, Jeong-O; An, Ki-Seok

2014-08-27

We have fabricated graphene-based chemical sensors with flexible heaters for the highly sensitive detection of specific gases. We believe that increasing the temperature of the graphene surface significantly enhanced the electrical signal change of the graphene-based channel, and reduced the recovery time needed to obtain a normal state of equilibrium. In addition, a simple and efficient soft lithographic patterning process was developed via surface energy modification for advanced, graphene-based flexible devices, such as gas sensors. As a proof of concept, we demonstrated the high sensitivity of NO2 gas sensors based on graphene nanosheets. These devices were fabricated using a simple soft-lithographic patterning method, where flexible graphene heaters adjacent to the channel of sensing graphene were utilized to control graphene temperature.

Flexible Mixed-Potential-Type (MPT) NO₂ Sensor Based on An Ultra-Thin Ceramic Film.

Science.gov (United States)

You, Rui; Jing, Gaoshan; Yu, Hongyan; Cui, Tianhong

2017-07-29

A novel flexible mixed-potential-type (MPT) sensor was designed and fabricated for NO₂ detection from 0 to 500 ppm at 200 °C. An ultra-thin Y₂O₃-doped ZrO₂ (YSZ) ceramic film 20 µm thick was sandwiched between a heating electrode and reference/sensing electrodes. The heating electrode was fabricated by a conventional lift-off process, while the porous reference and the sensing electrodes were fabricated by a two-step patterning method using shadow masks. The sensor's sensitivity is achieved as 58.4 mV/decade at the working temperature of 200 °C, as well as a detection limit of 26.7 ppm and small response time of less than 10 s at 200 ppm. Additionally, the flexible MPT sensor demonstrates superior mechanical stability after bending over 50 times due to the mechanical stability of the YSZ ceramic film. This simply structured, but highly reliable flexible MPT NO₂ sensor may lead to wide application in the automobile industry for vehicle emission systems to reduce NO₂ emissions and improve fuel efficiency.

Flexible palladium-based H2 sensor with fast response and low leakage detection by nanoimprint lithography.

Science.gov (United States)

Lim, Su Hui; Radha, Boya; Chan, Jie Yong; Saifullah, Mohammad S M; Kulkarni, Giridhar U; Ho, Ghim Wei

2013-08-14

Flexible palladium-based H2 sensors have a great potential in advanced sensing applications, as they offer advantages such as light weight, space conservation, and mechanical durability. Despite these advantages, the paucity of such sensors is due to the fact that they are difficult to fabricate while maintaining excellent sensing performance. Here, we demonstrate, using direct nanoimprint lithography of palladium, the fabrication of a flexible, durable, and fast responsive H2 sensor that is capable of detecting H2 gas concentration as low as 50 ppm. High resolution and high throughput patterning of palladium gratings over a 2 cm × 1 cm area on a rigid substrate was achieved by heat-treating nanoimprinted palladium benzyl mercaptide at 250 °C for 1 h. The flexible and robust H2 sensing device was fabricated by subsequent transfer nanoimprinting of these gratings into a polycarbonate film at its glass transition temperature. This technique produces flexible H2 sensors with improved durability, sensitivity, and response time in comparison to palladium thin films. At ambient pressure and temperature, the device showed a fast response time of 18 s at a H2 concentration of 3500 ppm. At 50 ppm concentration, the response time was found to be 57 s. The flexibility of the sensor does not appear to compromise its performance.

Piezoelectric Lead Zirconium Titanate Composite Touch Sensors for Integration with Flexible OLED Technology

NARCIS (Netherlands)

Deutz, D.B.; Tempelman, E.; Zwaag, S. van der; Groen, W.A.

2015-01-01

To enable the design of more intuitive product user interfaces, the prospects of matching piezoelectric touch sensors with flexible organic light emitting diode (OLED) technology are investigated. Low stiffness piezoelectric composite sensors, combining piezoelectric Pb(Zr,Ti)O3 powder with a

A flexible and highly sensitive nonenzymatic glucose sensor based on DVD-laser scribed graphene substrate.

Science.gov (United States)

Lin, Songyue; Feng, Wendou; Miao, Xiaofei; Zhang, Xiangxin; Chen, Sujing; Chen, Yuanqiang; Wang, Wei; Zhang, Yining

2018-07-01

Flexible and implantable glucose biosensors are emerging technologies for continuous monitoring of blood-glucose of diabetes. Developing a flexible conductive substrates with high active surface area is critical for advancing the technology. Here, we successfully fabricate a flexible and highly sensitive nonenzymatic glucose by using DVD-laser scribed graphene (LSG) as a flexible conductively substrate. Copper nanoparticles (Cu-NPs) are electrodeposited as the catalyst. The LSG/Cu-NPs sensor demonstrates excellent catalytic activity toward glucose oxidation and exhibits a linear glucose detection range from 1 μM to 4.54 mM with high sensitivity (1.518 mA mM -1 cm -2 ) and low limit of detection (0.35 μM). Moreover, the LSG/Cu-NPs sensor shows excellent reproducibility and long-term stability. It is also highly selective toward glucose oxidation under the presence of various interfering species. Excellent flexing stability is also demonstrated by the LSG/Cu-NPs sensor, which is capable of maintaining 83.9% of its initial current after being bent against a 4-mm diameter rod for 180 times. The LSG/Cu-NPs sensor shows great potential for practical application as a nonenzymatic glucose biosensor. Meanwhile, the LSG conductive substrate provides a platform for the developing next-generation flexible and potentially implantable bioelectronics and biosensors. Copyright © 2018 Elsevier B.V. All rights reserved.

Supramodal theta, gamma, and sustained fields predict modality-specific modulations of alpha and beta oscillations during visual and tactile working memory

NARCIS (Netherlands)

Ede, F.L. van; Jensen, O.; Maris, E.G.G.

2017-01-01

Flexible control over currently relevant sensory representations is an essential feature of primate cognition. We investigated the neurophysiological bases of such flexible control in humans during an intermodal working memory task in which participants retained visual or tactile sequences. Using

Flexible hemispheric microarrays of highly pressure-sensitive sensors based on breath figure method.

Science.gov (United States)

Wang, Zhihui; Zhang, Ling; Liu, Jin; Jiang, Hao; Li, Chunzhong

2018-05-30

Recently, flexible pressure sensors featuring high sensitivity, broad sensing range and real-time detection have aroused great attention owing to their crucial role in the development of artificial intelligent devices and healthcare systems. Herein, highly sensitive pressure sensors based on hemisphere-microarray flexible substrates are fabricated via inversely templating honeycomb structures deriving from a facile and static breath figure process. The interlocked and subtle microstructures greatly improve the sensing characteristics and compressibility of the as-prepared pressure sensor, endowing it a sensitivity as high as 196 kPa-1 and a wide pressure sensing range (0-100 kPa), as well as other superior performance, including a lower detection limit of 0.5 Pa, fast response time (10 000 cycles). Based on the outstanding sensing performance, the potential capability of our pressure sensor in capturing physiological information and recognizing speech signals has been demonstrated, indicating promising application in wearable and intelligent electronics.

Use of tactile feedback to control exploratory movements to characterize object compliance.

Science.gov (United States)

Su, Zhe; Fishel, Jeremy A; Yamamoto, Tomonori; Loeb, Gerald E

2012-01-01

Humans have been shown to be good at using active touch to perceive subtle differences in compliance. They tend to use highly stereotypical exploratory strategies, such as applying normal force to a surface. We developed similar exploratory and perceptual algorithms for a mechatronic robotic system (Barrett arm/hand system) equipped with liquid-filled, biomimetic tactile sensors (BioTac(®) from SynTouch LLC). The distribution of force on the fingertip was measured by the electrical resistance of the conductive liquid trapped between the elastomeric skin and a cluster of four electrodes on the flat fingertip surface of the rigid core of the BioTac. These signals provided closed-loop control of exploratory movements, while the distribution of skin deformations, measured by more lateral electrodes and by the hydraulic pressure, were used to estimate material properties of objects. With this control algorithm, the robot plus tactile sensor was able to discriminate the relative compliance of various rubber samples.

Use of tactile feedback to control exploratory movements to characterize object compliance

Directory of Open Access Journals (Sweden)

Zhe eSu

2012-07-01

Full Text Available Humans have been shown to be good at using active touch to perceive subtle differences in compliance. They tend to use highly stereotypical exploratory strategies, such as applying normal force to a surface. We developed similar exploratory and perceptual algorithms for a mechatronic robotic system (Barrett arm/hand system equipped with liquid-filled, biomimetic tactile sensors (BioTac® from SynTouch LLC. The distribution of force on the fingertip was measured by the electrical resistance of the conductive liquid trapped between the elastomeric skin and a cluster of four electrodes on the flat fingertip surface of the rigid core of the BioTac. These signals provided closed-loop control of exploratory movements, while the distribution of skin deformations, measured by more lateral electrodes and by the hydraulic pressure, were used to estimate material properties of objects. With this control algorithm, the robot plus tactile sensor was able to discriminate the relative compliance of various rubber samples.

Psychophysical evaluation of a variable friction tactile interface

Science.gov (United States)

Samur, Evren; Colgate, J. Edward; Peshkin, Michael A.

2009-02-01

This study explores the haptic rendering capabilities of a variable friction tactile interface through psychophysical experiments. In order to obtain a deeper understanding of the sensory resolution associated with the Tactile Pattern Display (TPaD), friction discrimination experiments are conducted. During the experiments, subjects are asked to explore the glass surface of the TPaD using their bare index fingers, to feel the friction on the surface, and to compare the slipperiness of two stimuli, displayed in sequential order. The fingertip position data is collected by an infrared frame and normal and translational forces applied by the finger are measured by force sensors attached to the TPaD. The recorded data is used to calculate the coefficient of friction between the fingertip and the TPaD. The experiments determine the just noticeable difference (JND) of friction coefficient for humans interacting with the TPaD.

Control Framework for Dexterous Manipulation Using Dynamic Visual Servoing and Tactile Sensors’ Feedback

Directory of Open Access Journals (Sweden)

Carlos A. Jara

2014-01-01

Full Text Available Tactile sensors play an important role in robotics manipulation to perform dexterous and complex tasks. This paper presents a novel control framework to perform dexterous manipulation with multi-fingered robotic hands using feedback data from tactile and visual sensors. This control framework permits the definition of new visual controllers which allow the path tracking of the object motion taking into account both the dynamics model of the robot hand and the grasping force of the fingertips under a hybrid control scheme. In addition, the proposed general method employs optimal control to obtain the desired behaviour in the joint space of the fingers based on an indicated cost function which determines how the control effort is distributed over the joints of the robotic hand. Finally, authors show experimental verifications on a real robotic manipulation system for some of the controllers derived from the control framework.

A microfabricated strain gauge array on polymer substrate for tactile neuroprostheses in rats

International Nuclear Information System (INIS)

Beygi, M; Mutlu, S; Güçlü, B

2016-01-01

In this study, we present the design, microfabrication and characterization of a tactile sensor system which can be used for sensory neuroprostheses in rats. The sensor system consists of an array of 2  ×  7 cells, each of which has a series combination of four strain gauges. Each group of four strain gauges is placed around a square membrane with a size of 2.5  ×  2.5 mm 2 . Unlike most common tactile sensors based on silicon substrates, we used 3D-printed polylactic acid as a substrate, because it is not brittle, and under local extremes, it would prevent the catastrophic failure of all cells. The strain gauges were fabricated by depositing and patterning a 50 nm thick aluminum (Al) film on a polyimide sheet with a thickness of 0.125 mm. Polydimethylsiloxane (PDMS) elastomer was bonded on the top surface of the PI membrane. The PDMS layer was prepared in two different thicknesses, 1.2 and 1.7 mm, to investigate its effect on the static response of the sensor. The sensitivity and the maximum allowable force, corresponding to the maximum deformation of 0.9 mm at the center of each cell, changed based on the thickness of the PDMS layer. Sensor cells operated linearly up to 3 N with an average sensitivity of 200 mΩ N −1 (0.7 Ω mm −1 ) for 1.2 mm thick PDMS. These values changed to 4 N and 70 mΩ N −1 (0.3 Ω mm −1 ), respectively, for 1.7 mm thick PDMS. The nonlinearity was less than 3%. The cells had low cross-talk (∼5 mΩ N −1 and 0.02 Ω mm −1 ) relative to the average sensitivity. Additionally, the dynamic response of the sensor was characterized at several frequencies by using a vibrotactile stimulation system previously designed for psychophysics experiments. The sensor was also tested inside the rat conditioning chamber to demonstrate the relevant signals in a tactile neuroprosthesis. (paper)

A microfabricated strain gauge array on polymer substrate for tactile neuroprostheses in rats

Science.gov (United States)

Beygi, M.; Mutlu, S.; Güçlü, B.

2016-08-01

In this study, we present the design, microfabrication and characterization of a tactile sensor system which can be used for sensory neuroprostheses in rats. The sensor system consists of an array of 2  ×  7 cells, each of which has a series combination of four strain gauges. Each group of four strain gauges is placed around a square membrane with a size of 2.5  ×  2.5 mm2. Unlike most common tactile sensors based on silicon substrates, we used 3D-printed polylactic acid as a substrate, because it is not brittle, and under local extremes, it would prevent the catastrophic failure of all cells. The strain gauges were fabricated by depositing and patterning a 50 nm thick aluminum (Al) film on a polyimide sheet with a thickness of 0.125 mm. Polydimethylsiloxane (PDMS) elastomer was bonded on the top surface of the PI membrane. The PDMS layer was prepared in two different thicknesses, 1.2 and 1.7 mm, to investigate its effect on the static response of the sensor. The sensitivity and the maximum allowable force, corresponding to the maximum deformation of 0.9 mm at the center of each cell, changed based on the thickness of the PDMS layer. Sensor cells operated linearly up to 3 N with an average sensitivity of 200 mΩ N-1 (0.7 Ω mm-1) for 1.2 mm thick PDMS. These values changed to 4 N and 70 mΩ N-1 (0.3 Ω mm-1), respectively, for 1.7 mm thick PDMS. The nonlinearity was less than 3%. The cells had low cross-talk (~5 mΩ N-1 and 0.02 Ω mm-1) relative to the average sensitivity. Additionally, the dynamic response of the sensor was characterized at several frequencies by using a vibrotactile stimulation system previously designed for psychophysics experiments. The sensor was also tested inside the rat conditioning chamber to demonstrate the relevant signals in a tactile neuroprosthesis.

Flexible pressure and proximity sensor surfaces manufactured with organic materials

NARCIS (Netherlands)

Fattori, M.; Cantatore, E.; Pauer, G.; Agostinelli, T.; Stadlober, B.; Gold, H.

2017-01-01

This paper presents the design of two large-Area active matrixes on foil for pressure and proximity sensing applications. Frontend circuits based on organic thin-film transistors on foil are laminated with screen-printed PDVF-TrFE piezo and pyro sensors to create the complete flexible sensing

Flexible and Efficient Wireless Sensor Networks for Detecting Rainfall-Induced Landslides

OpenAIRE

Nguyen, Chinh D.; Tran, Tan D.; Tran, Nghia D.; Huynh, Tue Huu; Nguyen, Duc T.

2015-01-01

The effect of climate change and human activities leads to a series of dangerous phenomena, such as landslides and flood. In such a context, building a system to monitor environmental hazards is seriously needed. Some studies propose to use wireless sensor network (WSN) technique for landslide monitoring systems. Two important factors for these systems are the flexibility and the energy management. This paper focuses on the development of a flexible and efficient WSN for detecting rainfall-in...

Flexible carbon nanotube nanocomposite sensor for multiple physiological parameter monitoring

KAUST Repository

Nag, Anindya; Mukhopadhyay, Subhas Chandra; Kosel, Jü rgen

2016-01-01

The paper presents the design, development, and fabrication of a flexible and wearable sensor based on carbon nanotube nanocomposite for monitoring specific physiological parameters. Polydimethylsiloxane (PDMS) was used as the substrate with a thin layer of a nanocomposite comprising functionalized multi-walled carbon nanotubes (MWCNTs) and PDMS as electrodes. The sensor patch functionalized on strain-sensitive capacitive sensing from interdigitated electrodes which were patterned with a laser on the nanocomposite layer. The thickness of the electrode layer was optimized regarding strain and conductivity. The sensor patch was connected to a monitoring device from one end and attached to the body on the other for examining purposes. Experimental results show the capability of the sensor patch used to detect respiration and limb movements. This work is a stepping stone of the sensing system to be developed for multiple physiological parameters.

Flexible carbon nanotube nanocomposite sensor for multiple physiological parameter monitoring

KAUST Repository

Nag, Anindya

2016-10-16

The paper presents the design, development, and fabrication of a flexible and wearable sensor based on carbon nanotube nanocomposite for monitoring specific physiological parameters. Polydimethylsiloxane (PDMS) was used as the substrate with a thin layer of a nanocomposite comprising functionalized multi-walled carbon nanotubes (MWCNTs) and PDMS as electrodes. The sensor patch functionalized on strain-sensitive capacitive sensing from interdigitated electrodes which were patterned with a laser on the nanocomposite layer. The thickness of the electrode layer was optimized regarding strain and conductivity. The sensor patch was connected to a monitoring device from one end and attached to the body on the other for examining purposes. Experimental results show the capability of the sensor patch used to detect respiration and limb movements. This work is a stepping stone of the sensing system to be developed for multiple physiological parameters.

Flexible tension sensor based on poly(l-lactic acid) film with coaxial structure

Science.gov (United States)

Yoshida, Mitsunobu; Onishi, Katsuki; Tanimoto, Kazuhiro; Nishikawa, Shigeo

2017-10-01

We have developed a tension sensor with a coaxial structure using a narrow slit ribbon made of a uniaxially stretched poly(l-lactic acid) (PLLA) film for application to a wearable device. The tension sensor is produced as follows. We used tinsel wire as the center conductor of the sensor. The tinsel wire consists of a yarn of synthetic fibers arranged at the center, with a spirally wound rolled copper foil ribbon on the side surface. Next, slit ribbons obtained from a uniaxially oriented film of PLLA are wound helically on the side surface of the center conductor in the direction of a left-handed screw, at an angle of 45° to the central axis. The rolled copper foil is used as an outer conductor and covers the yarn without a gap. The prototype of the fabricated tension sensor has good flexibility, since the sensor is in the form of a filament and consists of a highly flexible material. For the 1 mm tension sensor, it was found that for a tension of 1 N, a charge of 14 pC was output. It was also found that the sensor maintained its room-temperature sensitivity up to 60 °C. Compared with an existing coaxial line sensor using poly(vinylidene fluoride) (PVDF), the sensor using PLLA does not exhibit pyroelectricity, meaning that no undesirable voltage is generated when in contact with body heat, which is a significant advantage as wearable sensors. The result has demonstrated the potential application of the PLLA film to wearable devices for detecting heartbeat and respiration.

Flexible, Stretchable Sensors for Wearable Health Monitoring: Sensing Mechanisms, Materials, Fabrication Strategies and Features

Science.gov (United States)

Liu, Yan; Wang, Hai; Zhao, Wei; Qin, Hongbo; Xie, Yongqiang

2018-01-01

Wearable health monitoring systems have gained considerable interest in recent years owing to their tremendous promise for personal portable health watching and remote medical practices. The sensors with excellent flexibility and stretchability are crucial components that can provide health monitoring systems with the capability of continuously tracking physiological signals of human body without conspicuous uncomfortableness and invasiveness. The signals acquired by these sensors, such as body motion, heart rate, breath, skin temperature and metabolism parameter, are closely associated with personal health conditions. This review attempts to summarize the recent progress in flexible and stretchable sensors, concerning the detected health indicators, sensing mechanisms, functional materials, fabrication strategies, basic and desired features. The potential challenges and future perspectives of wearable health monitoring system are also briefly discussed. PMID:29470408

Demonstrating the application of dielectric polymer actuators for tactile feedback in a mobile consumer device.

