Force Sensor Research Articles

On the Calibration, Fault Detection and Recovery of a Force Sensing Device

On the Calibration, Fault Detection and Recovery of a Force Sensing Device

Sensitivity enhancement of nonlinear micromechanical sensors using parametric symmetry breaking

The working mechanism of resonant sensors is based on tracking the frequency shift in the linear vibration range. Contrary to the conventional paradigm, in this paper, we show that by tracking the dramatic frequency shift of the saddle-node bifurcation on the nonlinear parametric isolated branches in response to external forces, we can dramatically boost the sensitivity of MEMS force sensors. Specifically, we first theoretically and experimentally investigate the double hysteresis phenomena of a parametrically driven micromechanical resonator under the interaction of intrinsic nonlinearities and direct external drive. We demonstrate that the double hysteresis is caused by symmetry breaking in the phase states. The frequency response undergoes an additional amplitude jump from the symmetry-breaking-induced parametric isolated branch to the main branch, resulting in double hysteresis in the frequency domain. We further demonstrate that significant force sensitivity enhancement can be achieved by monitoring the dramatic frequency shift of the saddle-node bifurcations on the parametric isolated branches before the bifurcations annihilate. Based on the sensitivity enhancement effect, we propose a new sensing scheme which employs the frequency of the top saddle-node bifurcation in the parametric isolated branches as an output metric to quantify external forces. The concept is verified on a resonant MEMS charge sensor. A sensitivity of up to 39.5 ppm/fC is achieved, significantly surpassing the state-of-the-art resonant charge sensors. This work provides a new mechanism for developing force sensors of high sensitivity.

Clinical determination of the natural distensibility of the human ureter: initial study.

To define the natural distensibility of the human ureter and evaluate the impact of other possibly favourable factors on ureteric distensibility. A total of 101 patients undergoing ureteroscopic stone removal or percutaneous nephrolithotomy underwent ureteric sizing using sequential passage of 37-cm urethral dilators in 2-F increments while attached to a unique force sensor. Insertion forces were limited to 6 N. After 6 N was attained, an appropriately sized ureteric access sheath was passed. At the conclusion of each procedure, Post-Ureteroscopic Lesion Scale score was determined. Urethral dilators were passed in 61% of patients at ≤14 F; 39% of patients accepted urethral dilators of ≥16 F. The mean dilator size was 14 F. Multivariate logistic regression analysis revealed that preprocedural ureteric stenting and antibiotic use favoured passage of 16-F dilators (odds ratio [OR] 5.16, 95% confidence interval [CI] 1.70-15.62 [P = 0.004] and OR 5.15, 95% CI 1.743-15.243 [P = 0.003], respectively). Neither tamsulosin nor prior urinary tract infection had an impact on ureteric size (OR 0.765, 95% CI 0.281-2.084 [P = 0.601], OR 1.049, 95% CI 0.269-4.089 [P = 0.945], respectively). Using continuous insertion force monitoring and a 6-N threshold, the majority of unstented adult human ureters within our patient population safely accommodated a 14-F dilator. Safe passage of a 16-F dilator at the 6-N threshold was more likely among patients with a preexisting indwelling ureteric stent or patients who were treated with antibiotics within a week of the procedure.

Comparing the Ground Reaction Forces, Toe Clearances, and Stride Lengths of Young and Older Adults Using a Novel Shoe Sensor System

In this study, we developed a lightweight shoe sensor system equipped with four high-capacity, compact triaxial force sensors and an inertial measurement unit. Remarkably, this system enabled measurements of localized three-directional ground reaction forces (GRFs) at each sensor position (heel, first and fifth metatarsal heads, and toe) and estimations of stride length and toe clearance during walking. Compared to conventional optical motion analysis systems, the developed sensor system provided relatively accurate results for stride length and minimum toe clearance. To test the performance of the system, 15 older and 8 young adults were instructed to walk along a straight line while wearing the system. The results reveal that compared to the young adults, older adults exhibited lower localized GRF contributions from the heel and greater localized GRF contribution from the toe and fifth metatarsal locations. Furthermore, the older adults exhibited greater variability in their stride length and smaller toe clearance with greater variability compared to the young adults. These results underscore the effectiveness of the proposed gait analysis system in distinguishing the gait characteristics of young and older adults, potentially replacing traditional motion capture systems and force plates in gait analysis.