NARCIS (Netherlands)

Moessinger, H.M.; Brokken, D.

2010-01-01

User interfaces of mobile consumer devices are becoming increasingly complex. To address this complexity touch-screen interfaces are used. They allow flexible design of the user interfaces but lack the tactile feedback mechanical buttons provide, limiting ease of use. Dielectric Elastomer Actuator

Low power gas sensor array on flexible acetate substrate

Science.gov (United States)

Benedict, Samatha; Basu, Palash Kumar; Bhat, Navakanta

2017-07-01

In this paper, we present a novel approach of fabricating a low-cost and low power gas sensor array on flexible acetate sheets for sensing CO, SO2, H2 and NO2 gases. The array has four sensor elements with an integrated microheater which can be individually controlled enabling the monitoring of four gases. The thermal properties of the microheater characterized by IR imaging are presented. The microheater with an active area of 15 µm  ×  5 µm reaches a temperature of 300 °C, consuming 2 mW power, the lowest reported on flexible substrates. A sensing electrode is patterned on top of the microheater, and a nanogap (100 nm) is created by an electromigration process. This nanogap is bridged by four sensing materials doped with platinum, deposited using a solution dispensing technique. The sensing material characterization is completed using energy dispersive x-ray analysis. The sensing characteristics of ZnO for CO, V2O5 for SO2, SnO2 for H2 and WO3 for NO2 gases are studied at different microheater voltages. The sensing characteristics of ZnO at different bending angles is also studied, which shows that the microheater and the sensing material are intact without any breaking upto a bending angle of 20°. The ZnO CO sensor shows sensitivity of 146.2% at 1 ppm with good selectivity.

Tactile score a knowledge media for tactile sense

CERN Document Server

Suzuki, Yasuhiro

2014-01-01

This book deals with one of the most novel advances in natural computing, namely, in the field of tactile sense analysis. Massage, which provides relaxation and stimulation for human beings, is analyzed in this book for the first time by encoding the motions and tactile senses involved. The target audience is not limited to researchers who are interested in natural computing but also includes those working in ergonomic design, biomedical engineering, Kansei engineering, and cognitive science.

Embedded sensing: integrating sensors in 3-D printed structures

Directory of Open Access Journals (Sweden)

A. Dijkshoorn

2018-03-01

Full Text Available Current additive manufacturing allows for the implementation of electrically interrogated 3-D printed sensors. In this contribution various technologies, sensing principles and applications are discussed. We will give both an overview of some of the sensors presented in literature as well as some of our own recent work on 3-D printed sensors. The 3-D printing methods discussed include fused deposition modelling (FDM, using multi-material printing and poly-jetting. Materials discussed are mainly thermoplastics and include thermoplastic polyurethane (TPU, both un-doped as well as doped with carbon black, polylactic acid (PLA and conductive inks. The sensors discussed are based on biopotential sensing, capacitive sensing and resistive sensing with applications in surface electromyography (sEMG and mechanical and tactile sensing. As these sensors are based on plastics they are in general flexible and therefore open new possibilities for sensing in soft structures, e.g. as used in soft robotics. At the same time they show many of the characteristics of plastics like hysteresis, drift and non-linearity. We will argue that 3-D printing of embedded sensors opens up exciting new possibilities but also that these sensors require us to rethink how to exploit non-ideal sensors.

Fabrication of a Flexible Micro CO Sensor for Micro Reformer Applications

Directory of Open Access Journals (Sweden)

Yi-Man Lo

2010-11-01

Full Text Available Integration of a reformer and a proton exchange membrane fuel cell (PEMFC is problematic due to the presence in the gas from the reforming process of a slight amount of carbon monoxide. Carbon monoxide poisons the catalyst of the proton exchange membrane fuel cell subsequently degrading the fuel cell performance, and necessitating the sublimation of the reaction gas before supplying to fuel cells. Based on the use of micro-electro-mechanical systems (MEMS technology to manufacture flexible micro CO sensors, this study elucidates the relation between a micro CO sensor and different SnO2 thin film thicknesses. Experimental results indicate that the sensitivity increases at temperatures ranging from 100–300 °C. Additionally, the best sensitivity is obtained at a specific temperature. For instance, the best sensitivity of SnO2 thin film thickness of 100 nm at 300 °C is 59.3%. Moreover, a flexible micro CO sensor is embedded into a micro reformer to determine the CO concentration in each part of a micro reformer in the future, demonstrating the inner reaction of a micro reformer in depth and immediate detection.

Flexible Synthetic Semiconductor Applied in Optoelectronic Organic Sensor

Directory of Open Access Journals (Sweden)

Andre F. S. Guedes

2017-06-01

Full Text Available The synthesis and application of new nanostructured organic materials, for the development of technology based on organic devices, have taken great interest from the scientific community. The greatest interest in studying organic semiconductor materials has been connected to its already known potential applications, such as: batteries, organic solar cells, flexible organic solar cells, organic light emitting diodes, organic sensors and others. Phototherapy makes use of different radiation sources, and the treatment of hyperbilirubinemia the most common therapeutic intervention occurs in the neonatal period. In this work we developed an organic optoelectronic sensor capable of detecting and determining the radiation dose rate emitted by the radiation source of neonatal phototherapy equipment. The sensors were developed using optically transparent substrate with Nanostructured thin film layers of Poly(9-Vinylcarbazole covered by a layer of Poly(P-Phenylene Vinylene. The samples were characterized by UV-Vis Spectroscopy, Electrical Measurements and SEM. With the results obtained from this study can be developed dosimeters organics to the neonatal phototherapy equipment.

Flexible Sensors for Pressure Therapy: Effect of Substrate Curvature and Stiffness on Sensor Performance.

Science.gov (United States)

Khodasevych, Iryna; Parmar, Suresh; Troynikov, Olga

2017-10-20

Flexible pressure sensors are increasingly being used in medical and non-medical applications, and particularly in innovative health monitoring. Their efficacy in medical applications such as compression therapy depends on the accuracy and repeatability of their output, which in turn depend on factors such as sensor type, shape, pressure range, and conformability of the sensor to the body surface. Numerous researchers have examined the effects of sensor type and shape, but little information is available on the effect of human body parameters such as support surfaces' curvature and the stiffness of soft tissues on pressure sensing performance. We investigated the effects of body parameters on the performance of pressure sensors using a custom-made human-leg-like test setup. Pressure sensing parameters such as accuracy, drift and repeatability were determined in both static (eight hours continuous pressure) and dynamic (10 cycles of pressure application of 30 s duration) testing conditions. The testing was performed with a focus on compression therapy application for venous leg ulcer treatments, and was conducted in a low-pressure range of 20-70 mmHg. Commercially available sensors manufactured by Peratech and Sensitronics were used under various loading conditions to determine the influence of stiffness and curvature. Flat rigid, flat soft silicone and three cylindrical silicone surfaces of radii of curvature of 3.5 cm, 5.5 cm and 6.5 cm were used as substrates under the sensors. The Peratech sensor averaged 94% accuracy for both static and dynamic measurements on all substrates; the Sensitronics sensor averaged 88% accuracy. The Peratech sensor displayed moderate variations and the Sensitronics sensor large variations in output pressure readings depending on the underlying test surface, both of which were reduced markedly by individual pressure calibration for surface type. Sensor choice and need for calibration to surface type are important considerations for

Novel Flexible Wearable Sensor Materials and Signal Processing for Vital Sign and Human Activity Monitoring.

Science.gov (United States)

Servati, Amir; Zou, Liang; Wang, Z Jane; Ko, Frank; Servati, Peyman

2017-07-13

Advances in flexible electronic materials and smart textile, along with broad availability of smart phones, cloud and wireless systems have empowered the wearable technologies for significant impact on future of digital and personalized healthcare as well as consumer electronics. However, challenges related to lack of accuracy, reliability, high power consumption, rigid or bulky form factor and difficulty in interpretation of data have limited their wide-scale application in these potential areas. As an important solution to these challenges, we present latest advances in novel flexible electronic materials and sensors that enable comfortable and conformable body interaction and potential for invisible integration within daily apparel. Advances in novel flexible materials and sensors are described for wearable monitoring of human vital signs including, body temperature, respiratory rate and heart rate, muscle movements and activity. We then present advances in signal processing focusing on motion and noise artifact removal, data mining and aspects of sensor fusion relevant to future clinical applications of wearable technology.

The design of a sensor with flexible circuit excitation in electromagnetic tomography system

International Nuclear Information System (INIS)

Liu Ze; He Min; Xiong Hanliang

2005-01-01

A novel sensor structure of electromagnetic tomography system is presented in this paper. Flexible circuit straps are used in the excitation layer of the sensor and current of each strip can be controlled independently according to the excitation protocol matrix. In the sensor three kinds of excitation protocols: parallel, quasi-parallel and coil pair can be generated. Furthermore excitation field simulation and image reconstruction experiments have been done for analyzing the performance of the different excitation protocols

Flexible Ferroelectric Sensors with Ultrahigh Pressure Sensitivity and Linear Response over Exceptionally Broad Pressure Range.

Science.gov (United States)

Lee, Youngoh; Park, Jonghwa; Cho, Soowon; Shin, Young-Eun; Lee, Hochan; Kim, Jinyoung; Myoung, Jinyoung; Cho, Seungse; Kang, Saewon; Baig, Chunggi; Ko, Hyunhyub

2018-04-24

Flexible pressure sensors with a high sensitivity over a broad linear range can simplify wearable sensing systems without additional signal processing for the linear output, enabling device miniaturization and low power consumption. Here, we demonstrate a flexible ferroelectric sensor with ultrahigh pressure sensitivity and linear response over an exceptionally broad pressure range based on the material and structural design of ferroelectric composites with a multilayer interlocked microdome geometry. Due to the stress concentration between interlocked microdome arrays and increased contact area in the multilayer design, the flexible ferroelectric sensors could perceive static/dynamic pressure with high sensitivity (47.7 kPa -1 , 1.3 Pa minimum detection). In addition, efficient stress distribution between stacked multilayers enables linear sensing over exceptionally broad pressure range (0.0013-353 kPa) with fast response time (20 ms) and high reliability over 5000 repetitive cycles even at an extremely high pressure of 272 kPa. Our sensor can be used to monitor diverse stimuli from a low to a high pressure range including weak gas flow, acoustic sound, wrist pulse pressure, respiration, and foot pressure with a single device.

Evaluation of Flexible Force Sensors for Pressure Monitoring in Treatment of Chronic Venous Disorders.

Science.gov (United States)

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.

Visual Sensory Signals Dominate Tactile Cues during Docked Feeding in Hummingbirds.

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Goller, Benjamin; Segre, Paolo S; Middleton, Kevin M; Dickinson, Michael H; Altshuler, Douglas L

2017-01-01

Animals living in and interacting with natural environments must monitor and respond to changing conditions and unpredictable situations. Using information from multiple sensory systems allows them to modify their behavior in response to their dynamic environment but also creates the challenge of integrating different, and potentially contradictory, sources of information for behavior control. Understanding how multiple information streams are integrated to produce flexible and reliable behavior is key to understanding how behavior is controlled in natural settings. Natural settings are rarely still, which challenges animals that require precise body position control, like hummingbirds, which hover while feeding from flowers. Tactile feedback, available only once the hummingbird is docked at the flower, could provide additional information to help maintain its position at the flower. To investigate the role of tactile information for hovering control during feeding, we first asked whether hummingbirds physically interact with a feeder once docked. We quantified physical interactions between docked hummingbirds and a feeder placed in front of a stationary background pattern. Force sensors on the feeder measured a complex time course of loading that reflects the wingbeat frequency and bill movement of feeding hummingbirds, and suggests that they sometimes push against the feeder with their bill. Next, we asked whether the measured tactile interactions were used by feeding hummingbirds to maintain position relative to the feeder. We created two experimental scenarios-one in which the feeder was stationary and the visual background moved and the other where the feeder moved laterally in front of a white background. When the visual background pattern moved, docked hummingbirds pushed significantly harder in the direction of horizontal visual motion. When the feeder moved, and the background was stationary, hummingbirds generated aerodynamic force in the opposite

Vibration sensing in flexible structures using a distributed-effect modal domain optical fiber sensor

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Reichard, Karl M.; Lindner, Douglas K.; Claus, Richard O.

1991-01-01

Modal domain optical fiber sensors have recently been employed in the implementation of system identification algorithms and the closed-loop control of vibrations in flexible structures. The mathematical model of the modal domain optical fiber sensor used in these applications, however, only accounted for the effects of strain in the direction of the fiber's longitudinal axis. In this paper, we extend this model to include the effects of arbitrary stress. Using this sensor model, we characterize the sensor's sensitivity and dynamic range.

Flexible Polymer Sensor for Space Suits, Phase I

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National Aeronautics and Space Administration — Perception Robotics has developed an innovative new type of compliant tactile sensing solution, a polymeric skin (PolySkinTM) that can be molded into any form...

Tactile modulation of hippocampal place fields.

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Gener, Thomas; Perez-Mendez, Lorena; Sanchez-Vives, Maria V

2013-12-01

Neural correlates of spatial representation can be found in the activity of the hippocampal place cells. These neurons are characterized by firing whenever the animal is located in a particular area of the space, the place field. Place fields are modulated by sensory cues, such as visual, auditory, or olfactory cues, being the influence of visual inputs the most thoroughly studied. Tactile information gathered by the whiskers has a prominent representation in the rat cerebral cortex. However, the influence of whisker-detected tactile cues on place fields remains an open question. Here we studied place fields in an enriched tactile environment where the remaining sensory cues were occluded. First, place cells were recorded before and after blockade of tactile transmission by means of lidocaine applied on the whisker pad. Following tactile deprivation, the majority of place cells decreased their firing rate and their place fields expanded. We next rotated the tactile cues and 90% of place fields rotated with them. Our results demonstrate that tactile information is integrated into place cells at least in a tactile-enriched arena and when other sensory cues are not available. Copyright © 2013 Wiley Periodicals, Inc.

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

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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

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Yanzhi Zhao

2017-09-01

Full Text Available 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.

Instrumental tactile diagnostics in robot-assisted surgery

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Solodova RF

2016-10-01

Full Text Available Rozalia F Solodova,1,2 Vladimir V Galatenko,1,2 Eldar R Nakashidze,3 Igor L Andreytsev,3 Alexey V Galatenko,1 Dmitriy K Senchik,2 Vladimir M Staroverov,1 Vladimir E Podolskii,1,2 Mikhail E Sokolov,1,2 Victor A Sadovnichy1,2 1Faculty of Mechanics and Mathematics, 2Institute of Mathematical Studies of Complex Systems, Lomonosov Moscow State University, 31st Surgery Department, Clinical Hospital 31, Moscow, Russia Background: Robotic surgery has gained wide acceptance due to minimizing trauma in patients. However, the lack of tactile feedback is an essential limiting factor for the further expansion. In robotic surgery, feedback related to touch is currently kinesthetic, and it is mainly aimed at the minimization of force applied to tissues and organs. Design and implementation of diagnostic tactile feedback is still an open problem. We hypothesized that a sufficient tactile feedback in robot-assisted surgery can be provided by utilization of Medical Tactile Endosurgical Complex (MTEC, which is a novel specialized tool that is already commercially available in the Russian Federation. MTEC allows registration of tactile images by a mechanoreceptor, real-time visualization of these images, and reproduction of images via a tactile display. Materials and methods: Nine elective surgeries were performed with da Vinci™ robotic system. An assistant performed tactile examination through an additional port under the guidance of a surgeon during revision of tissues. The operating surgeon sensed registered tactile data using a tactile display, and the assistant inspected the visualization of tactile data. First, surgeries where lesion boundaries were visually detectable were performed. The goal was to promote cooperation between the surgeon and the assistant and to train them in perception of the tactile feedback. Then, instrumental tactile diagnostics was utilized in case of visually undetectable boundaries. Results: In robot-assisted surgeries where lesion

Preliminary study on piezoresistive and piezoelectric properties of a double-layer soft material for tactile sensing

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Dan He

2015-06-01

Full Text Available This paper describes a double-layer simplified sensor unit based on the interesting electromechanical properties of MWNT mixed by polymer composite and PVDF films, which is envisaged to imitate the distributed tactile receptors of human hands so as to help the disabled to recover the basic tactile perception. This paper shows the fabrication and performance research of such a new piezoelectric-piezoresistive composite material which indicates a promising .application in prosthtic hand.DOI: http://dx.doi.org/10.5755/j01.ms.21.2.6454

Wearable, Flexible, and Multifunctional Healthcare Device with an ISFET Chemical Sensor for Simultaneous Sweat pH and Skin Temperature Monitoring.

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Nakata, Shogo; Arie, Takayuki; Akita, Seiji; Takei, Kuniharu

2017-03-24

Real-time daily healthcare monitoring may increase the chances of predicting and diagnosing diseases in their early stages which, currently, occurs most frequently during medical check-ups. Next-generation noninvasive healthcare devices, such as flexible multifunctional sensor sheets designed to be worn on skin, are considered to be highly suitable candidates for continuous real-time health monitoring. For healthcare applications, acquiring data on the chemical state of the body, alongside physical characteristics such as body temperature and activity, are extremely important for predicting and identifying potential health conditions. To record these data, in this study, we developed a wearable, flexible sweat chemical sensor sheet for pH measurement, consisting of an ion-sensitive field-effect transistor (ISFET) integrated with a flexible temperature sensor: we intend to use this device as the foundation of a fully integrated, wearable healthcare patch in the future. After characterizing the performance, mechanical flexibility, and stability of the sensor, real-time measurements of sweat pH and skin temperature are successfully conducted through skin contact. This flexible integrated device has the potential to be developed into a chemical sensor for sweat for applications in healthcare and sports.

Analysis to determine the maximum dimensions of flexible apertures in sensored security netting products.

Energy Technology Data Exchange (ETDEWEB)

Murton, Mark; Bouchier, Francis A.; vanDongen, Dale T.; Mack, Thomas Kimball; Cutler, Robert P; Ross, Michael P.

2013-08-01

Although technological advances provide new capabilities to increase the robustness of security systems, they also potentially introduce new vulnerabilities. New capability sometimes requires new performance requirements. This paper outlines an approach to establishing a key performance requirement for an emerging intrusion detection sensor: the sensored net. Throughout the security industry, the commonly adopted standard for maximum opening size through barriers is a requirement based on square inchestypically 96 square inches. Unlike standard rigid opening, the dimensions of a flexible aperture are not fixed, but variable and conformable. It is demonstrably simple for a human intruder to move through a 96-square-inch opening that is conformable to the human body. The longstanding 96-square-inch requirement itself, though firmly embedded in policy and best practice, lacks a documented empirical basis. This analysis concluded that the traditional 96-square-inch standard for openings is insufficient for flexible openings that are conformable to the human body. Instead, a circumference standard is recommended for these newer types of sensored barriers. The recommended maximum circumference for a flexible opening should be no more than 26 inches, as measured on the inside of the netting material.

New recording package for VACM provides sensor flexibility

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Strahle, William J.; Worrilow, S. E.; Fucile, S. E.; Martini, Marinna A.

1994-01-01

For the past three decades, the VACM has been a standard for ocean current measurements. A VACM is a true vector-averaging instrument that computes north and east current vectors and averages temperature continuously over a specified interval. It keeps a running total of rotor counts, and records one-shot samples of compass, vane position and time. Adding peripheral sensors to the data stream was easy. In today's economy, it seems imperative that operational centers concentrate on upgrading present inventory rather than purchasing newer instruments that often fall short of the flexible measurement platforms with high data capacities required by most researchers today. PCMCIA cards are rapidly becoming an industry standard with a wide range of storage capacities. By upgrading the VACM to a PCMCIA storage system with a flexible microprocessor, the VACM should continue to be a viable instrument into the next century

Flexible, highly sensitive pressure sensor with a wide range based on graphene-silk network structure

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Liu, Ying; Tao, Lu-Qi; Wang, Dan-Yang; Zhang, Tian-Yu; Yang, Yi; Ren, Tian-Ling

2017-03-01

In this paper, a flexible, simple-preparation, and low-cost graphene-silk pressure sensor based on soft silk substrate through thermal reduction was demonstrated. Taking silk as the support body, the device had formed a three-dimensional structure with ordered multi-layer structure. Through a simple and low-cost process technology, graphene-silk pressure sensor can achieve the sensitivity value of 0.4 kPa - 1 , and the measurement range can be as high as 140 kPa. Besides, pressure sensor can have a good combination with knitted clothing and textile product. The signal had good reproducibility in response to different pressures. Furthermore, graphene-silk pressure sensor can not only detect pressure higher than 100 kPa, but also can measure weak body signals. The characteristics of high-sensitivity, good repeatability, flexibility, and comfort for skin provide the high possibility to fit on various wearable electronics.

A Flexible Temperature Sensor Based on Reduced Graphene Oxide for Robot Skin Used in Internet of Things.

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Liu, Guanyu; Tan, Qiulin; Kou, Hairong; Zhang, Lei; Wang, Jinqi; Lv, Wen; Dong, Helei; Xiong, Jijun

2018-05-02

Flexible electronics, which can be distributed on any surface we need, are highly demanded in the development of Internet of Things (IoT), robot technology and electronic skins. Temperature is a fundamental physical parameter, and it is an important indicator in many applications. Therefore, a flexible temperature sensor is required. Here, we report a simple method to fabricate three lightweight, low-cost and flexible temperature sensors, whose sensitive materials are reduced graphene oxide (r-GO), single-walled carbon nanotubes (SWCNTs) and multi-wall carbon nanotubes (MWCNTs). By comparing linearity, sensitive and repeatability, we found that the r-GO temperature sensor had the most balanced performance. Furthermore, the r-GO temperature sensor showed good mechanical properties and it could be bent in different angles with negligible resistance change. In addition, the performance of the r-GO temperature sensor remained stable under different kinds of pressure and was unaffected by surrounding environments, like humidity or other gases, because of the insulating layer on its sensitive layer. The easy-fabricated process and economy, together with the remarkable performance of the r-GO temperature sensor, suggest that it is suitable for use as a robot skin or used in the environment of IoT.

A Flexible Temperature Sensor Based on Reduced Graphene Oxide for Robot Skin Used in Internet of Things

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Guanyu Liu

2018-05-01

Full Text Available Flexible electronics, which can be distributed on any surface we need, are highly demanded in the development of Internet of Things (IoT, robot technology and electronic skins. Temperature is a fundamental physical parameter, and it is an important indicator in many applications. Therefore, a flexible temperature sensor is required. Here, we report a simple method to fabricate three lightweight, low-cost and flexible temperature sensors, whose sensitive materials are reduced graphene oxide (r-GO, single-walled carbon nanotubes (SWCNTs and multi-wall carbon nanotubes (MWCNTs. By comparing linearity, sensitive and repeatability, we found that the r-GO temperature sensor had the most balanced performance. Furthermore, the r-GO temperature sensor showed good mechanical properties and it could be bent in different angles with negligible resistance change. In addition, the performance of the r-GO temperature sensor remained stable under different kinds of pressure and was unaffected by surrounding environments, like humidity or other gases, because of the insulating layer on its sensitive layer. The easy-fabricated process and economy, together with the remarkable performance of the r-GO temperature sensor, suggest that it is suitable for use as a robot skin or used in the environment of IoT.

A Cross-Platform Tactile Capabilities Interface for Humanoid Robots

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Jie eMa

2016-04-01

Full Text Available This article presents the core elements of a cross-platform tactile capabilities interface (TCI for humanoid arms. The aim of the interface is to reduce the cost of developing humanoid robot capabilities by supporting reuse through cross-platform deployment. The article presents a comparative analysis of existing robot middleware frameworks, as well as the technical details of the TCI framework that builds on the the existing YARP platform. The TCI framework currently includes robot arm actuators with robot skin sensors. It presents such hardware in a platform independent manner, making it possible to write robot control software that can be executed on different robots through the TCI frameworks. The TCI framework supports multiple humanoid platforms and this article also presents a case study of a cross-platform implementation of a set of tactile protective withdrawal reflexes that have been realised on both the Nao and iCub humanoid robot platforms using the same high-level source code.

Bodily illusions disrupt tactile sensations.

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D'Amour, Sarah; Pritchett, Lisa M; Harris, Laurence R

2015-02-01

To accurately interpret tactile information, the brain needs to have an accurate representation of the body to which to refer the sensations. Despite this, body representation has only recently been incorporated into the study of tactile perception. Here, we investigate whether distortions of body representation affect tactile sensations. We perceptually altered the length of the arm and the width of the waist using a tendon vibration illusion and measured spatial acuity and sensitivity. Surprisingly, we found reduction in both tactile acuity and sensitivity thresholds when the arm or waist was perceptually altered, which indicates a general disruption of low-level tactile processing. We postulate that the disruptive changes correspond to the preliminary stage as the body representation starts to change and may give new insights into sensory processing in people with long-term or sudden abnormal body representation such as are found in eating disorders or following amputation.

Light-controlling, flexible and transparent ethanol gas sensor based on ZnO nanoparticles for wearable devices.

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Zheng, Z Q; Yao, J D; Wang, B; Yang, G W

2015-06-16

In recent years, owing to the significant applications of health monitoring, wearable electronic devices such as smart watches, smart glass and wearable cameras have been growing rapidly. Gas sensor is an important part of wearable electronic devices for detecting pollutant, toxic, and combustible gases. However, in order to apply to wearable electronic devices, the gas sensor needs flexible, transparent, and working at room temperature, which are not available for traditional gas sensors. Here, we for the first time fabricate a light-controlling, flexible, transparent, and working at room-temperature ethanol gas sensor by using commercial ZnO nanoparticles. The fabricated sensor not only exhibits fast and excellent photoresponse, but also shows high sensing response to ethanol under UV irradiation. Meanwhile, its transmittance exceeds 62% in the visible spectral range, and the sensing performance keeps the same even bent it at a curvature angle of 90(o). Additionally, using commercial ZnO nanoparticles provides a facile and low-cost route to fabricate wearable electronic devices.

Blind Braille readers mislocate tactile stimuli.

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Sterr, Annette; Green, Lisa; Elbert, Thomas

2003-05-01

In a previous experiment, we observed that blind Braille readers produce errors when asked to identify on which finger of one hand a light tactile stimulus had occurred. With the present study, we aimed to specify the characteristics of this perceptual error in blind and sighted participants. The experiment confirmed that blind Braille readers mislocalised tactile stimuli more often than sighted controls, and that the localisation errors occurred significantly more often at the right reading hand than at the non-reading hand. Most importantly, we discovered that the reading fingers showed the smallest error frequency, but the highest rate of stimulus attribution. The dissociation of perceiving and locating tactile stimuli in the blind suggests altered tactile information processing. Neuroplasticity, changes in tactile attention mechanisms as well as the idea that blind persons may employ different strategies for tactile exploration and object localisation are discussed as possible explanations for the results obtained.

The neural network involved in a bimanual tactile-tactile matching discrimination task: a functional imaging study at 3 T

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Habas, Christophe; Cabanis, Emmanuel A. [UPMC Paris 6, Service de NeuroImagerie, Hopital des Quinze-Vingts, Paris (France)

2007-08-15

The cerebral and cerebellar network involved in a bimanual object recognition was studied in blood oxygenation dependent level functional magnetic resonance imaging (fMRI). Nine healthy right-handed volunteers were scanned (1) while performing bilateral finger movements (nondiscrimination motor task), and (2) while performing a bimanual tactile-tactile matching discrimination task using small chess pieces (tactile discrimination task). Extensive activations were specifically observed in the parietal (SII, superior lateral lobule), insular, prefrontal, cingulate and neocerebellar cortices (HVIII), with a left predominance in motor areas, during the tactile discrimination task in contrast to the findings during the nondiscrimination motor task. Bimanual tactile-tactile matching discrimination recruits multiple sensorimotor and associative cerebral and neocerebellar networks (including the cerebellar second homunculus, HVIII), comparable to the neural circuits involved in unimanual tactile object recognition. (orig.)

Sensitive and Flexible Polymeric Strain Sensor for Accurate Human Motion Monitoring.

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Khan, Hassan; Razmjou, Amir; Ebrahimi Warkiani, Majid; Kottapalli, Ajay; Asadnia, Mohsen

2018-02-01

Flexible electronic devices offer the capability to integrate and adapt with human body. These devices are mountable on surfaces with various shapes, which allow us to attach them to clothes or directly onto the body. This paper suggests a facile fabrication strategy via electrospinning to develop a stretchable, and sensitive poly (vinylidene fluoride) nanofibrous strain sensor for human motion monitoring. A complete characterization on the single PVDF nano fiber has been performed. The charge generated by PVDF electrospun strain sensor changes was employed as a parameter to control the finger motion of the robotic arm. As a proof of concept, we developed a smart glove with five sensors integrated into it to detect the fingers motion and transfer it to a robotic hand. Our results shows that the proposed strain sensors are able to detect tiny motion of fingers and successfully run the robotic hand.

Sensitive and Flexible Polymeric Strain Sensor for Accurate Human Motion Monitoring

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Hassan Khan

2018-02-01

Full Text Available Flexible electronic devices offer the capability to integrate and adapt with human body. These devices are mountable on surfaces with various shapes, which allow us to attach them to clothes or directly onto the body. This paper suggests a facile fabrication strategy via electrospinning to develop a stretchable, and sensitive poly (vinylidene fluoride nanofibrous strain sensor for human motion monitoring. A complete characterization on the single PVDF nano fiber has been performed. The charge generated by PVDF electrospun strain sensor changes was employed as a parameter to control the finger motion of the robotic arm. As a proof of concept, we developed a smart glove with five sensors integrated into it to detect the fingers motion and transfer it to a robotic hand. Our results shows that the proposed strain sensors are able to detect tiny motion of fingers and successfully run the robotic hand.

In Situ Monitoring of Temperature inside Lithium-Ion Batteries by Flexible Micro Temperature Sensors

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Pei-Chi Chen

2011-10-01

Full Text Available Lithium-ion secondary batteries are commonly used in electric vehicles, smart phones, personal digital assistants (PDA, notebooks and electric cars. These lithium-ion secondary batteries must charge and discharge rapidly, causing the interior temperature to rise quickly, raising a safety issue. Over-charging results in an unstable voltage and current, causing potential safety problems, such as thermal runaways and explosions. Thus, a micro flexible temperature sensor for the in in-situ monitoring of temperature inside a lithium-ion secondary battery must be developed. In this work, flexible micro temperature sensors were integrated into a lithium-ion secondary battery using the micro-electro-mechanical systems (MEMS process for monitoring temperature in situ.

A flexible dual-mode proximity sensor based on cooperative sensing for robot skin applications

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Huang, Ying; Cai, Xia; Kan, Wenqing; Qiu, Shihua; Guo, Xiaohui; Liu, Caixia; Liu, Ping

2017-08-01

A flexible dual-mode proximity sensor has been designed and implemented, which is capable of combining capacitive-resistive detection in this paper. The capacitive type proximity sensor detecting is defined as mode-C, and the resistive type proximity sensor detecting is defined as mode-R. The characteristics of the proximity sensor are as follows: (1) the theoretical mode is developed which indicates that this proximity sensor can reflect proximity information accurately; (2) both sensing modes are vertically integrated into a sandwich-like chip with an 8 mm × 12 mm unit area. The thickness of a mode-R sensing material (graphene nanoplatelets) and mode-C dielectric (the mixture of carbon black and silicone rubber) is 1 mm and 2.5 mm, respectively; (3) for mode-R, the linearity of temperature-resistance curve can achieve 0.998 in the temperature range from 25°C to 65°C. And for mode-C, various materials can be successfully detected with fast response and high reversibility. Meanwhile, the study compensated the influence of object temperature to ensure mode-C properly works. A cooperative sensing test shows that R-C dual modes sense effectively which can enlarge the sensing distance compared with the single mode proximity sensor. The fabrication of this sensor is convenient, and the integrity of a flexible sandwich-like structure based on dual modes is beneficial to form arrays, which is suitable to be used in skin-like sensing applications.

Contralateral tactile masking between forearms.

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D'Amour, Sarah; Harris, Laurence R

2014-03-01

Masking effects have been demonstrated in which tactile sensitivity is affected when one touch is close to another on the body surface. Such effects are likely a result of local lateral inhibitory circuits that sharpen the spatial tuning of a given tactile receptor. Mutually inhibitory pathways have also been demonstrated between cortical tactile maps of the two halves of the body. Occasional reports have indicated that touches on one hand or forearm can affect tactile sensitivity at contralateral locations. Here, we measure the spatial tuning and effect of posture on this contralateral masking effect. Tactile sensitivity was measured on one forearm, while vibrotactile masking stimulation was applied to the opposite arm. Results were compared to sensitivity while vibrotactile stimulation was applied to a control site on the right shoulder. Sensitivity on the forearm was reduced by over 3 dB when the arms were touching and by 0.52 dB when they were held parallel. The masking effect depended on the position of the masking stimulus. Its effectiveness fell off by 1 STD when the stimulus was 29 % of arm length from the corresponding contralateral point. This long-range inhibitory effect in the tactile system suggests a surprisingly intimate relationship between the two sides of the body.

Towards development of nanofibrous large strain flexible strain sensors with programmable shape memory properties

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Khalili, N.; Asif, H.; Naguib, H. E.

2018-05-01

Electrospun polymeric fibers can be used as strain sensors due to their large surface to weight/volume ratio, high porosity and pore interconnectivity. Large strain flexible strain sensors are used in numerous applications including rehabilitation, health monitoring, and sports performance monitoring where large strain detection should be accommodated by the sensor. This has boosted the demand for a stretchable, flexible and highly sensitive sensor able to detect a wide range of mechanically induced deformations. Herein, a physically cross-linked polylactic acid (PLA) and thermoplastic polyurethane (TPU) blend is made into nanofiber networks via electrospinning. The PLA/TPU weight ratio is optimized to obtain a maximum attainable strain of 100% while maintaining its mechanical integrity. The TPU/PLA fibers also allowed for their thermally activated recovery due to shape memory properties of the substrate. This novel feature enhances the sensor’s performance as it is no longer limited by its plastic deformation. Using spray coating method, a homogeneous layer of single-walled carbon nanotube is deposited onto the as-spun fiber mat to induce electrical conductivity to the surface of the fibers. It is shown that stretching and bending the sensor result in a highly sensitive and linear response with a maximum gauge factor of 33.

Carbon Nanotube/Polymer Nanocomposites Flexible Stress and Strain Sensors

Science.gov (United States)

Kang, Jin Ho; Sauti, Godfrey; Park, Cheol; Scholl, Jonathan A.; Lowther, Sharon E.; Harrison, Joycelyn S.

2008-01-01

Conformable stress and strain sensors are required for monitoring the integrity of airframe structures as well as for sensing the mechanical stimuli in prosthetic arms. For this purpose, we have developed a series of piezoresistive single-wall carbon nanotube (SWCNT)/polymer nanocomposites. The electromechanical coupling of pressure with resistance changes in these nanocomposites is exceptionally greater than that of metallic piezoresistive materials. In fact, the piezoresistive stress coefficient (pi) of a SWCNT/polymer nanocomposite is approximately two orders of magnitude higher than that of a typical metallic piezoresistive. The piezoresistive stress coefficient is a function of the nanotube concentration wherein the maximum value occurs at a concentration just above the percolation threshold concentration (phi approx. 0.05 %). This response appears to originate from a change in intrinsic resistivity under compression/tension. A systematic study of the effect of the modulus of the polymer matrix on piezoresistivity allowed us to make flexible and conformable sensors for biomedical applications. The prototype haptic sensors using these nanocomposites are demonstrated. The piezocapacitive properties of SWCNT/polymer are also characterized by monitoring the capacitance change under pressure.

Carbon nanotube/polymer composite electrodes for flexible, attachable electrochemical DNA sensors.

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Li, Jianfeng; Lee, Eun-Cheol

2015-09-15

All-solution-processed, easily-made, flexible multi-walled carbon nanotube (MWCNT)/polydimethylsiloxane (PDMS)-based electrodes were fabricated and used for electrochemical DNA sensors. These electrodes could serve as a recognition layer for DNA, without any surface modification, through π-π interactions between the MWCNTs and DNA, greatly simplifying the fabrication process for DNA sensors. The electrodes were directly connected to an electrochemical analyzer in the differential pulse voltammetry (DPV) and cyclic voltammetry (CV) measurements, where methylene blue was used as a redox indicator. Since neither functional groups nor probe DNA were immobilized on the surfaces of the electrodes, the sensor can be easily regenerated by washing these electrodes with water. The limit of detection was found to be 1.3 × 10(2)pM (S/N=3), with good DNA sequence differentiation ability. Fast fabrication of a DNA sensor was also achieved by cutting and attaching the MWCNT-PDMS composite electrodes at an analyte solution-containable region. Our results pave the way for developing user-fabricated easily attached DNA sensors at low costs. Copyright © 2015 Elsevier B.V. All rights reserved.

Multi-rate sensor fusion-based adaptive discrete finite-time synergetic control for flexible-joint mechanical systems

International Nuclear Information System (INIS)

Xue Guang-Yue; Ren Xue-Mei; Xia Yuan-Qing

2013-01-01

This paper proposes an adaptive discrete finite-time synergetic control (ADFTSC) scheme based on a multi-rate sensor fusion estimator for flexible-joint mechanical systems in the presence of unmeasured states and dynamic uncertainties. Multi-rate sensors are employed to observe the system states which cannot be directly obtained by encoders due to the existence of joint flexibilities. By using an extended Kalman filter (EKF), the finite-time synergetic controller is designed based on a sensor fusion estimator which estimates states and parameters of the mechanical system with multi-rate measurements. The proposed controller can guarantee the finite-time convergence of tracking errors by the theoretical derivation. Simulation and experimental studies are included to validate the effectiveness of the proposed approach. (general)

Flexible Mixed-Potential-Type (MPT NO2 Sensor Based on An Ultra-Thin Ceramic Film

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Rui You

2017-07-01

Full Text Available A novel flexible mixed-potential-type (MPT sensor was designed and fabricated for NO2 detection from 0 to 500 ppm at 200 °C. An ultra-thin Y2O3-doped ZrO2 (YSZ ceramic film 20 µm thick was sandwiched between a heating electrode and reference/sensing electrodes. The heating electrode was fabricated by a conventional lift-off process, while the porous reference and the sensing electrodes were fabricated by a two-step patterning method using shadow masks. The sensor’s sensitivity is achieved as 58.4 mV/decade at the working temperature of 200 °C, as well as a detection limit of 26.7 ppm and small response time of less than 10 s at 200 ppm. Additionally, the flexible MPT sensor demonstrates superior mechanical stability after bending over 50 times due to the mechanical stability of the YSZ ceramic film. This simply structured, but highly reliable flexible MPT NO2 sensor may lead to wide application in the automobile industry for vehicle emission systems to reduce NO2 emissions and improve fuel efficiency.

A High-Sensitivity Flexible Eddy Current Array Sensor for Crack Monitoring of Welded Structures under Varying Environment.

Science.gov (United States)

Chen, Tao; He, Yuting; Du, Jinqiang

2018-06-01

This paper develops a high-sensitivity flexible eddy current array (HS-FECA) sensor for crack monitoring of welded structures under varying environment. Firstly, effects of stress, temperature and crack on output signals of the traditional flexible eddy current array (FECA) sensor were investigated by experiments that show both stress and temperature have great influences on the crack monitoring performance of the sensor. A 3-D finite element model was established using Comsol AC/DC module to analyze the perturbation effects of crack on eddy currents and output signals of the sensor, which showed perturbation effect of cracks on eddy currents is reduced by the current loop when crack propagates. Then, the HS-FECA sensor was proposed to boost the sensitivity to cracks. Simulation results show that perturbation effect of cracks on eddy currents excited by the HS-FECA sensor gradually grows stronger when the crack propagates, resulting in much higher sensitivity to cracks. Experimental result further shows that the sensitivity of the new sensor is at least 19 times that of the original one. In addition, both stress and temperature variations have little effect on signals of the new sensor.