Selection of Force Sensors for In Situ Measurement of Neotissue Microenvironments.

Mechanical forces are a critical stimulus in both native and engineered tissues. Direct measurement of these microenvironmental forces has been challenging, particularly for cell-dense models. To address this, we previously developed hydrogel-based force sensors that are approximately the size of a cell and can be imaged over time to computationally assess the forces exerted by surrounding cells and matrix. The goal of this project was to identify how the physical characteristics of force sensors impact measurements. Sensors were varied in size, elastic modulus, and surface coating before being included in stem cell suspensions that then spontaneously self-assembled into spheroidal neotissues. Using this model of early mesenchymal condensation, we hypothesized that larger, softer sensors would provide greater sensitivity and precision, whereas protein coatings would influence the directionality of applied forces (tensile vs. compressive). These experiments were conducted using a high-content imaging system that allowed analysis of over a thousand sensors to evaluate the various conditions. Results indicated that measurement fidelity was highest for force sensors that had a diameter >20 µm and modulus ∼0.2 kPa. Extremely soft sensors deformed too much, whereas stiffer sensors deformed too little. Collagen and N-cadherin coatings, which replicated cell-matrix or cell-cell binding, respectively, allowed for tensile forces to be exerted on the sensors, with greater forces being observed for N-cadherin sensors in these highly cellular neotissue constructs. Uncoated sensors were universally compressed due to the lack of cell-sensor adhesion. Disruption of the actin cytoskeleton lessened microenvironmental forces, whereas disruption of microtubules had no measurable effect. Potential future applications of the technology include studies of in situ forces in developing tissues as well as a real-time sensor for monitoring the growth of engineered constructs.

Piezo1-Mediated Mechanotransduction Contributes to Disturbed Flow-Induced Atherosclerotic Endothelial Inflammation.

Disturbed flow generates oscillatory shear stress (OSS), which in turn leads to endothelial inflammation and atherosclerosis. Piezo1, a biomechanical force sensor, plays a crucial role in the cardiovascular system. However, the specific role of Piezo1 in atherosclerosis remains to be fully elucidated. We detected the expression of Piezo1 in atherosclerotic mice and endothelial cells from regions with disturbed blood flow. The pharmacological inhibitor Piezo1 inhibitor (GsMTx4) was used to evaluate the impact of Piezo1 on plaque progression and endothelial inflammation. We examined Piezo1's direct response to OSS invitro and its effects on endothelial inflammation. Furthermore, mechanistic studies were conducted to explore the potential molecular cascade through which Piezo1 mediates endothelial inflammation in response to OSS. Our findings revealed the upregulation of Piezo1 in apoE-/- (apolipoprotein E) atherosclerotic mice, which is associated with disturbed flow. Treatment with GsMTx4 not only delayed plaque progression but also mitigated endothelial inflammation in both chronic and disturbed flow-induced atherosclerosis. Piezo1 was shown to facilitate calcium ions (Ca2+)influx in response to OSS, thereby activating endothelial inflammation. This inflammatory response was attenuated in the absence of Piezo1. Additionally, we identified that under OSS, Piezo1 activates the Ca2+/CaM/CaMKII (calmodulin/calmodulin-dependent protein kinases Ⅱ) pathways, which subsequently stimulate downstream kinases FAK (focal adhesion kinase) and Src. This leads to the activation of the OSS-sensitive YAP (yes-associated protein), ultimately triggering endothelial inflammation. Our study highlights the key role of Piezo1 in atherosclerotic endothelial inflammation, proposing the Piezo1-Ca2+/CaM/CaMKII-FAK/Src-YAP axis as a previously unknown endothelial mechanotransduction pathway. Piezo1 is expected to become a potential therapeutic target for atherosclerosis and cardiovascular diseases.