Ultra-Sensitive Strain Sensor Based on Flexible Poly(vinylidene fluoride) Piezoelectric Film

Science.gov (United States)

Lu, Kai; Huang, Wen; Guo, Junxiong; Gong, Tianxun; Wei, Xiongbang; Lu, Bing-Wei; Liu, Si-Yi; Yu, Bin

2018-03-01

A flexible 4 × 4 sensor array with 16 micro-scale capacitive units has been demonstrated based on flexible piezoelectric poly(vinylidene fluoride) (PVDF) film. The piezoelectricity and surface morphology of the PVDF were examined by optical imaging and piezoresponse force microscopy (PFM). The PFM shows phase contrast, indicating clear interface between the PVDF and electrode. The electro-mechanical properties show that the sensor exhibits excellent output response and an ultra-high signal-to-noise ratio. The output voltage and the applied pressure possess linear relationship with a slope of 12 mV/kPa. The hold-and-release output characteristics recover in less than 2.5 μs, demonstrating outstanding electro-mechanical response. Additionally, signal interference between the adjacent arrays has been investigated via theoretical simulation. The results show the interference reduces with decreasing pressure at a rate of 0.028 mV/kPa, highly scalable with electrode size and becoming insignificant for pressure level under 178 kPa.

Tactile feedback improves auditory spatial localization

Directory of Open Access Journals (Sweden)

Monica eGori

2014-10-01

Full Text Available Our recent studies suggest that congenitally blind adults have severely impaired thresholds in an auditory spatial-bisection task, pointing to the importance of vision in constructing complex auditory spatial maps (Gori et al., 2014. To explore strategies that may improve the auditory spatial sense in visually impaired people, we investigated the impact of tactile feedback on spatial auditory localization in 48 blindfolded sighted subjects. We measured auditory spatial bisection thresholds before and after training, either with tactile feedback, verbal feedback or no feedback. Audio thresholds were first measured with a spatial bisection task: subjects judged whether the second sound of a three sound sequence was spatially closer to the first or the third sound. The tactile-feedback group underwent two audio-tactile feedback sessions of 100 trials, where each auditory trial was followed by the same spatial sequence played on the subject’s forearm; auditory spatial bisection thresholds were evaluated after each session. In the verbal-feedback condition, the positions of the sounds were verbally reported to the subject after each feedback trial. The no-feedback group did the same sequence of trials, with no feedback. Performance improved significantly only after audio-tactile feedback. The results suggest that direct tactile feedback interacts with the auditory spatial localization system, possibly by a process of cross-sensory recalibration. Control tests with the subject rotated suggested that this effect occurs only when the tactile and acoustic sequences are spatially coherent. Our results suggest that the tactile system can be used to recalibrate the auditory sense of space. These results encourage the possibility of designing rehabilitation programs to help blind persons establish a robust auditory sense of space, through training with the tactile modality.

A nafion coated capacitive humidity sensor on a flexible PET substrate

KAUST Repository

Sapsanis, Christos

2017-03-07

This paper reports a simple and low-cost technique for fabricating low-power capacitive humidity sensors without the use of a cleanroom environment. A maskless laser engraving system was utilized to fabricate two different gold electrode structures, interdigitated electrodes and Hilbert\\'s fifth-order fractal. The capacitive structures were implemented on a flexible PET substrate. The usage of Nafion, a well-known polymer for its hydrophilic properties as a sensing film, was attempted on the PET and outperformed the current efforts in flexible substrates. Its humidity sensing properties were evaluated in an automated gas setup with a relative humidity (RH %) ranging from 15% to 95 %.

A nafion coated capacitive humidity sensor on a flexible PET substrate

KAUST Repository

Sapsanis, Christos; Buttner, Ulrich; Omran, Hesham; Belmabkhout, Youssef; Shekhah, Osama; Eddaoudi, Mohamed; Salama, Khaled N.

2017-01-01

This paper reports a simple and low-cost technique for fabricating low-power capacitive humidity sensors without the use of a cleanroom environment. A maskless laser engraving system was utilized to fabricate two different gold electrode structures, interdigitated electrodes and Hilbert's fifth-order fractal. The capacitive structures were implemented on a flexible PET substrate. The usage of Nafion, a well-known polymer for its hydrophilic properties as a sensing film, was attempted on the PET and outperformed the current efforts in flexible substrates. Its humidity sensing properties were evaluated in an automated gas setup with a relative humidity (RH %) ranging from 15% to 95 %.

Advanced haptic sensor for measuring human skin conditions

Science.gov (United States)

Tsuchimi, Daisuke; Okuyama, Takeshi; Tanaka, Mami

2010-01-01

This paper is concerned with the development of a tactile sensor using PVDF (Polyvinylidene Fluoride) film as a sensory receptor of the sensor to evaluate softness, smoothness, and stickiness of human skin. Tactile sense is the most important sense in the sensation receptor of the human body along with eyesight, and we can examine skin condition quickly using these sense. But, its subjectivity and ambiguity make it difficult to quantify skin conditions. Therefore, development of measurement device which can evaluate skin conditions easily and objectively is demanded by dermatologists, cosmetic industries, and so on. In this paper, an advanced haptic sensor system that can measure multiple information of skin condition in various parts of human body is developed. The applications of the sensor system to evaluate softness, smoothness, and stickiness of skin are investigated through two experiments.

A Low-Operating-Power and Flexible Active-Matrix Organic-Transistor Temperature-Sensor Array.

Science.gov (United States)

Ren, Xiaochen; Pei, Ke; Peng, Boyu; Zhang, Zhichao; Wang, Zongrong; Wang, Xinyu; Chan, Paddy K L

2016-06-01

An organic flexible temperature-sensor array exhibits great potential in health monitoring and other biomedical applications. The actively addressed 16 × 16 temperature sensor array reaches 100% yield rate and provides 2D temperature information of the objects placed in contact, even if the object has an irregular shape. The current device allows defect predictions of electronic devices, remote sensing of harsh environments, and e-skin applications. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

A flexible sensor based on polyaniline hybrid using ZnO as template and sensing properties to triethylamine at room temperature

Energy Technology Data Exchange (ETDEWEB)

Quan, Le [State Key Laboratory of Chemical Resource Engineering, Beijing Key Laboratory of Environmentally Harmful Chemicals Analysis, Beijing University of Chemical Technology, Beijing 100029 (China); Sun, Jianhua [State Key Laboratory of Chemical Resource Engineering, Beijing Key Laboratory of Environmentally Harmful Chemicals Analysis, Beijing University of Chemical Technology, Beijing 100029 (China); Guangxi Key Laboratory of Petrochemical Resource Processing and Process Intensification Technology, Guangxi University, Nanning 530004 (China); Bai, Shouli, E-mail: baisl@mail.buct.edu.cn [State Key Laboratory of Chemical Resource Engineering, Beijing Key Laboratory of Environmentally Harmful Chemicals Analysis, Beijing University of Chemical Technology, Beijing 100029 (China); Luo, Ruixian [State Key Laboratory of Chemical Resource Engineering, Beijing Key Laboratory of Environmentally Harmful Chemicals Analysis, Beijing University of Chemical Technology, Beijing 100029 (China); Li, Dianqing, E-mail: lidq@mail.buct.edu.cn [State Key Laboratory of Chemical Resource Engineering, Beijing Key Laboratory of Environmentally Harmful Chemicals Analysis, Beijing University of Chemical Technology, Beijing 100029 (China); Chen, Aifan [State Key Laboratory of Chemical Resource Engineering, Beijing Key Laboratory of Environmentally Harmful Chemicals Analysis, Beijing University of Chemical Technology, Beijing 100029 (China); Liu, Chung Chiun [Department of Chemical and Biomolecule Engineering, Case Western Reserve University, Cleveland, OH 44106 (United States)

2017-03-31

Highlights: • Rapid synthesis of PANI has novelty, which is different with that reported before. • Enhancement of gas sensing is attributed to synergistic effect and heterojunction. • PET film is used as substrate to obtain a flexible, wearable and smart sensor. • Room temperature operating of sensor leads to save energy, safety and long life. - Abstract: A network structure of PANI/SnO{sub 2} hybrid was synthesized by an in situ chemical oxidative polymerization using cheaper ZnO nanorods as sacrificial template and the hybrid was loaded on a flexible polyethylene terephthalate (PET) thin film to construct a flexible smart sensor. The sensor not only exhibits high sensitivity which is 20 times higher than that of pure PANI to 10 ppm triethylamine, good selectivity and linear response at room temperature but also has flexible, structure simple, economical and portable characters compared with recently existing sensors. Room temperature operating of the sensor is also particularly interesting, which leads to low power consumption, environmental safety and long life times. The improvement of sensing properties is attributed to the network structure of hybrid and formation of p-n heterojunction at the interface between the PANI and SnO{sub 2}. The research is expected to open a new window for development of a kind of wearable electronic devices based on the hybrid of conducting polymer and metal oxides.

A flexible liquid crystal polymer MEMS pressure sensor array for fish-like underwater sensing

International Nuclear Information System (INIS)

Kottapalli, A G P; Asadnia, M; Miao, J M; Barbastathis, G; Triantafyllou, M S

2012-01-01

In order to perform underwater surveillance, autonomous underwater vehicles (AUVs) require flexible, light-weight, reliable and robust sensing systems that are capable of flow sensing and detecting underwater objects. Underwater animals like fish perform a similar task using an efficient and ubiquitous sensory system called a lateral-line constituting of an array of pressure-gradient sensors. We demonstrate here the development of arrays of polymer microelectromechanical systems (MEMS) pressure sensors which are flexible and can be readily mounted on curved surfaces of AUV bodies. An array of ten sensors with a footprint of 60 (L) mm × 25 (W) mm × 0.4 (H) mm is fabricated using liquid crystal polymer (LCP) as the sensing membrane material. The flow sensing and object detection capabilities of the array are illustrated with proof-of-concept experiments conducted in a water tunnel. The sensors demonstrate a pressure sensitivity of 14.3 μV Pa −1 . A high resolution of 25 mm s −1 is achieved in water flow sensing. The sensors can passively sense underwater objects by transducing the pressure variations generated underwater by the movement of objects. The experimental results demonstrate the array’s ability to detect the velocity of underwater objects towed past by with high accuracy, and an average error of only 2.5%. (paper)

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

Directory of Open Access Journals (Sweden)

Yanzhi Zhao

2016-08-01

Full Text Available 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.

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

Science.gov (United States)

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

2016-08-11

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.

Magnetic Nanocomposite Cilia Sensors

KAUST Repository

Alfadhel, Ahmed

2016-01-01

Recent progress in the development of artificial skin concepts is a result of the increased demand for providing environment perception such as touch and flow sensing to robots, prosthetics and surgical tools. Tactile sensors are the essential

Virtual environment tactile system

Science.gov (United States)

Renzi, Ronald

1996-01-01

A method for providing a realistic sense of touch in virtual reality by means of programmable actuator assemblies is disclosed. Each tactile actuator assembly consists of a number of individual actuators whose movement is controlled by a computer and associated drive electronics. When an actuator is energized, the rare earth magnet and the associated contactor, incorporated within the actuator, are set in motion by the opposing electromagnetic field of a surrounding coil. The magnet pushes the contactor forward to contact the skin resulting in the sensation of touch. When the electromagnetic field is turned off, the rare earth magnet and the contactor return to their neutral positions due to the magnetic equilibrium caused by the interaction with the ferrous outer sleeve. The small size and flexible nature of the actuator assemblies permit incorporation into a glove, boot or body suit. The actuator has additional applications, such as, for example, as an accelerometer, an actuator for precisely controlled actuations or to simulate the sensation of braille letters.

Design and realization of a tactile switches module with capacitive sensing method implemented with a microcontroller

Directory of Open Access Journals (Sweden)

Lorenzo Capineri

2016-08-01

Full Text Available The aim of this research project is the architecture and the design of an electronic system for controlling domestic tactile switches to be integrated into a home automation system based on the KNX standard. All the steps that led to the fulfillment of the finished prototype are reported, from the study and design of the capacitive tactile sensors and the electronic control board according to the specifications imposed by KNX standard. The touch event detection is reached as a trade-off with the footprint requirements of the switch. Experimental results of the fabricated prototype are presented to demonstrate the feasibility of this device.

Large-area compatible fabrication and encapsulation of inkjet-printed humidity sensors on flexible foils with integrated thermal compensation

International Nuclear Information System (INIS)

Molina-Lopez, F; Quintero, A Vásquez; Mattana, G; Briand, D; De Rooij, N F

2013-01-01

This work presents the simultaneous fabrication of ambient relative humidity (RH) and temperature sensors arrays, inkjet-printed on flexible substrates and subsequently encapsulated at foil level. These sensors are based on planar interdigitated capacitors with an inkjet-printed sensing layer and meander-shaped resistors. Their combination allows the compensation of the RH signals variations at different temperatures. The whole fabrication of the system is carried out at foil level and involves the utilization of additive methods such as inkjet-printing and electrodeposition. Electrodeposition of the printed lines resulted in an improvement of the thermoresistors. The sensors have been characterized and their performances analyzed. The encapsulation layer does not modify the performances of the sensors in terms of sensitivity or response time. This work demonstrates the potential of inkjet-printing in the large-area fabrication of light-weight and cost-efficient gas sensors on flexible substrates. (paper)

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

Science.gov (United States)

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.

Characteristics and parametric analysis of a novel flexible ink-based thermoelectric generator for human body sensor

DEFF Research Database (Denmark)

Qing, Shaowei; Rezaniakolaei, Alireza; Rosendahl, Lasse Aistrup

2018-01-01

Flexible thermoelectric generator became an attractive technology for its wide use especially for curved surfaces applications. This study proposes design of a flexible thermoelectric generator, which is part of a sensor and supplies required electrical power for human body application...... elements thickness and thermoelectric module row number in a proper range can significantly enhance thermoelectric generator performance. The maximum output power can reach 0.2 μW/cm2, which indicates the proposed design is promising for supplying human body sensors. In addition, the basic optimal design....... The thermoelectric generator module has ink-based thermoelements which are made of nano-carbon bismuth telluride materials. Flexible fins conduct the body heat to the thermoelectric uni-couples, extended fins exchange the heat from the cold side of the thermoelectric generator to the ambient. A fully developed one...

Design of a Capacitive Flexible Weighing Sensor for Vehicle WIM System

Directory of Open Access Journals (Sweden)

Qing Li

2007-08-01

Full Text Available With the development of the Highway Transportation and Business Trade, vehicle weigh-in-motion (WIM technology has become a key technology and trend of measuring traffic loads. In this paper, a novel capacitive flexible weighing sensor which is light weight, smaller volume and easy to carry was applied in the vehicle WIM system. The dynamic behavior of the sensor is modeled using the Maxwell-Kelvin model because the materials of the sensor are rubbers which belong to viscoelasticity. A signal processing method based on the model is presented to overcome effects of rubber mechanical properties on the dynamic weight signal. The results showed that the measurement error is less than ���±10%. All the theoretic analysis and numerical results demonstrated that appliance of this system to weigh in motion is feasible and convenient for traffic inspection.

Tactile Aids

Directory of Open Access Journals (Sweden)

Mohtaramossadat Homayuni

1996-04-01

Full Text Available Tactile aids, which translate sound waves into vibrations that can be felt by the skin, have been used for decades by people with severe/profound hearing loss to enhance speech/language development and improve speechreading.The development of tactile aids dates from the efforts of Goults and his co-workers in the 1920s; Although The power supply was too voluminous and it was difficult to carry specially by children, it was too huge and heavy to be carried outside the laboratories and its application was restricted to the experimental usage. Nowadays great advances have been performed in producing this instrument and its numerous models is available in markets around the world.

Tactile defensiveness and stereotyped behaviors.

Science.gov (United States)

Baranek, G T; Foster, L G; Berkson, G

1997-02-01

This study explores the constructs of stereotyped behaviors (e.g., repetitive motor patterns, object manipulations, behavioral rigidities) and tactile defensiveness as relevant to occupational therapy theory and practice and attempts to test their purported relationships in children with developmental disabilities. Twenty-eight children with developmental disabilities and autism were assessed on eight factors of stereotyped behavior via a questionnaire and by four measures of tactile defensiveness. The subjects' scores from the questionnaire were correlated with their scores on the tactile defensiveness measures to see what, if any, relationship among these behaviors exists. Significant relationships emerged from the data, indicating that subjects with higher levels of tactile defensiveness were also more likely to evidence rigid or inflexible behaviors, repetitive verbalizations, visual stereotypes, and abnormal focused affections that are often associated with autism. No significant association was found between motor and object stereotypes and tactile defensiveness. These relationships could not be explained solely by maturational factors. The results suggest that clinicians should include observations of stereotyped behaviors, particularly behavioral rigidities, in conjunction with assessments of sensory defensiveness because these are related phenomena that may pose unique challenges for children with developmental disabilities and autism. Further study is needed to determine the causal mechanisms responsible for these relationships.

Mutual capacitance of liquid conductors in deformable tactile sensing arrays

Energy Technology Data Exchange (ETDEWEB)

Li, Bin [Electrical and Computer Engineering Department, Drexel University, Philadelphia, Pennsylvania 19104 (United States); Fontecchio, Adam K. [Electrical and Computer Engineering and Materials Science and Engineering Departments, Drexel University, Philadelphia, Pennsylvania 19104 (United States); Visell, Yon [Electrical and Computer Engineering Department, Media Arts and Technology, California NanoSystems Institute, University of California, Santa Barbara, California 93106 (United States)

2016-01-04

Advances in highly deformable electronics are needed in order to enable emerging categories of soft computing devices ranging from wearable electronics, to medical devices, and soft robotic components. The combination of highly elastic substrates with intrinsically stretchable conductors holds the promise of enabling electronic sensors that can conform to curved objects, reconfigurable displays, or soft biological tissues, including the skin. Here, we contribute sensing principles for tactile (mechanical image) sensors based on very low modulus polymer substrates with embedded liquid metal microfluidic arrays. The sensors are fabricated using a single-step casting method that utilizes fine nylon filaments to produce arrays of cylindrical channels on two layers. The liquid metal (gallium indium alloy) conductors that fill these channels readily adopt the shape of the embedding membrane, yielding levels of deformability greater than 400%, due to the use of soft polymer substrates. We modeled the sensor performance using electrostatic theory and continuum mechanics, yielding excellent agreement with experiments. Using a matrix-addressed capacitance measurement technique, we are able to resolve strain distributions with millimeter resolution over areas of several square centimeters.

Highly ordered nanowire arrays on plastic substrates for ultrasensitive flexible chemical sensors.

Science.gov (United States)

McAlpine, Michael C; Ahmad, Habib; Wang, Dunwei; Heath, James R

2007-05-01

The development of a robust method for integrating high-performance semiconductors on flexible plastics could enable exciting avenues in fundamental research and novel applications. One area of vital relevance is chemical and biological sensing, which if implemented on biocompatible substrates, could yield breakthroughs in implantable or wearable monitoring systems. Semiconducting nanowires (and nanotubes) are particularly sensitive chemical sensors because of their high surface-to-volume ratios. Here, we present a scalable and parallel process for transferring hundreds of pre-aligned silicon nanowires onto plastic to yield highly ordered films for low-power sensor chips. The nanowires are excellent field-effect transistors, and, as sensors, exhibit parts-per-billion sensitivity to NO2, a hazardous pollutant. We also use SiO2 surface chemistries to construct a 'nano-electronic nose' library, which can distinguish acetone and hexane vapours via distributed responses. The excellent sensing performance coupled with bendable plastic could open up opportunities in portable, wearable or even implantable sensors.