Ankle tendon electrical stimulation to enhance sensation of walking on a slope in walking-in-place

This study aimed to develop an effective VR locomotion technique for walking through virtual environments with sloped ground. Thus, this paper presents a novel method for inducing the sensation of walking on a slope in walking-in-place (WIP) using ankle tendon electrical stimulation (TES), which induces the body tilt sensation. We conducted two experiments to evaluate the effectiveness of the proposed method. In Experiment 1, we evaluated the sensation of ascending and descending slopes induced by the proposed method in a setup where electricity flows when the feet are grounded by comparing it to the sensation on a real slope. Experiment 1 demonstrated a marginally significant effect of electrical stimulation on the sensation of ascending or descending slopes. We attributed this to the short duration of ankle TES and the influence of the user’s interpretation of the ankle TES. Based on the findings, Experiment 2 was conducted in a setup where ankle TES was constantly applied. The results indicated that participants who focused on the subjective body tilt sensation elicited by TES and those unaware of the TES effect experienced an ascending sensation with an anterior ankle TES and a descending sensation with a posterior ankle TES. Conversely, those who focused on the tactile or force sensation induced by ankle TES experienced the opposite effect. Based on this finding, we have constructed an implementation guide for a WIP system that incorporates ankle TES to present the desired sensation of ascending or descending slopes in virtual environments.

Joint position and force senses in young female tennis players and untrained adolescents.

The aim of the study was to determine the differences between tennis players and untrained peers in the development of upper limb proprioception in 10-15-year-olds. A group of 67 girls (12.75 ± 1.46 years old), including 33 tennis players and 34 age-matched untrained controls, was divided into three age groups: A1, 10-11-years-old; A2, 12-13-years-old; and A3, 14-15-years-old. Joint position sense (JPS) and force sense (FS) were assessed by reproducing memorized target angle or torque value of three joints: glenohumeral, elbow, and radiocarpal. The JPS error for the elbow joint in group A1 was 71% and 80% higher (p < 0.01) than that in groups A2 and A3, respectively, and the performance of all tennis players was 27.5% (p = 0.01) better than that of untrained controls. For FS, proprioception of only the more demanding task tested (reproduction of 50% maximal voluntary contraction) and specific function (elbow and radiocarpal extension, and glenohumeral internal rotation) showed development with age. The error values for elbow extension (A1, A2) and the glenohumeral joint (A3) of tennis players were lower than those of age-matched controls. We conclude that the development of FS in the upper limb varied and was related to the specific functions and joints. The 10-13-year-old tennis players showed elbow extensor FS performance at the level of the older participants, while the 14-15-year-old tennis players were characterized with superior FS internal rotation performance in the glenohumeral joint.

Design, Evaluation & Implementation of a Novel MRI-compatible Physiologic Loading Simulator for Ex-Vivo Joints.

Quantitative magnetic resonance imaging (qMRI), in combination with mechanical testing, offers potential to investigate how loading is related to joint and tissue function. However, current testing devices compatible with MRI are often limited to uniaxial compression, often applying low loads, or loading individual tissues (instead of multiple), while more complex simulators do not facilitate MRI. Hence, in this work, we designed, built and tested (N=1) an MRI-compatible multiaxial load-control system which enables scanning cadaveric joints (healthy or pathologic) loaded to physiologically-relevant levels. Testing involved estimating and validating physiologic loading conditions before implementing them experimentally on cadaver knees to simulate and image gait loading (stance and swing). The resulting design consisted of a portable loading device featuring pneumatic actuators to reach a combined loading scenario, including axial compression (=2.5 kN), shear (=1 kN), bending (=30 N·m) and muscle tension. Initial laboratory testing was carried out; specifically, the device was instrumented with force and pressure sensors to evaluate loading and contact response repeatability in one cadaver knee specimen. This loading system was able to simulate healthy or pathologic gait with reasonable repeatability (e.g., 1.23 to 2.91 % coefficient of variation for axial compression), comparable to current state-of-the-art simulators, leading to generally consistent contact responses. Contact measurements demonstrated a tibiofemoral to patellofemoral load transfer with knee flexion and large contact pressures concentrated over small sites between the femoral cartilage and menisci, agreeing with experimental studies and numerical simulations in the literature.