Highly ordered nanowire arrays on plastic substrates for ultrasensitive flexible chemical sensors

Science.gov (United States)

McAlpine, Michael C.; Ahmad, Habib; Wang, Dunwei; Heath, James R.

2007-05-01

The development of a robust method for integrating high-performance semiconductors on flexible plastics could enable exciting avenues in fundamental research and novel applications. One area of vital relevance is chemical and biological sensing, which if implemented on biocompatible substrates, could yield breakthroughs in implantable or wearable monitoring systems. Semiconducting nanowires (and nanotubes) are particularly sensitive chemical sensors because of their high surface-to-volume ratios. Here, we present a scalable and parallel process for transferring hundreds of pre-aligned silicon nanowires onto plastic to yield highly ordered films for low-power sensor chips. The nanowires are excellent field-effect transistors, and, as sensors, exhibit parts-per-billion sensitivity to NO2, a hazardous pollutant. We also use SiO2 surface chemistries to construct a `nano-electronic nose' library, which can distinguish acetone and hexane vapours via distributed responses. The excellent sensing performance coupled with bendable plastic could open up opportunities in portable, wearable or even implantable sensors.

A controllable tactile device for human-like tissue realization using smart magneto-rheological fluids: fabrication and modeling

Science.gov (United States)

Cha, Seung-Woo; Kang, Seok-Rae; Hwang, Yong-Hoon; Oh, Jong-Seok; Choi, Seung-Bok

2018-06-01

This paper proposes a new tactile device to realize the force of human-like organs using the viscoelastic property by combing a smart magneto-rheological (MR) fluid with a sponge (MR sponge in short). The effectiveness of the sensor is validated through the comparison of the force obtained through measurement and the proposed prediction model. As the first step, a conventional standard linear solid model is adopted to independently investigate the force characteristics of MR fluid and sponge. Force is measured using a 3-axis robot with a force sensor to obtain certain properties of MR fluid and sponge. In addition, to show that the proposed MR sponge can realize the force of human-like tissues, experiments are performed using three specimens, i.e., porcine heart, lung, and liver. Subsequently, a quasi-static model for predicting the field-dependent force of the MR sponge is formulated using empirical values. It is demonstrated through comparison that the proposed force model can accurately predict the force of the specimens without significant error. In addition, a psychophysical test is carried out by ordinary subjects to validate the effectiveness of the proposed tactile device. Results show that the MR sponge tactile device can easily produce various levels of the force of human-like tissues, such as the liver and lung of the porcine, by controlling input current.

Free-standing and flexible graphene papers as disposable non-enzymatic electrochemical sensors

DEFF Research Database (Denmark)

Zhang, Minwei; Halder, Arnab; Hou, Chengyi

2016-01-01

) disclosed AuNPs coated uniformly by a 5 nm thick PB layer. Au@PB NPs were attached to single-layer graphene oxide (GO) to form Au@PB decorated GO sheets. The resulting hybrid material was filtered layer-by-layer into flexible and freestanding GO paper, which was further converted into conductive reduced GO...... (RGO)/Au@PB paper via hydrazine vapour reduction. High-resolution TEM images suggested that RGO papers are multiply sandwich-like structures functionalized with core-shell NPs. Resulting sandwich functionalized graphene papers have high conductivity, sufficient flexibility, and robust mechanical...... response range (1-30 μM), the detection limit (100 nM), and the high amperometric sensitivity (5 A cm-2 M-1). With the advantages of low cost and scalable production capacity, such graphene supported functional papers are of particular interest in the use as flexible disposable sensors....

Salience of Tactile Cues: An Examination of Tactor Actuator and Tactile Cue Characteristics

Science.gov (United States)

2015-08-01

Similarly, tactile alerts can help manage and focus attention in a complex high-tempo multitasked environment. Figure 1, while simple, can serve to...tactile cueing on concurrent performance of military and robotics tasks in a simulated multitasking environment. Ergonomics. 2008;51(8):1137–1152...2007;78(3):338. Moorhead IR, Holmes S, Furnell S. Understanding multisensory integration for pilot spatial orientation. Farnborough (UK): QinetiQ

Flexible room-temperature formaldehyde sensors based on rGO film and rGo/MoS2 hybrid film.

Science.gov (United States)

Li, Xian; Wang, Jing; Xie, Dan; Xu, Jianlong; Xia, Yi; Li, Weiwei; Xiang, Lan; Li, Zhemin; Xu, Shiwei; Komarneni, Sridhar

2017-08-11

Gas sensors based on reduced graphene oxide (rGO) films and rGO/MoS 2 hybrid films were fabricated on polyethylene naphthalate substrates by a simple self-assembly method, which yielded flexible devices for detection of formaldehyde (HCHO) at room temperature. The sensing test results indicated that the rGO and rGO/MoS 2 sensors were highly sensitive and fully recoverable to a ppm-level of HCHO. The bending and fatigue test results revealed that the sensors were also mechanically robust, durable and effective for long-term use. The rGO/MoS 2 sensors showed higher sensitivities than rGO sensors, which was attributed to the enhanced HCHO adsorption and electron transfer mediated by MoS 2 . Furthermore, two kinds of MoS 2 nanosheets were prepared by either hydrothermal synthesis or chemical exfoliation and were compared for their detection of HCHO, which revealed that the hydrothermally produced MoS 2 nanosheets with rich defects led to enhanced sensitivity of the rGO/MoS 2 sensors. Moreover, these fabricated flexible sensors can be applied for the HCHO detection in food packaging.

Exploration of the Effectiveness of Tactile Methods

Science.gov (United States)

Aldajani, Neda F.

2016-01-01

This paper introduces the tactile method and aims to explore the effectiveness of using tactile methods with students who are blind and visually impaired. Although there was limited research about using this strategy, all of the research agrees that using tactile is one of the best ways for students who are blind and visually impaired to be…

Flexible and self-powered temperature-pressure dual-parameter sensors using microstructure-frame-supported organic thermoelectric materials

Science.gov (United States)

Zhang, Fengjiao; Zang, Yaping; Huang, Dazhen; di, Chong-An; Zhu, Daoben

2015-09-01

Skin-like temperature- and pressure-sensing capabilities are essential features for the next generation of artificial intelligent products. Previous studies of e-skin and smart elements have focused on flexible pressure sensors, whereas the simultaneous and sensitive detection of temperature and pressure with a single device remains a challenge. Here we report developing flexible dual-parameter temperature-pressure sensors based on microstructure-frame-supported organic thermoelectric (MFSOTE) materials. The effective transduction of temperature and pressure stimuli into two independent electrical signals permits the instantaneous sensing of temperature and pressure with an accurate temperature resolution of cost and large-area fabrication, make MFSOTE materials possess promising applications in e-skin and health-monitoring elements.

A Tactile Carina Nebula

Science.gov (United States)

Grice, Noreen A.; Mutchler, M.

2010-01-01

Astronomy was once considered a science restricted to fully sighted participants. But in the past two decades, accessible books with large print/Braille and touchable pictures have brought astronomy and space science to the hands and mind's eye of students, regardless of their visual ability. A new universally-designed tactile image featuring the Hubble mosaic of the Carina Nebula is being presented at this conference. The original dataset was obtained with Hubble's Advanced Camera for Surveys (ACS) hydrogen-alpha filter in 2005. It became an instant icon after being infused with additional color information from ground-based CTIO data, and released as Hubble's 17th anniversary image. Our tactile Carina Nebula promotes multi-mode learning about the entire life-cycle of stars, which is dramatically illustrated in this Hubble mosaic. When combined with descriptive text in print and Braille, the visual and tactile components seamlessly reach both sighted and blind populations. Specific touchable features of the tactile image identify the shapes and orientations of objects in the Carina Nebula that include star-forming regions, jets, pillars, dark and light globules, star clusters, shocks/bubbles, the Keyhole Nebula, and stellar death (Eta Carinae). Visit our poster paper to touch the Carina Nebula!

Task demands affect spatial reference frame weighting during tactile localization in sighted and congenitally blind adults.

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Jonathan T W Schubert

Full Text Available Task demands modulate tactile localization in sighted humans, presumably through weight adjustments in the spatial integration of anatomical, skin-based, and external, posture-based information. In contrast, previous studies have suggested that congenitally blind humans, by default, refrain from automatic spatial integration and localize touch using only skin-based information. Here, sighted and congenitally blind participants localized tactile targets on the palm or back of one hand, while ignoring simultaneous tactile distractors at congruent or incongruent locations on the other hand. We probed the interplay of anatomical and external location codes for spatial congruency effects by varying hand posture: the palms either both faced down, or one faced down and one up. In the latter posture, externally congruent target and distractor locations were anatomically incongruent and vice versa. Target locations had to be reported either anatomically ("palm" or "back" of the hand, or externally ("up" or "down" in space. Under anatomical instructions, performance was more accurate for anatomically congruent than incongruent target-distractor pairs. In contrast, under external instructions, performance was more accurate for externally congruent than incongruent pairs. These modulations were evident in sighted and blind individuals. Notably, distractor effects were overall far smaller in blind than in sighted participants, despite comparable target-distractor identification performance. Thus, the absence of developmental vision seems to be associated with an increased ability to focus tactile attention towards a non-spatially defined target. Nevertheless, that blind individuals exhibited effects of hand posture and task instructions in their congruency effects suggests that, like the sighted, they automatically integrate anatomical and external information during tactile localization. Moreover, spatial integration in tactile processing is, thus, flexibly

Task demands affect spatial reference frame weighting during tactile localization in sighted and congenitally blind adults.

Science.gov (United States)

Schubert, Jonathan T W; Badde, Stephanie; Röder, Brigitte; Heed, Tobias

2017-01-01

Task demands modulate tactile localization in sighted humans, presumably through weight adjustments in the spatial integration of anatomical, skin-based, and external, posture-based information. In contrast, previous studies have suggested that congenitally blind humans, by default, refrain from automatic spatial integration and localize touch using only skin-based information. Here, sighted and congenitally blind participants localized tactile targets on the palm or back of one hand, while ignoring simultaneous tactile distractors at congruent or incongruent locations on the other hand. We probed the interplay of anatomical and external location codes for spatial congruency effects by varying hand posture: the palms either both faced down, or one faced down and one up. In the latter posture, externally congruent target and distractor locations were anatomically incongruent and vice versa. Target locations had to be reported either anatomically ("palm" or "back" of the hand), or externally ("up" or "down" in space). Under anatomical instructions, performance was more accurate for anatomically congruent than incongruent target-distractor pairs. In contrast, under external instructions, performance was more accurate for externally congruent than incongruent pairs. These modulations were evident in sighted and blind individuals. Notably, distractor effects were overall far smaller in blind than in sighted participants, despite comparable target-distractor identification performance. Thus, the absence of developmental vision seems to be associated with an increased ability to focus tactile attention towards a non-spatially defined target. Nevertheless, that blind individuals exhibited effects of hand posture and task instructions in their congruency effects suggests that, like the sighted, they automatically integrate anatomical and external information during tactile localization. Moreover, spatial integration in tactile processing is, thus, flexibly adapted by top

Design and Fabrication of Single-Walled Carbon Nanonet Flexible Strain Sensors

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Trung Kien Vu

2012-03-01

Full Text Available This study presents a novel flexible strain sensor for real-time strain sensing. The material for strain sensing is single-walled carbon nanonets, grown using the alcohol catalytic chemical vapor deposition method, that were encapsulated between two layers of Parylene-C, with a polyimide layer as the sensing surface. All of the micro-fabrication was compatible with the standard IC process. Experimental results indicated that the gauge factor of the proposed strain sensor was larger than 4.5, approximately 2.0 times greater than those of commercial gauges. The results also demonstrated that the gauge factor is small when the growth time of SWCNNs is lengthier, and the gauge factor is large when the line width of the serpentine pattern of SWCNNs is small.

A flexible wearable sensor for knee flexion assessment during gait.

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Papi, Enrica; Bo, Yen Nee; McGregor, Alison H

2018-05-01

Gait analysis plays an important role in the diagnosis and management of patients with movement disorders but it is usually performed within a laboratory. Recently interest has shifted towards the possibility of conducting gait assessments in everyday environments thus facilitating long-term monitoring. This is possible by using wearable technologies rather than laboratory based equipment. This study aims to validate a novel wearable sensor system's ability to measure peak knee sagittal angles during gait. The proposed system comprises a flexible conductive polymer unit interfaced with a wireless acquisition node attached over the knee on a pair of leggings. Sixteen healthy volunteers participated to two gait assessments on separate occasions. Data was simultaneously collected from the novel sensor and a gold standard 10 camera motion capture system. The relationship between sensor signal and reference knee flexion angles was defined for each subject to allow the transformation of sensor voltage outputs to angular measures (degrees). The knee peak flexion angle from the sensor and reference system were compared by means of root mean square error (RMSE), absolute error, Bland-Altman plots and intra-class correlation coefficients (ICCs) to assess test-retest reliability. Comparisons of knee peak flexion angles calculated from the sensor and gold standard yielded an absolute error of 0.35(±2.9°) and RMSE of 1.2(±0.4)°. Good agreement was found between the two systems with the majority of data lying within the limits of agreement. The sensor demonstrated high test-retest reliability (ICCs>0.8). These results show the ability of the sensor to monitor knee peak sagittal angles with small margins of error and in agreement with the gold standard system. The sensor has potential to be used in clinical settings as a discreet, unobtrusive wearable device allowing for long-term gait analysis. Copyright © 2018 The Authors. Published by Elsevier B.V. All rights reserved.

Flexible and self-powered temperature-pressure dual-parameter sensors using microstructure-frame-supported organic thermoelectric materials.

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Zhang, Fengjiao; Zang, Yaping; Huang, Dazhen; Di, Chong-an; Zhu, Daoben

2015-09-21

Skin-like temperature- and pressure-sensing capabilities are essential features for the next generation of artificial intelligent products. Previous studies of e-skin and smart elements have focused on flexible pressure sensors, whereas the simultaneous and sensitive detection of temperature and pressure with a single device remains a challenge. Here we report developing flexible dual-parameter temperature-pressure sensors based on microstructure-frame-supported organic thermoelectric (MFSOTE) materials. The effective transduction of temperature and pressure stimuli into two independent electrical signals permits the instantaneous sensing of temperature and pressure with an accurate temperature resolution of pressure-sensing sensitivity of up to 28.9 kPa(-1). More importantly, these dual-parameter sensors can be self-powered with outstanding sensing performance. The excellent sensing properties of MFSOTE-based devices, together with their unique advantages of low cost and large-area fabrication, make MFSOTE materials possess promising applications in e-skin and health-monitoring elements.

The mechanical design of a humanoid robot with flexible skin sensor for use in psychiatric therapy

Science.gov (United States)

Burns, Alec; Tadesse, Yonas

2014-03-01

In this paper, a humanoid robot is presented for ultimate use in the rehabilitation of children with mental disorders, such as autism. Creating affordable and efficient humanoids could assist the therapy in psychiatric disability by offering multimodal communication between the humanoid and humans. Yet, the humanoid development needs a seamless integration of artificial muscles, sensors, controllers and structures. We have designed a human-like robot that has 15 DOF, 580 mm tall and 925 mm arm span using a rapid prototyping system. The robot has a human-like appearance and movement. Flexible sensors around the arm and hands for safe human-robot interactions, and a two-wheel mobile platform for maneuverability are incorporated in the design. The robot has facial features for illustrating human-friendly behavior. The mechanical design of the robot and the characterization of the flexible sensors are presented. Comprehensive study on the upper body design, mobile base, actuators selection, electronics, and performance evaluation are included in this paper.

In situ measurement of the junction temperature of light emitting diodes using a flexible micro temperature sensor.

Science.gov (United States)

Lee, Chi-Yuan; Su, Ay; Liu, Yin-Chieh; Fan, Wei-Yuan; Hsieh, Wei-Jung

2009-01-01

This investigation aimed to fabricate a flexible micro resistive temperature sensor to measure the junction temperature of a light emitting diode (LED). The junction temperature is typically measured using a thermal resistance measurement approach. This approach is limited in that no standard regulates the timing of data capture. This work presents a micro temperature sensor that can measure temperature stably and continuously, and has the advantages of being lightweight and able to monitor junction temperatures in real time. Micro-electro-mechanical-systems (MEMS) technologies are employed to minimize the size of a temperature sensor that is constructed on a stainless steel foil substrate (SS-304 with 30 μm thickness). A flexible micro resistive temperature sensor can be fixed between the LED chip and the frame. The junction temperature of the LED can be measured from the linear relationship between the temperature and the resistance. The sensitivity of the micro temperature sensor is 0.059 ± 0.004 Ω/°C. The temperature of the commercial CREE(®) EZ1000 chip is 119.97 °C when it is thermally stable, as measured using the micro temperature sensor; however, it was 126.9 °C, when measured by thermal resistance measurement. The micro temperature sensor can be used to replace thermal resistance measurement and performs reliably.

In Situ Measurement of the Junction Temperature of Light Emitting Diodes Using a Flexible Micro Temperature Sensor

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Wei-Jung Hsieh

2009-06-01

Full Text Available This investigation aimed to fabricate a flexible micro resistive temperature sensor to measure the junction temperature of a light emitting diode (LED. The junction temperature is typically measured using a thermal resistance measurement approach. This approach is limited in that no standard regulates the timing of data capture. This work presents a micro temperature sensor that can measure temperature stably and continuously, and has the advantages of being lightweight and able to monitor junction temperatures in real time. Micro-electro-mechanical-systems (MEMS technologies are employed to minimize the size of a temperature sensor that is constructed on a stainless steel foil substrate (SS-304 with 30 μm thickness. A flexible micro resistive temperature sensor can be fixed between the LED chip and the frame. The junction temperature of the LED can be measured from the linear relationship between the temperature and the resistance. The sensitivity of the micro temperature sensor is 0.059 ± 0.004 Ω/°C. The temperature of the commercial CREE® EZ1000 chip is 119.97 °C when it is thermally stable, as measured using the micro temperature sensor; however, it was 126.9 °C, when measured by thermal resistance measurement. The micro temperature sensor can be used to replace thermal resistance measurement and performs reliably.

Tactility and the body in early Chinese medicine.

Science.gov (United States)

Hsu, Elisabeth

2005-03-01

If visual inspection of corpses was central to the development of anatomy in modern Europe, one may ask which of the senses was important for the emergence of the predominant currents of scholarly medical knowledge and practice in third- and second-century B.C.E. China? This article argues that it was tactile perception prompted by a tactile exploration of living bodies. The evidence, derived from a close reading of the Mawangdui medical manuscripts, the 105th chapter of the Records of the Historian, and selected passages from the Huang Di's Inner Canon, points to three important trends: first, the tactile exploration of the extremities led to a rich vocabulary of compound words for pain as localized in specific body parts; second, the tactile exploration of the mai gave rise to an even richer vocabulary on qualities of touch in pulse diagnostics; and third, the tactile exploration of the abdomen led to the assessment of the quality of the internal viscera with words that generally were used for describing the tactile quality of skin and flesh. This finding may appear surprising in the light of later developments during the dynastic history of Chinese medicine where tactile exploration of abdomen and extremities would appear unseemly. The author suggests that extensive tactile explorations of the body were possible before Confucius' teachings became a predominant aspect of state ideology.

Ambiguity in Tactile Apparent Motion Perception.

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Emanuela Liaci

Full Text Available In von Schiller's Stroboscopic Alternative Motion (SAM stimulus two visually presented diagonal dot pairs, located on the corners of an imaginary rectangle, alternate with each other and induce either horizontal, vertical or, rarely, rotational motion percepts. SAM motion perception can be described by a psychometric function of the dot aspect ratio ("AR", i.e. the relation between vertical and horizontal dot distances. Further, with equal horizontal and vertical dot distances (AR = 1 perception is biased towards vertical motion. In a series of five experiments, we presented tactile SAM versions and studied the role of AR and of different reference frames for the perception of tactile apparent motion.We presented tactile SAM stimuli and varied the ARs, while participants reported the perceived motion directions. Pairs of vibration stimulators were attached to the participants' forearms and stimulator distances were varied within and between forearms. We compared straight and rotated forearm conditions with each other in order to disentangle the roles of exogenous and endogenous reference frames.Increasing the tactile SAM's AR biased perception towards vertical motion, but the effect was weak compared to the visual modality. We found no horizontal disambiguation, even for very small tactile ARs. A forearm rotation by 90° kept the vertical bias, even though it was now coupled with small ARs. A 45° rotation condition with crossed forearms, however, evoked a strong horizontal motion bias.Existing approaches to explain the visual SAM bias fail to explain the current tactile results. Particularly puzzling is the strong horizontal bias in the crossed-forearm conditions. In the case of tactile apparent motion, there seem to be no fixed priority rule for perceptual disambiguation. Rather the weighting of available evidence seems to depend on the degree of stimulus ambiguity, the current situation and on the perceptual strategy of the individual

Tactile Working Memory Outside our Hands

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Takako Yoshida

2011-10-01

Full Text Available The haptic perception of 2D images is believed to make heavy demands on working memory. During active exploration, we need to store not only the current sensory information, but also to integrate this with kinesthetic information of the hand and fingers in order to generate a coherent percept. The question that arises is how much tactile memory we have for tactile stimuli that are no longer in contact with the skin during active touch? We examined working memory using a tactile change detection task with active exploration. Each trial contained two stimulation arrays. Participants engaged in unconstrained active tactile exploration of an array of vibrotactile stimulators. In half of the trials, one of the vibrating tactors that was active in the first stimulation turned off and another started vibrating in the second stimulation. Participants had to report whether the arrays were the same or different. Performance was near-perfect when up to two tactors were used and dropped linearly as the number of the vibrating tactors increased. These results suggest that the tactile working memory off the hand is limited and there is little or no memory integration across hand movements.

The potential for developing a tactile communication system based on Blissymbolics.

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Isaacson, Mick D; Lloyd, Lyle L

2015-02-01

To be useful for tactile communication, tactile stimuli need to be discriminable from each other. The objective of this study was to determine whether raised-line renderings of Blissymbols have the capacity for being developed into a tactile communication system as measured by their tactile discriminability. Tactile discrimination of Blissymbols was measured by performance on a task in which participants were asked to feel a target raised-line Blissymbol and then to find the target within an array containing the target and raised-line Blissymbol foils. The vast majority of tactile Blissymbols had tactile discrimination scores of 90% accuracy or better. Most raised-line Blissymbols can be tactilely discriminated from each other, indicating that they have the potential for being developed into a tactile communication system.

Development of microsized slip sensors using dielectric elastomer for incipient slippage

Science.gov (United States)

Hwang, Do-Yeon; Kim, Baek-chul; Cho, Han-Jeong; Li, Zhengyuan; Lee, Youngkwan; Nam, Jae-Do; Moon, Hyungpil; Choi, Hyouk Ryeol; Koo, J. C.

2014-04-01

A humanoid robot hand has received significant attention in various fields of study. In terms of dexterous robot hand, slip detecting tactile sensor is essential to grasping objects safely. Moreover, slip sensor is useful in robotics and prosthetics to improve precise control during manipulation tasks. In this paper, sensor based-human biomimetic structure is fabricated. We reported a resistance tactile sensor that enables to detect a slip on the surface of sensor structure. The resistance slip sensor that the novel developed uses acrylonitrile-butadiene rubber (NBR) as a dielectric substrate and carbon particle as an electrode material. The presented sensor device in this paper has fingerprint-like structures that are similar with the role of the human's finger print. It is possible to measure the slip as the structure of sensor makes a deformation and it changes the resistance through forming a new conductive route. To verify effectiveness of the proposed slip detection, experiment using prototype of resistance slip sensor is conducted with an algorithm to detect slip and slip was successfully detected. In this paper, we will discuss the slip detection properties so four sensor and detection principle.

Electrically Conductive TPU Nanofibrous Composite with High Stretchability for Flexible Strain Sensor

Science.gov (United States)

Tong, Lu; Wang, Xiao-Xiong; He, Xiao-Xiao; Nie, Guang-Di; Zhang, Jun; Zhang, Bin; Guo, Wen-Zhe; Long, Yun-Ze

2018-03-01

Highly stretchable and electrically conductive thermoplastic polyurethane (TPU) nanofibrous composite based on electrospinning for flexible strain sensor and stretchable conductor has been fabricated via in situ polymerization of polyaniline (PANI) on TPU nanofibrous membrane. The PANI/TPU membrane-based sensor could detect a strain from 0 to 160% with fast response and excellent stability. Meanwhile, the TPU composite has good stability and durability. Besides, the composite could be adapted to various non-flat working environments and could maintain opportune conductivity at different operating temperatures. This work provides an easy operating and low-cost method to fabricate highly stretchable and electrically conductive nanofibrous membrane, which could be applied to detect quick and tiny human actions.

Autism spectrum disorder in the scope of tactile processing

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Mark Mikkelsen

2018-01-01

Full Text Available Sensory processing abnormalities are among the most common behavioral phenotypes seen in autism spectrum disorder (ASD, typically characterized by either over- or under-responsiveness to stimulation. In this review, we focus on tactile processing dysfunction in ASD. We firstly review clinical studies wherein sensitivity to tactile stimuli has traditionally been assessed by self-, parent- and experimenter-reports. We also discuss recent investigations using psychophysical paradigms that gauge individual tactile thresholds. These more experimentally rigorous studies allow for more objective assessments of tactile abnormalities in ASD. However, little is understood about the neurobiological mechanisms underlying these abnormalities, or the link between tactile abnormalities and ASD symptoms. Neurobiological research that has been conducted has pointed toward dysfunction in the excitation/inhibition balance of the central nervous system of those with ASD. This review covers recent efforts that have investigated tactile dysfunction in ASD from clinical and behavioral perspectives, and some of the efforts to link these to neurobiology. On the whole, findings are inconsistent, which can be ascribed to the subjectivity of clinical assessments, the heterogeneity of ASD cohorts, and the diversity of tactile sensitivity measures. Future endeavors into understanding tactile processing differences in ASD will greatly benefit from controlled experiments driven by neurobiological hypotheses. Keywords: Autism spectrum disorder, Psychophysics, Review, Touch, Somatosensory, Tactile processing

Novel ferroelectric capacitor for non-volatile memory storage and biomedical tactile sensor applications

International Nuclear Information System (INIS)

Liu, Shi Yang; Chua, Lynn; Tan, Kian Chuan; Valavan, S.E.

2010-01-01

We report on novel ferroelectric thin film compositions for use in non-volatile memory storage and biomedical tactile sensor applications. The lead zirconate titanate (PZT) composition was modified by lanthanum (La 3+ ) (PLZT) and vanadium (V 5+ ) (PZTV, PLZTV) doping. Hybrid films with PZTV and PLZTV as top layers are also made using seed layers of differing compositions using sol-gel and spin coating methods. La 3+ doping decreased the coercive field, polarization and leakage current, while increasing the relative permittivity. V 5+ doping, while having similar effects, results in an enhanced polarization, with comparable dielectric loss characteristics. Complex doping of both La 3+ and V 5+ in PLZTV, while reducing the polarization relative to PZTV, significantly decreases the coercive field. Hybrid films have a greater uniformity of grain formation than non-hybrid films, thus decreasing the coercive field, leakage current and polarization fatigue while increasing the relative permittivity. Analysis using X-ray diffraction (XRD) verified the retention of the PZT perovskite structure in the novel films. PLZT/PZTV has been identified as an optimal ferroelectric film composition due to its desirable ferroelectric, fatigue and dielectric properties, including the highest observed remnant polarization (P r ) of ∼ 25 μC/cm 2 , saturation polarization (P sat ) of ∼ 58 μC/cm 2 and low coercive field (E c ) of ∼ 60 kV/cm at an applied field of ∼ 1000 kV/cm, as well as a low leakage current density of ∼ 10 -5 A/cm 2 at 500 kV/cm and fatigue resistance of up to ∼ 10 10 switching cycles.

Mechanisms of tactile sensory deterioration amongst the elderly.

Science.gov (United States)

Skedung, Lisa; El Rawadi, Charles; Arvidsson, Martin; Farcet, Céline; Luengo, Gustavo S; Breton, Lionel; Rutland, Mark W

2018-04-19

It is known that roughness-smoothness, hardness-softness, stickiness-slipperiness and warm-cold are predominant perceptual dimensions in macro-, micro- and nano- texture perception. However, it is not clear to what extent active tactile texture discrimination remains intact with age. The general decrease in tactile ability induces physical and emotional dysfunction in elderly, and has increasing significance for an aging population. We report a method to quantify tactile acuity based on blinded active exploration of systematically varying micro-textured surfaces and a same-different paradigm. It reveals that elderly participants show significantly reduced fine texture discrimination ability. The elderly group also displays statistically lower finger friction coefficient, moisture and elasticity, suggesting a link. However, a subpopulation of the elderly retains discrimination ability irrespective of cutaneous condition and this can be related to a higher density of somatosensory receptors on the finger pads. Skin tribology is thus not the primary reason for decline of tactile discrimination with age. The remediation of cutaneous properties through rehydration, however leads to a significantly improved tactile acuity. This indicates unambiguously that neurological tactile loss can be temporarily compensated by restoring the cutaneous contact mechanics. Such mechanical restoration of tactile ability has the potential to increase the quality of life in elderly.

A 0.7V 7-to-10bit 0-to-2MS/s Flexible SAR ADC for Ultra Low-Power Wireless Sensor Nodes

NARCIS (Netherlands)

Harpe, P.J.A.; Dolmans, G.; Philips, K.J.P.; Groot, de H.W.H.

2012-01-01

This paper presents a flexible SAR ADC in 90nm CMOS for wireless sensor nodes. By supporting resolutions from 7 to 10bit and sample rates from DC to 2MS/s, this design can be used for a variety of applications such as sensor interfacing and receiver frontends. Flexibility is achieved by a

Application of flexible micro temperature sensor in oxidative steam reforming by a methanol micro reformer.

Science.gov (United States)

Lee, Chi-Yuan; Lee, Shuo-Jen; Shen, Chia-Chieh; Yeh, Chuin-Tih; Chang, Chi-Chung; Lo, Yi-Man

2011-01-01

Advances in fuel cell applications reflect the ability of reformers to produce hydrogen. This work presents a flexible micro temperature sensor that is fabricated based on micro-electro-mechanical systems (MEMS) technology and integrated into a flat micro methanol reformer to observe the conditions inside that reformer. The micro temperature sensor has higher accuracy and sensitivity than a conventionally adopted thermocouple. Despite various micro temperature sensor applications, integrated micro reformers are still relatively new. This work proposes a novel method for integrating micro methanol reformers and micro temperature sensors, subsequently increasing the methanol conversion rate and the hydrogen production rate by varying the fuel supply rate and the water/methanol ratio. Importantly, the proposed micro temperature sensor adequately controls the interior temperature during oxidative steam reforming of methanol (OSRM), with the relevant parameters optimized as well.

Application of Flexible Micro Temperature Sensor in Oxidative Steam Reforming by a Methanol Micro Reformer

Directory of Open Access Journals (Sweden)

Yi-Man Lo

2011-02-01

Full Text Available Advances in fuel cell applications reflect the ability of reformers to produce hydrogen. This work presents a flexible micro temperature sensor that is fabricated based on micro-electro-mechanical systems (MEMS technology and integrated into a flat micro methanol reformer to observe the conditions inside that reformer. The micro temperature sensor has higher accuracy and sensitivity than a conventionally adopted thermocouple. Despite various micro temperature sensor applications, integrated micro reformers are still relatively new. This work proposes a novel method for integrating micro methanol reformers and micro temperature sensors, subsequently increasing the methanol conversion rate and the hydrogen production rate by varying the fuel supply rate and the water/methanol ratio. Importantly, the proposed micro temperature sensor adequately controls the interior temperature during oxidative steam reforming of methanol (OSRM, with the relevant parameters optimized as well.

A Control Strategy with Tactile Perception Feedback for EMG Prosthetic Hand

Directory of Open Access Journals (Sweden)

Changcheng Wu

2015-01-01

Full Text Available To improve the control effectiveness and make the prosthetic hand not only controllable but also perceivable, an EMG prosthetic hand control strategy was proposed in this paper. The control strategy consists of EMG self-learning motion recognition, backstepping controller with stiffness fuzzy observation, and force tactile representation. EMG self-learning motion recognition is used to reduce the influence on EMG signals caused by the uncertainty of the contacting position of the EMG sensors. Backstepping controller with stiffness fuzzy observation is used to realize the position control and grasp force control. Velocity proportional control in free space and grasp force tracking control in restricted space can be realized by the same controller. The force tactile representation helps the user perceive the states of the prosthetic hand. Several experiments were implemented to verify the effect of the proposed control strategy. The results indicate that the proposed strategy has effectiveness. During the experiments, the comments of the participants show that the proposed strategy is a better choice for amputees because of the improved controllability and perceptibility.

Tactile Gloves for Autonomous Grasping With the NASA/DARPA Robonaut

Science.gov (United States)

Martin, T. B.; Ambrose, R. O.; Diftler, M. A.; Platt, R., Jr.; Butzer, M. J.

2004-01-01

Tactile data from rugged gloves are providing the foundation for developing autonomous grasping skills for the NASA/DARPA Robonaut, a dexterous humanoid robot. These custom gloves compliment the human like dexterity available in the Robonaut hands. Multiple versions of the gloves are discussed, showing a progression in using advanced materials and construction techniques to enhance sensitivity and overall sensor coverage. The force data provided by the gloves can be used to improve dexterous, tool and power grasping primitives. Experiments with the latest gloves focus on the use of tools, specifically a power drill used to approximate an astronaut's torque tool.

A flexible data fusion architecture for persistent surveillance using ultra-low-power wireless sensor networks

Science.gov (United States)

Hanson, Jeffrey A.; McLaughlin, Keith L.; Sereno, Thomas J.

2011-06-01

We have developed a flexible, target-driven, multi-modal, physics-based fusion architecture that efficiently searches sensor detections for targets and rejects clutter while controlling the combinatoric problems that commonly arise in datadriven fusion systems. The informational constraints imposed by long lifetime requirements make systems vulnerable to false alarms. We demonstrate that our data fusion system significantly reduces false alarms while maintaining high sensitivity to threats. In addition, mission goals can vary substantially in terms of targets-of-interest, required characterization, acceptable latency, and false alarm rates. Our fusion architecture provides the flexibility to match these trade-offs with mission requirements unlike many conventional systems that require significant modifications for each new mission. We illustrate our data fusion performance with case studies that span many of the potential mission scenarios including border surveillance, base security, and infrastructure protection. In these studies, we deployed multi-modal sensor nodes - including geophones, magnetometers, accelerometers and PIR sensors - with low-power processing algorithms and low-bandwidth wireless mesh networking to create networks capable of multi-year operation. The results show our data fusion architecture maintains high sensitivities while suppressing most false alarms for a variety of environments and targets.

The Design of Tactile Thematic Symbols

Science.gov (United States)

Lawrence, Megan M.; Lobben, Amy K.

2011-01-01

The study reported here investigated the design and legibility of tactile thematic maps, focusing on symbolization and the comprehension of spatial patterns on the maps. The results indicate that discriminable and effective tactile thematic maps can be produced using classed data with a microcapsule paper production method. The participants…

Pressure Sensor: State of the Art, Design, and Application for Robotic Hand

Directory of Open Access Journals (Sweden)

Ahmed M. Almassri

2015-01-01

Full Text Available We survey the state of the art in a variety of force sensors for designing and application of robotic hand. Most of the force sensors are examined based on tactile sensing. For a decade, many papers have widely discussed various sensor technologies and transducer methods which are based on microelectromechanical system (MEMS and silicon used for improving the accuracy and performance measurement of tactile sensing capabilities especially for robotic hand applications. We found that transducers and materials such as piezoresistive and polymer, respectively, are used in order to improve the sensing sensitivity for grasping mechanisms in future. This predicted growth in such applications will explode into high risk tasks which requires very precise purposes. It shows considerable potential and significant levels of research attention.

Towards the Tactile Internet

DEFF Research Database (Denmark)

Szabó, Dávid; Gulyás, András; Fitzek, Frank

2015-01-01

5G communication networks enable the steering and control of Internet of Things and therefore require extreme low latency communication referred to as the tactile Internet. In this paper we show that the massive use of network coding throughout the network significantly improves latency and reduce...... the frequency of packet re-transmission, so an architecture built around network coding may be a feasible road towards realizing the tactile internet vision. Our contribution is threefold: (i) we show how network coding improves latency and reduces packet re-transmission with respect to other coding schemes...

A Novel Method for In-Situ Monitoring of Local Voltage, Temperature and Humidity Distributions in Fuel Cells Using Flexible Multi-Functional Micro Sensors

Science.gov (United States)

Lee, Chi-Yuan; Fan, Wei-Yuan; Chang, Chih-Ping

2011-01-01

In this investigation, micro voltage, temperature and humidity sensors were fabricated and integrated for the first time on a stainless steel foil using micro-electro-mechanical systems (MEMS). These flexible multi-functional micro sensors have the advantages of high temperature resistance, flexibility, smallness, high sensitivity and precision of location. They were embedded in a proton exchange membrane fuel cell (PEMFC) and used to simultaneously measure variations in the inner voltage, temperature and humidity. The accuracy and reproducibility of the calibrated results obtained using the proposed micro sensors is excellent. The experimental results indicate that, at high current density and 100%RH or 75%RH, the relative humidity midstream and downstream saturates due to severe flooding. The performance of the PEM fuel cell can be stabilized using home-made flexible multi-functional micro sensors by the in-situ monitoring of local voltage, temperature and humidity distributions within it. PMID:22319361

A novel method for in-situ monitoring of local voltage, temperature and humidity distributions in fuel cells using flexible multi-functional micro sensors.

Science.gov (United States)

Lee, Chi-Yuan; Fan, Wei-Yuan; Chang, Chih-Ping

2011-01-01

In this investigation, micro voltage, temperature and humidity sensors were fabricated and integrated for the first time on a stainless steel foil using micro-electro-mechanical systems (MEMS). These flexible multi-functional micro sensors have the advantages of high temperature resistance, flexibility, smallness, high sensitivity and precision of location. They were embedded in a proton exchange membrane fuel cell (PEMFC) and used to simultaneously measure variations in the inner voltage, temperature and humidity. The accuracy and reproducibility of the calibrated results obtained using the proposed micro sensors is excellent. The experimental results indicate that, at high current density and 100%RH or 75%RH, the relative humidity midstream and downstream saturates due to severe flooding. The performance of the PEM fuel cell can be stabilized using home-made flexible multi-functional micro sensors by the in-situ monitoring of local voltage, temperature and humidity distributions within it.

A Novel Method for In-Situ Monitoring of Local Voltage, Temperature and Humidity Distributions in Fuel Cells Using Flexible Multi-Functional Micro Sensors

Directory of Open Access Journals (Sweden)

Chih-Ping Chang

2011-01-01

Full Text Available In this investigation, micro voltage, temperature and humidity sensors were fabricated and integrated for the first time on a stainless steel foil using micro-electro-mechanical systems (MEMS. These flexible multi-functional micro sensors have the advantages of high temperature resistance, flexibility, smallness, high sensitivity and precision of location. They were embedded in a proton exchange membrane fuel cell (PEMFC and used to simultaneously measure variations in the inner voltage, temperature and humidity. The accuracy and reproducibility of the calibrated results obtained using the proposed micro sensors is excellent. The experimental results indicate that, at high current density and 100%RH or 75%RH, the relative humidity midstream and downstream saturates due to severe flooding. The performance of the PEM fuel cell can be stabilized using home-made flexible multi-functional micro sensors by the in-situ monitoring of local voltage, temperature and humidity distributions within it.

Enhanced tactile encoding and memory recognition in congenital blindness.

Science.gov (United States)

D'Angiulli, Amedeo; Waraich, Paul

2002-06-01

Several behavioural studies have shown that early-blind persons possess superior tactile skills. Since neurophysiological data show that early-blind persons recruit visual as well as somatosensory cortex to carry out tactile processing (cross-modal plasticity), blind persons' sharper tactile skills may be related to cortical re-organisation resulting from loss of vision early in their life. To examine the nature of blind individuals' tactile superiority and its implications for cross-modal plasticity, we compared the tactile performance of congenitally totally blind, low-vision and sighted children on raised-line picture identification test and re-test, assessing effects of task familiarity, exploratory strategy and memory recognition. What distinguished the blind from the other children was higher memory recognition and higher tactile encoding associated with efficient exploration. These results suggest that enhanced perceptual encoding and recognition memory may be two cognitive correlates of cross-modal plasticity in congenital blindness.

Effects of Operating Temperature on Droplet Casting of Flexible Polymer/Multi-Walled Carbon Nanotube Composite Gas Sensors

Directory of Open Access Journals (Sweden)

Jin-Chern Chiou

2016-12-01

Full Text Available This study examined the performance of a flexible polymer/multi-walled carbon nanotube (MWCNT composite sensor array as a function of operating temperature. The response magnitudes of a cost-effective flexible gas sensor array equipped with a heater were measured with respect to five different operating temperatures (room temperature, 40 °C, 50 °C, 60 °C, and 70 °C via impedance spectrum measurement and sensing response experiments. The selected polymers that were droplet cast to coat a MWCNT conductive layer to form two-layer polymer/MWCNT composite sensing films included ethyl cellulose (EC, polyethylene oxide (PEO, and polyvinylpyrrolidone (PVP. Electrical characterization of impedance, sensing response magnitude, and scanning electron microscope (SEM morphology of each type of polymer/MWCNT composite film was performed at different operating temperatures. With respect to ethanol, the response magnitude of the sensor decreased with increasing operating temperatures. The results indicated that the higher operating temperature could reduce the response and influence the sensitivity of the polymer/MWCNT gas sensor array. The morphology of polymer/MWCNT composite films revealed that there were changes in the porous film after volatile organic compound (VOC testing.

Flexible Piezoelectric Touch Sensor by Alignment of Lead-Free Alkaline Niobate Microcubes in PDMS

NARCIS (Netherlands)

Deutz, D.B.; Mascarenhas, N.T.; Schelen, J.B.J.; de Leeuw, D.M.; van der Zwaag, S.; Groen, W.A.

2017-01-01

A highly sensitive, lead-free, and flexible piezoelectric touch sensor is reported based on composite films of alkaline niobate K_0.485Na_0.485Li_0.03NbO₃ (KNLN) powders aligned in a polydimethylsiloxane (PDMS) matrix. KNLN powder is fabricated by

Tactile Stimulation and Consumer Response.

OpenAIRE

Hornik, Jacob

1992-01-01

Tactile behavior is a basic communication form as well as an expression of interpersonal involvement. This article presents three studies offering evidence for the positive role of casual interpersonal touch on consumer behavior. More specifically, it provides initial support for the view that tactile stimulation in various consumer behavior situations enhances the positive feeling for and evaluation of both the external stimuli and the touching source. Further, customers touched by a request...

Endoscopic vs. tactile evaluation of subgingival calculus.

Science.gov (United States)

Osborn, Joy B; Lenton, Patricia A; Lunos, Scott A; Blue, Christine M

2014-08-01

Endoscopic technology has been developed to facilitate imagery for use during diagnostic and therapeutic phases of periodontal care. The purpose of this study was to compare the level of subgingival calculus detection using a periodontal endoscope with that of conventional tactile explorer in periodontitis subjects. A convenience sample of 26 subjects with moderate periodontitis in at least 2 quadrants was recruited from the University of Minnesota School of Dentistry to undergo quadrant scaling and root planing. One quadrant from each subject was randomized for tactile calculus detection alone and the other quadrant for tactile detection plus the Perioscope ™ (Perioscopy Inc., Oakland, Cali). A calculus index on a 0 to 3 score was performed at baseline and at 2 post-scaling and root planing visits. Sites where calculus was detected at visit 1 were retreated. T-tests were used to determine within-subject differences between Perioscope™ and tactile measures, and changes in measures between visits. Significantly more calculus was detected using the Perioscope™ vs. tactile explorer for all 3 subject visits (pcalculus detection from baseline to visit 1 were statistically significant for both the Perioscope™ and tactile quadrants (pcalculus detection from visit 1 to visit 2 was only significant for the Perioscope™ quadrant (pcalculus at this visit. It was concluded that the addition of a visual component to calculus detection via the Perioscope™ was most helpful in the re-evaluation phase of periodontal therapy. Copyright © 2014 The American Dental Hygienists’ Association.

Design and Development of a Flexible Strain Sensor for Textile Structures Based on a Conductive Polymer Composite

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Claude Dufour

2007-04-01

Full Text Available The aim of this work is to develop a smart flexible sensor adapted to textile structures, able to measure their strain deformations. The sensors are “smart” because of their capacity to adapt to the specific mechanical properties of textile structures that are lightweight, highly flexible, stretchable, elastic, etc. Because of these properties, textile structures are continuously in movement and easily deformed, even under very low stresses. It is therefore important that the integration of a sensor does not modify their general behavior. The material used for the sensor is based on a thermoplastic elastomer (Evoprene/carbon black nanoparticle composite, and presents general mechanical properties strongly compatible with the textile substrate. Two preparation techniques are investigated: the conventional melt-mixing process, and the solvent process which is found to be more adapted for this particular application. The preparation procedure is fully described, namely the optimization of the process in terms of filler concentration in which the percolation theory aspects have to be considered. The sensor is then integrated on a thin, lightweight Nylon fabric, and the electromechanical characterization is performed to demonstrate the adaptability and the correct functioning of the sensor as a strain gauge on the fabric. A normalized relative resistance is defined in order to characterize the electrical response of the sensor. Finally, the influence of environmental factors, such as temperature and atmospheric humidity, on the sensor performance is investigated. The results show that the sensor’s electrical resistance is particularly affected by humidity. This behavior is discussed in terms of the sensitivity of the carbon black filler particles to the presence of water.

Mechanics of localized slippage in tactile sensing and application to soft sensing systems

CERN Document Server

Ho, Anh-Van

2014-01-01

Localized slippage occurs during any relative sliding of soft contacts, ranging from human fingertips to robotic fingertips. Although this phenomenon is dominant for a very short time prior to gross slippage, localized slippage is a crucial factor for any to-be-developed soft sensing system to respond to slippage before it occurs. The content of this book addresses all aspects of localized slippage, including modeling and simulating it, as well as applying it to the construction of novel sensors with slip tactile perception.

Tactile feedback display with spatial and temporal resolutions.

Science.gov (United States)

Vishniakou, Siarhei; Lewis, Brian W; Niu, Xiaofan; Kargar, Alireza; Sun, Ke; Kalajian, Michael; Park, Namseok; Yang, Muchuan; Jing, Yi; Brochu, Paul; Sun, Zhelin; Li, Chun; Nguyen, Truong; Pei, Qibing; Wang, Deli

2013-01-01

We report the electronic recording of the touch contact and pressure using an active matrix pressure sensor array made of transparent zinc oxide thin-film transistors and tactile feedback display using an array of diaphragm actuators made of an interpenetrating polymer elastomer network. Digital replay, editing and manipulation of the recorded touch events were demonstrated with both spatial and temporal resolutions. Analog reproduction of the force is also shown possible using the polymer actuators, despite of the high driving voltage. The ability to record, store, edit, and replay touch information adds an additional dimension to digital technologies and extends the capabilities of modern information exchange with the potential to revolutionize physical learning, social networking, e-commerce, robotics, gaming, medical and military applications.

Tactile Feedback Display with Spatial and Temporal Resolutions

Science.gov (United States)

Vishniakou, Siarhei; Lewis, Brian W.; Niu, Xiaofan; Kargar, Alireza; Sun, Ke; Kalajian, Michael; Park, Namseok; Yang, Muchuan; Jing, Yi; Brochu, Paul; Sun, Zhelin; Li, Chun; Nguyen, Truong; Pei, Qibing; Wang, Deli

2013-08-01

We report the electronic recording of the touch contact and pressure using an active matrix pressure sensor array made of transparent zinc oxide thin-film transistors and tactile feedback display using an array of diaphragm actuators made of an interpenetrating polymer elastomer network. Digital replay, editing and manipulation of the recorded touch events were demonstrated with both spatial and temporal resolutions. Analog reproduction of the force is also shown possible using the polymer actuators, despite of the high driving voltage. The ability to record, store, edit, and replay touch information adds an additional dimension to digital technologies and extends the capabilities of modern information exchange with the potential to revolutionize physical learning, social networking, e-commerce, robotics, gaming, medical and military applications.

Flexible quality of service model for wireless body area sensor networks.

Science.gov (United States)

Liao, Yangzhe; Leeson, Mark S; Higgins, Matthew D

2016-03-01

Wireless body area sensor networks (WBASNs) are becoming an increasingly significant breakthrough technology for smart healthcare systems, enabling improved clinical decision-making in daily medical care. Recently, radio frequency ultra-wideband technology has developed substantially for physiological signal monitoring due to its advantages such as low-power consumption, high transmission data rate, and miniature antenna size. Applications of future ubiquitous healthcare systems offer the prospect of collecting human vital signs, early detection of abnormal medical conditions, real-time healthcare data transmission and remote telemedicine support. However, due to the technical constraints of sensor batteries, the supply of power is a major bottleneck for healthcare system design. Moreover, medium access control (MAC) needs to support reliable transmission links that allow sensors to transmit data safely and stably. In this Letter, the authors provide a flexible quality of service model for ad hoc networks that can support fast data transmission, adaptive schedule MAC control, and energy efficient ubiquitous WBASN networks. Results show that the proposed multi-hop communication ad hoc network model can balance information packet collisions and power consumption. Additionally, wireless communications link in WBASNs can effectively overcome multi-user interference and offer high transmission data rates for healthcare systems.

A combined tactile and Raman probe for tissue characterization—design considerations

International Nuclear Information System (INIS)

Nyberg, Morgan; Candefjord, Stefan; Ramser, Kerstin; Lindahl, Olof A; Jalkanen, Ville

2012-01-01

Histopathology is the golden standard for cancer diagnosis and involves the characterization of tissue components. It is labour intensive and time consuming. We have earlier proposed a combined fibre-optic near-infrared Raman spectroscopy (NIR-RS) and tactile resonance method (TRM) probe for detecting positive surgical margins as a complement to interoperative histopathology. The aims of this study were to investigate the effects of attaching an RS probe inside a cylindrical TRM sensor and to investigate how laser-induced heating of the fibre-optic NIR-RS affected the temperature of the RS probe tip and an encasing TRM sensor. In addition, the possibility to perform fibre-optic NIR-RS in a well-lit environment was investigated. A small amount of rubber latex was preferable for attaching the thin RS probe inside the TRM sensor. The temperature rise of the TRM sensor due to a fibre-optic NIR-RS at 270 mW during 20 s was less than 2 °C. Fibre-optic NIR-RS was feasible in a dimmed bright environment using a small light shield and automatic subtraction of a pre-recorded contaminant spectrum. The results are promising for a combined probe for tissue characterization. (paper)

All solution-processed micro-structured flexible electrodes for low-cost light-emitting pressure sensors fabrication.

Science.gov (United States)

Shimotsu, Rie; Takumi, Takahiro; Vohra, Varun

2017-07-31

Recent studies have demonstrated the advantage of developing pressure-sensitive devices with light-emitting properties for direct visualization of pressure distribution, potential application to next generation touch panels and human-machine interfaces. To ensure that this technology is available to everyone, its production cost should be kept as low as possible. Here, simple device concepts, namely, pressure sensitive flexible hybrid electrodes and OLED architecture, are used to produce low-cost resistive or light-emitting pressure sensors. Additionally, integrating solution-processed self-assembled micro-structures into the flexible hybrid electrodes composed of an elastomer and conductive materials results in enhanced device performances either in terms of pressure or spatial distribution sensitivity. For instance, based on the pressure applied, the measured values for the resistances of pressure sensors range from a few MΩ down to 500 Ω. On the other hand, unlike their evaporated equivalents, the combination of solution-processed flexible electrodes with an inverted OLED architectures display bright green emission when a pressure over 200 kPa is applied. At a bias of 3 V, their luminance can be tuned by applying a higher pressure of 500 kPa. Consequently, features such as fingernails and fingertips can be clearly distinguished from one another in these long-lasting low-cost devices.

Transparent conducting films of hierarchically nanostructured polyaniline networks on flexible substrates for high-performance gas sensors.

Science.gov (United States)

Bai, Shouli; Sun, Chaozheng; Wan, Pengbo; Wang, Cheng; Luo, Ruixian; Li, Yaping; Liu, Junfeng; Sun, Xiaoming

2015-01-21

Transparent chemical gas sensors are assembled from a transparent conducting film of hierarchically nanostructured polyaniline (PANI) networks fabricated on a flexible PET substrate, by coating silver nanowires (Ag NWs) followed by the in situ polymerization of aniline near the sacrificial Ag NW template. The sensor exhibits enhanced gas sensing performance at room temperature in both sensitivity and selectivity to NH3 compared to pure PANI film. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Fluid-structure interaction-based biomechanical perception model for tactile sensing.

Directory of Open Access Journals (Sweden)

Zheng Wang

Full Text Available The reproduced tactile sensation of haptic interfaces usually selectively reproduces a certain object attribute, such as the object's material reflected by vibration and its surface shape by a pneumatic nozzle array. Tactile biomechanics investigates the relation between responses to an external load stimulus and tactile perception and guides the design of haptic interface devices via a tactile mechanism. Focusing on the pneumatic haptic interface, we established a fluid-structure interaction-based biomechanical model of responses to static and dynamic loads and conducted numerical simulation and experiments. This model provides a theoretical basis for designing haptic interfaces and reproducing tactile textures.

CameraCast: flexible access to remote video sensors

Science.gov (United States)

Kong, Jiantao; Ganev, Ivan; Schwan, Karsten; Widener, Patrick

2007-01-01

New applications like remote surveillance and online environmental or traffic monitoring are making it increasingly important to provide flexible and protected access to remote video sensor devices. Current systems use application-level codes like web-based solutions to provide such access. This requires adherence to user-level APIs provided by such services, access to remote video information through given application-specific service and server topologies, and that the data being captured and distributed is manipulated by third party service codes. CameraCast is a simple, easily used system-level solution to remote video access. It provides a logical device API so that an application can identically operate on local vs. remote video sensor devices, using its own service and server topologies. In addition, the application can take advantage of API enhancements to protect remote video information, using a capability-based model for differential data protection that offers fine grain control over the information made available to specific codes or machines, thereby limiting their ability to violate privacy or security constraints. Experimental evaluations of CameraCast show that the performance of accessing remote video information approximates that of accesses to local devices, given sufficient networking resources. High performance is also attained when protection restrictions are enforced, due to an efficient kernel-level realization of differential data protection.

Flexible and Lightweight Pressure Sensor Based on Carbon Nanotube/Thermoplastic Polyurethane-Aligned Conductive Foam with Superior Compressibility and Stability.

Science.gov (United States)

Huang, Wenju; Dai, Kun; Zhai, Yue; Liu, Hu; Zhan, Pengfei; Gao, Jiachen; Zheng, Guoqiang; Liu, Chuntai; Shen, Changyu

2017-12-06

Flexible and lightweight carbon nanotube (CNT)/thermoplastic polyurethane (TPU) conductive foam with a novel aligned porous structure was fabricated. The density of the aligned porous material was as low as 0.123 g·cm -3 . Homogeneous dispersion of CNTs was achieved through the skeleton of the foam, and an ultralow percolation threshold of 0.0023 vol % was obtained. Compared with the disordered foam, mechanical properties of the aligned foam were enhanced and the piezoresistive stability of the flexible foam was improved significantly. The compression strength of the aligned TPU foam increases by 30.7% at the strain of 50%, and the stress of the aligned foam is 22 times that of the disordered foam at the strain of 90%. Importantly, the resistance variation of the aligned foam shows a fascinating linear characteristic under the applied strain until 77%, which would benefit the application of the foam as a desired pressure sensor. During multiple cyclic compression-release measurements, the aligned conductive CNT/TPU foam represents excellent reversibility and reproducibility in terms of resistance. This nice capability benefits from the aligned porous structure composed of ladderlike cells along the orientation direction. Simultaneously, the human motion detections, such as walk, jump, squat, etc. were demonstrated by using our flexible pressure sensor. Because of the lightweight, flexibility, high compressibility, excellent reversibility, and reproducibility of the conductive aligned foam, the present study is capable of providing new insights into the fabrication of a high-performance pressure sensor.

A disposable flexible humidity sensor directly printed on paper for medical applications

Science.gov (United States)

Barmpakos, D.; Segkos, A.; Tsamis, C.; Kaltsas, G.

2017-11-01

The present study demonstrates an inkjet - printed interdigitated electrode array on paper substrate and its evaluation as humidity sensor. Inkjet droplet formation analysis has been performed in order to achieve repeatable results regarding generated droplets, based on the driving pulses applied on the inkjet piezoelectric element. Droplet formation has been monitored using stroboscopic effect. Three different paper substrates, namely high glossy inkjet photo paper, glossy inkjet photo and matte inkjet photo paper have been evaluated to investigate compatibility with the ink. Relative humidity measurements have been carried out in a controlled environment. Material degradation, long term response and memory effect are some of the aspects which were studied within the frame of the present work. The proposed sensor provides the opportunity for novel biomedical applications given the flexible substrate nature and the low - cost, single - step fabrication approach.

Development of a Flexible Strain Sensor Based on PEDOT:PSS for Thin Film Structures

Directory of Open Access Journals (Sweden)

Alexandra El Zein

2017-06-01

Full Text Available The aim of this study was to develop and optimize a reproducible flexible sensor adapted to thin low-density polyethylene (LDPE films and/or structures to enable their deformation measurements. As these deformations are suspected to be weak (less than 10%, the developed sensor needs to be particularly sensitive. Moreover, it is of prime importance that sensor integration and usability do not modify the mechanical behavior of its LDPE substrate. The literature review allowed several materials to be investigated and an elastomer/intrinsically conductive polymer PEDOT:PSS (CleviosTM filled composite was selected to simultaneously combine mechanical properties and electrical conductivity. This composite (made of PEDOT:PSS and silicone Bluesil® presented satisfying compatibilities with piezoresistive effects, negative temperature performances (in a range from −60 °C to 20 °C, as well as elongation properties (until the elastic limit of the substrate was reached. The method used for creating the sensor is fully described, as are the optimization of the sensor manufacture in terms of used materials, the used amount of materials where the percolation theory aspects must be considered, the adhesion to the substrate, and the manufacturing protocol. Electromechanical characterization was performed to assess the gauge factor (K of the sensor on its substrate.

A Fully Transparent Flexible Sensor for Cryogenic Temperatures Based on High Strength Metallurgical Graphene

Directory of Open Access Journals (Sweden)

Ryszard Pawlak

2016-12-01

Full Text Available Low-temperature electronics operating in below zero temperatures or even below the lower limit of the common −65 to 125 °C temperature range are essential in medical diagnostics, in space exploration and aviation, in processing and storage of food and mainly in scientific research, like superconducting materials engineering and their applications—superconducting magnets, superconducting energy storage, and magnetic levitation systems. Such electronic devices demand special approach to the materials used in passive elements and sensors. The main goal of this work was the implementation of a fully transparent, flexible cryogenic temperature sensor with graphene structures as sensing element. Electrodes were made of transparent ITO (Indium Tin Oxide or ITO/Ag/ITO conductive layers by laser ablation and finally encapsulated in a polymer coating. A helium closed-cycle cryostat has been used in measurements of the electrical properties of these graphene-based temperature sensors under cryogenic conditions. The sensors were repeatedly cooled from room temperature to cryogenic temperature. Graphene structures were characterized using Raman spectroscopy. The observation of the resistance changes as a function of temperature indicates the potential use of graphene layers in the construction of temperature sensors. The temperature characteristics of the analyzed graphene sensors exhibit no clear anomalies or strong non-linearity in the entire studied temperature range (as compared to the typical carbon sensor.

Merkel cells transduce and encode tactile stimuli to drive Aβ-afferent impulses

Science.gov (United States)

Ikeda, Ryo; Cha, Myeounghoon; Ling, Jennifer; Jia, Zhanfeng; Coyle, Dennis; Gu, Jianguo G.

2014-01-01

SUMMARY Sensory systems for detecting tactile stimuli have evolved from touch-sensing nerves in invertebrates to complicated tactile end-organs in mammals. Merkel discs are tactile end-organs consisting of Merkel cells and Aβ-afferent nerve endings, and are localized in fingertips, whisker hair follicles and other touch-sensitive spots. Merkel discs transduce touch into slowly adapting impulses to enable tactile discrimination, but their transduction and encoding mechanisms remain unknown. Using rat whisker hair follicles, we show that Merkel cells rather than Aβ-afferent nerve endings are primary sites of tactile transduction, and identify the Piezo2 ion channel as the Merkel cell mechanical transducer. Piezo2 transduces tactile stimuli into Ca2+-action potentials in Merkel cells, which drive Aβ-afferent nerve endings to fire slowly adapting impulses. We further demonstrate that Piezo2 and Ca2+-action potentials in Merkel cells are required for behavioral tactile responses. Our findings provide insights into how tactile end-organs function and have clinical implications for tactile dysfunctions. PMID:24746027

A Modified Tactile Brush Algorithm for Complex Touch Gestures

Energy Technology Data Exchange (ETDEWEB)

Ragan, Eric [Texas A& M University

2015-01-01

Several researchers have investigated phantom tactile sensation (i.e., the perception of a nonexistent actuator between two real actuators) and apparent tactile motion (i.e., the perception of a moving actuator due to time delays between onsets of multiple actuations). Prior work has focused primarily on determining appropriate Durations of Stimulation (DOS) and Stimulus Onset Asynchronies (SOA) for simple touch gestures, such as a single finger stroke. To expand upon this knowledge, we investigated complex touch gestures involving multiple, simultaneous points of contact, such as a whole hand touching the arm. To implement complex touch gestures, we modified the Tactile Brush algorithm to support rectangular areas of tactile stimulation.

Non-aqueous electrochemical deposition of lead zirconate titanate films for flexible sensor applications

Science.gov (United States)

Joseph, Sherin; Kumar, A. V. Ramesh; John, Reji

2017-11-01

Lead zirconate titanate (PZT) is one of the most important piezoelectric materials widely used for underwater sensors. However, PZTs are hard and non-compliant and hence there is an overwhelming attention devoted toward making it flexible by preparing films on flexible substrates by different routes. In this work, the electrochemical deposition of composition controlled PZT films over flexible stainless steel (SS) foil substrates using non-aqueous electrolyte dimethyl sulphoxide (DMSO) was carried out. Effects of various key parameters involved in electrochemical deposition process such as current density and time of deposition were studied. It was found that a current density of 25 mA/cm2 for 5 min gave a good film. The morphology and topography evaluation of the films was carried out by scanning electron microscopy (SEM) and atomic force microscopy (AFM), respectively, which showed a uniform morphology with a surface roughness of 2 nm. The PZT phase formation was studied using X-ray diffraction (XRD) and corroborated with Raman spectroscopic studies. The dielectric constant, dielectric loss, hysteresis and I-V characteristics of the film was evaluated.

Integration of auditory and tactile inputs in musical meter perception.

Science.gov (United States)

Huang, Juan; Gamble, Darik; Sarnlertsophon, Kristine; Wang, Xiaoqin; Hsiao, Steven

2013-01-01

Musicians often say that they not only hear but also "feel" music. To explore the contribution of tactile information to "feeling" music, we investigated the degree that auditory and tactile inputs are integrated in humans performing a musical meter-recognition task. Subjects discriminated between two types of sequences, "duple" (march-like rhythms) and "triple" (waltz-like rhythms), presented in three conditions: (1) unimodal inputs (auditory or tactile alone); (2) various combinations of bimodal inputs, where sequences were distributed between the auditory and tactile channels such that a single channel did not produce coherent meter percepts; and (3) bimodal inputs where the two channels contained congruent or incongruent meter cues. We first show that meter is perceived similarly well (70-85 %) when tactile or auditory cues are presented alone. We next show in the bimodal experiments that auditory and tactile cues are integrated to produce coherent meter percepts. Performance is high (70-90 %) when all of the metrically important notes are assigned to one channel and is reduced to 60 % when half of these notes are assigned to one channel. When the important notes are presented simultaneously to both channels, congruent cues enhance meter recognition (90 %). Performance dropped dramatically when subjects were presented with incongruent auditory cues (10 %), as opposed to incongruent tactile cues (60 %), demonstrating that auditory input dominates meter perception. These observations support the notion that meter perception is a cross-modal percept with tactile inputs underlying the perception of "feeling" music.

Testing Tactile Masking between the Forearms.

Science.gov (United States)

D'Amour, Sarah; Harris, Laurence R

2016-02-10

Masking, in which one stimulus affects the detection of another, is a classic technique that has been used in visual, auditory, and tactile research, usually using stimuli that are close together to reveal local interactions. Masking effects have also been demonstrated in which a tactile stimulus alters the perception of a touch at a distant location. Such effects can provide insight into how components of the body's representations in the brain may be linked. Occasional reports have indicated that touches on one hand or forearm can affect tactile sensitivity at corresponding contralateral locations. To explore the matching of corresponding points across the body, we can measure the spatial tuning and effect of posture on contralateral masking. Careful controls are required to rule out direct effects of the remote stimulus, for example by mechanical transmission, and also attention effects in which thresholds may be altered by the participant's attention being drawn away from the stimulus of interest. The use of this technique is beneficial as a behavioural measure for exploring which parts of the body are functionally connected and whether the two sides of the body interact in a somatotopic representation. This manuscript describes a behavioural protocol that can be used for studying contralateral tactile masking.

Unmyelinated tactile cutaneous nerves signal erotic sensations.

Science.gov (United States)

Jönsson, Emma H; Backlund Wasling, Helena; Wagnbeck, Vicktoria; Dimitriadis, Menelaos; Georgiadis, Janniko R; Olausson, Håkan; Croy, Ilona

2015-06-01

Intrapersonal touch is a powerful tool for communicating emotions and can among many things evoke feelings of eroticism and sexual arousal. The peripheral neural mechanisms of erotic touch signaling have been less studied. C tactile afferents (unmyelinated low-threshold mechanoreceptors), known to underpin pleasant aspects of touch processing, have been posited to play an important role. In two studies, we investigated the relationship between C tactile activation and the perception of erotic and pleasant touch, using tactile brushing stimulation. In total, 66 healthy subjects (37 women, age range 19-51 years) were examined. In study 1 (n = 20), five different stroking velocities were applied to the forearm and the inner thigh. The participants answered questions about partnership, mood, and touch. In study 2 (n = 46), the same five stroking velocities were applied to the forearm. The participants answered questions about partnership, touch, and sexuality. Both touch eroticism and pleasantness were rated significantly higher for C tactile optimal velocities compared with suboptimal velocities. No difference was found between the ratings of the thigh and the forearm. The velocity-dependent rating curves of pleasantness, intensity, and eroticism differed from each other. Pleasantness was best explained by a quadratic fit, intensity by a linear fit, and eroticism by both. A linear transformation of pleasantness and intensity predicted the observed eroticism ratings reliably. Eroticism ratings were negatively correlated with length of relationship. Touch was rated most erotic when perceived as pleasant and weak. In human hairy skin, perception of pleasantness is correlated with the firing rate of C tactile afferents, and perception of intensity is correlated with the firing rate of Aβ afferents. Accordingly, eroticism may be perceived most readily for touch stimuli that induce high activity in C tactile fibers and low activity in Aβ fibers. © 2015 International

Integrated pressure and temperature sensor with high immunity against external disturbance for flexible endoscope operation

Science.gov (United States)

Maeda, Yusaku; Maeda, Kohei; Kobara, Hideki; Mori, Hirohito; Takao, Hidekuni

2017-04-01

In this study, an integrated pressure and temperature sensor device for a flexible endoscope with long-term stability in in vivo environments was developed and demonstrated. The sensor, which is embedded in the thin wall of the disposable endoscope hood, is intended for use in endoscopic surgery. The device surface is coated with a Cr layer to prevent photoelectronic generation induced by the strong light of the endoscope. The integrated temperature sensor allows compensation for the effect of the temperature drift on a pressure signal. The fabricated device pressure resolution is 0.4 mmHg; the corresponding pressure error is 3.2 mmHg. The packaged device was used in a surgical simulation in an animal experiment. Pressure and temperature monitoring was achieved even in a pH 1 acid solution. The device enables intraluminal pressure and temperature measurements of the stomach, which facilitate the maintenance of internal stomach conditions. The applicability of the sensor was successfully demonstrated in animal experiments.

Respiration and Heartbeat Measurement for Sleep Monitoring Using a Flexible AlN Piezoelectric Film Sensor

Directory of Open Access Journals (Sweden)

Nan BU

2009-11-01

Full Text Available Respiratory and heartbeat monitoring during sleep provides basic physiological information for diagnosis of sleep disorders. This paper proposes a new method for non-invasive and unconstrained measurement of respiration and heartbeat during sleep. A flexible piezoelectric film sensor made of aluminum nitride (AlN material is used for signal acquisition. The total thickness of this sensor is less than 40 μm; the thin thickness makes it imperceptible when integrated into a bed. In addition, the AlN film sensor has good sensitivity, so that pressure fluctuation due to respiration and heartbeat can be measured when a subject is lying on this sensor. The pressure fluctuation measured can be further separated into signals corresponding to respiration and heartbeat, respectively. In the proposed method, the signal separation is achieved using an algorithm based on empirical mode decomposition (EMD. From the experimental results, it was found that respiration and heartbeat signals can be successfully obtained with the proposed method.

Acquisition of a bodily-tactile language as first language

DEFF Research Database (Denmark)

Ask Larsen, Flemming

2013-01-01

Language acquisition in the bodily-tactile modality is difficult to understand, describe, and support. This chapter advocates a reinterpretation of the gestural and idiosyncratic bodily-tactile communication of people with congenital deafblindness (CDB) in terms of early language acquisition...... towards Tactile Sign Language (TSL). The access to participation in complex TSL culture is crucial for language acquisition. We already know how to transfer the patterns of social interaction into the bodily-tactile modality. This is the fundation on which to build actual linguistic participation. TSL...... as a first language is presently a theoretic possibility. We need more research on how to accommodate TSL to language Development and on how to fit TSL into participation in complex cultural activities....

About Face: Evaluating and Managing Tactile Impairment at the Time of Autism Diagnosis

Directory of Open Access Journals (Sweden)

Louisa M. T. Silva

2015-01-01

Full Text Available Evaluation for sensory impairment is a routine part of autism diagnosis. Sensory impairment of hearing, vision, or touch results in developmental delay and must be addressed before delay can resolve. Recent studies confirm that tactile impairment is present in autism and can be effectively treated with a tactile stimulation protocol. The research suggests a change in management at the time of autism diagnosis to include evaluation and treatment of tactile impairment. Here we validate screening and management tool for tactile impairment, the Autism Touch and Self-Regulation Checklist, in 404 typical and autistic preschool children. The tool assesses tactile impairment by location and severity. Autistic children were distinguished by mixed pain and numbness on multiple areas including the face and mouth (F=412.1 (1,402;p<.000. Oral-facial tactile impairment interferes with the tactile stimulus to orienting. We hypothesized that oral-facial tactile impairment and difficulty orienting are predictive of ASD and that severity of tactile impairment is predictive of severity of ASD. Questions evaluating oral-facial and orienting responses correctly predicted 91% of the autism group. Severity of tactile impairment correctly predicted 81% of mild versus severe ASD. Results underscore the importance of evaluating and treating tactile impairment at the time of autism diagnosis.

A Case Study of Tactile Language and its Possible Structure

DEFF Research Database (Denmark)

Dammeyer, Jesper Herup; Nielsen, Anja; Strøm, Emilie

2015-01-01

Few published research papers concern the study of communication and language development among children with congenital deafblindness. The aim of this study is to explore and discuss linguistic features of what may be considered as tactile languages. By analysing one pilot video observation of a...... on direction, speed and acceleration of movements, pressure, and body position. It is discussed how tactile languages, if they exist, can be studied from its unique bodily-tactile nature and not as a modification of visual sign languages.......Few published research papers concern the study of communication and language development among children with congenital deafblindness. The aim of this study is to explore and discuss linguistic features of what may be considered as tactile languages. By analysing one pilot video observation...... of a five year old congenital deafblind child communicating with his mother about a slide experience tactile linguistic features of phonology, morphology, semantics and syntax were explored. The linguistic features of tactile language were found to involve a potential unique and complex structure based...

Tactile Experience Shapes Prey-Capture Behavior in Etruscan Shrews

Directory of Open Access Journals (Sweden)

Michael eBrecht

2012-06-01

Full Text Available A crucial role of tactile experience for the maturation of neural response properties in the somatosensory system is well established, but little is known about the role of tactile experience in the development of tactile behaviors. Here we study how tactile experience affects prey capture behavior in Etruscan shrews, Suncus etruscus. Prey capture in adult shrews is a high-speed behavior that relies on precise attacks guided by tactile Gestalt cues. We studied the role of tactile experience by three different approaches. First, we analyzed the hunting skills of young shrews right after weaning. We found that prey capture in young animals is most but not all aspects similar to that of adults. Second we performed whisker trimming for three to four weeks after birth. Such deprivation resulted in a lasting disruption of prey capture even after whisker re-growth: attacks lacked precise targeting and had a lower success rate. Third, we presented adult shrews with an entirely novel prey species, the giant cockroach. The shape of this roach is very different from the shrew’s normal (cricket prey and the thorax – the preferred point of attack in crickets – is protected a heavy cuticle. Initially shrews attacked giant roaches the same way they attack crickets and targeted the thoracic region. With progressive experience, however, shrews adopted a new attack strategy targeting legs and underside of the roaches while avoiding other body parts. Speed and efficiency of attacks improved. These data suggest that tactile experience shapes prey capture behavior.

Sensor system for web inspection

Science.gov (United States)

Sleefe, Gerard E.; Rudnick, Thomas J.; Novak, James L.

2002-01-01

A system for electrically measuring variations over a flexible web has a capacitive sensor including spaced electrically conductive, transmit and receive electrodes mounted on a flexible substrate. The sensor is held against a flexible web with sufficient force to deflect the path of the web, which moves relative to the sensor.

Robotics in hostile environment I. S. I. S. robot - automatic positioning and docking with proximity and force feed back sensors

Energy Technology Data Exchange (ETDEWEB)

Gery, D

1987-01-01

Recent improvements in control command systems and the development of tactile proximity and force feed back sensors make it possible to robotize complex inspection and maintenance operations in hostile environment, which could have not been possible by classical remotely operated manipulators. We describe the I.S.I.S. robot characteristics, the control command system software principles and the tactile and force-torque sensors which have been developed for the different sequences of an hostile environment inspection and repair: access trajectories generation with obstacles shunning, final positioning and docking using parametric algorithms taking into account measurement of the end of arm proximity and force-torque sensors.

Bend, stretch, and touch: Locating a finger on an actively deformed transparent sensor array.

Science.gov (United States)

Sarwar, Mirza Saquib; Dobashi, Yuta; Preston, Claire; Wyss, Justin K M; Mirabbasi, Shahriar; Madden, John David Wyndham

2017-03-01

The development of bendable, stretchable, and transparent touch sensors is an emerging technological goal in a variety of fields, including electronic skin, wearables, and flexible handheld devices. Although transparent tactile sensors based on metal mesh, carbon nanotubes, and silver nanowires demonstrate operation in bent configurations, we present a technology that extends the operation modes to the sensing of finger proximity including light touch during active bending and even stretching. This is accomplished using stretchable and ionically conductive hydrogel electrodes, which project electric field above the sensor to couple with and sense a finger. The polyacrylamide electrodes are embedded in silicone. These two widely available, low-cost, transparent materials are combined in a three-step manufacturing technique that is amenable to large-area fabrication. The approach is demonstrated using a proof-of-concept 4 × 4 cross-grid sensor array with a 5-mm pitch. The approach of a finger hovering a few centimeters above the array is readily detectable. Light touch produces a localized decrease in capacitance of 15%. The movement of a finger can be followed across the array, and the location of multiple fingers can be detected. Touch is detectable during bending and stretch, an important feature of any wearable device. The capacitive sensor design can be made more or less sensitive to bending by shifting it relative to the neutral axis. Ultimately, the approach is adaptable to the detection of proximity, touch, pressure, and even the conformation of the sensor surface.

Tactile Studio, artigianato digitale al servizio dell’accessibilità

OpenAIRE

Riccardo Leone; Philippe Moreau

2017-01-01

Tactile Studio is a design agency for universal design in arts and culture. Tactile experiences are essential for people with visual impairm ents and gr eatly assist many people with cognitive disabilities. Tactile experiences should be included in every exhibition. Children, older adults, people with language diff iculties or fr om diff erent cultural backgr ounds..To name an audience who will not benefit fr om these designs is impossible. Pioneers in France, the nation's top museums have en...

Nanomaterial-Enabled Wearable Sensors for Healthcare.

Science.gov (United States)

Yao, Shanshan; Swetha, Puchakayala; Zhu, Yong

2018-01-01

Highly sensitive wearable sensors that can be conformably attached to human skin or integrated with textiles to monitor the physiological parameters of human body or the surrounding environment have garnered tremendous interest. Owing to the large surface area and outstanding material properties, nanomaterials are promising building blocks for wearable sensors. Recent advances in the nanomaterial-enabled wearable sensors including temperature, electrophysiological, strain, tactile, electrochemical, and environmental sensors are presented in this review. Integration of multiple sensors for multimodal sensing and integration with other components into wearable systems are summarized. Representative applications of nanomaterial-enabled wearable sensors for healthcare, including continuous health monitoring, daily and sports activity tracking, and multifunctional electronic skin are highlighted. Finally, challenges, opportunities, and future perspectives in the field of nanomaterial-enabled wearable sensors are discussed. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

A Flexible Sensor Technology for the Distributed Measurement of Interaction Pressure

Science.gov (United States)

Donati, Marco; Vitiello, Nicola; De Rossi, Stefano Marco Maria; Lenzi, Tommaso; Crea, Simona; Persichetti, Alessandro; Giovacchini, Francesco; Koopman, Bram; Podobnik, Janez; Munih, Marko; Carrozza, Maria Chiara

2013-01-01

We present a sensor technology for the measure of the physical human-robot interaction pressure developed in the last years at Scuola Superiore Sant'Anna. The system is composed of flexible matrices of opto-electronic sensors covered by a soft silicone cover. This sensory system is completely modular and scalable, allowing one to cover areas of any sizes and shapes, and to measure different pressure ranges. In this work we present the main application areas for this technology. A first generation of the system was used to monitor human-robot interaction in upper- (NEUROExos; Scuola Superiore Sant'Anna) and lower-limb (LOPES; University of Twente) exoskeletons for rehabilitation. A second generation, with increased resolution and wireless connection, was used to develop a pressure-sensitive foot insole and an improved human-robot interaction measurement systems. The experimental characterization of the latter system along with its validation on three healthy subjects is presented here for the first time. A perspective on future uses and development of the technology is finally drafted. PMID:23322104

Synthesis of ZnO tetrapods for flexible and transparent UV sensors