Nanovibrational Stimulation of Escherichia coli Mitigates Surface Adhesion by Altering Cell Membrane Potential.

Mechanical forces shape living matter from the macro- to the microscale as both eukaryotic and prokaryotic cells are force wielders and sensors. However, whereas such forces have been used to control mechanically dependent behaviors in mammalian cells, we lack the same level of understanding in bacteria. Surface adhesion, the initial stages of biofilm formation and surface biofouling, is a mechanically dependent process, which makes it an ideal target for mechano-control. In this study, we employed nanometer surface vibrations to mechanically stimulate bacteria and investigate their effect on adhesion. We discovered that vibrational stimulation at the nanoscale consistently reduces surface adhesion by altering cell membrane potential. Our findings identify a link between bacteria electrophysiology and surface adhesion and provide evidence that the nanometric mechanical "tickling" of bacteria can inhibit surface adhesion.

Three-Dimensional Turning Force Sensor Based on a Decagonal Ring Structure: Crosstalk Mitigation Design and Performance Optimization

Abstract Real-time data acquisition using high-precision three-dimensional turning force sensors is crucial for intelligent manufacturing. However, existing sensors face challenges such as low integration levels and poor crosstalk resistance, rendering them inadequate for high-precision measurements. Theoretical analysis has demonstrated that a fully centered decagonal ring structure can effectively mitigate the effects of eccentric loading. This study focuses on designing a fully centered turning force sensor with minimal crosstalk. To achieve a balance between sensitivity and stiffness, multi-objective optimization was conducted using GWO-BP and TOP algorithms, resulting in a twofold increase in the sensitivity of the decagonal ring. The sensor design incorporates metallic strain gauges, instrumentation amplifiers, and peripheral circuits into the ring arms of the decagonal structure. Experimental results show that the sensor’s amplified sensitivities in the Fc, Ff, and Fp directions are 11.78 mV/N, 10.31 mV/N, and 1.78 mV/N, respectively. The first three natural frequencies in an unconstrained state are 2518.5 Hz, 2537.5 Hz, and 4256.4 Hz. The sensor's Fc-Fy crosstalk ranges from 0.18% to 0.88%, with noise limits for the Fc, Ff, and Fp directions of 0.035 N, 0.03 N, and 0.23 N, respectively. Cutting experiments have demonstrated that under varying spindle speeds and cutting depths, the sensor effectively detects surges in cutting force caused by rapid tool retraction, as well as other common faults.&amp;#xD;

Development of an Algorithm for Determining the Class of an Obstacle in the Process of its Interaction with the Manipulator

The article discusses the problem of determining the nature of an obstacle using a force sensor for terrain mapping. Three classes of objects have been introduced: the first class is "static" obstacles, the second class is "moving" obstacles, the third class is "unstable" obstacles. To conduct experiments, a simulation system was built in the Gazebo modeling environment, including a manipulator with the ability to horizontally move a probe with a force sensor and a set of obstacles corresponding to three classes of obstacles. All experiments were carried out using the ROS framework, the Gazebo simulator and the Movelt manipulation software. Processing of signals from the force sensor showed that the sig­nals for the three classes of obstacles are different, which makes it possible to identify the class based on sensor readings. Based on the analysis of data received from the sensor, rules were formed that make it possible to determine the class of an obstacle during its interaction with the manipulator in real time. To determine the obstacle class, the values of the force sensor signals are considered, smoothed by the moving average method. According to the rules discussed in the article, an algorithm was developed to determine the class of obstacle, which was implemented in the Gazebo modeling environment. Testing of the algorithm showed the stability of its operation under the given experimental conditions. Successful determination of the obstacle class will allow one not only to construct a map of the area, but also to prevent damage to the device when exposed to a "static" object with excessive force. The presented approach can be expanded to narrower classes of obstacles that characterize objects that can be encountered by a mobile device when mapping a forest area.

Engineering of a Bio-Inspired Tiltable Oscillating Fin Submersible Thruster

Oscillating fins are devices designed to produce thrust through periodic undulating movements. However, these structures lack flexibility and often provide thrust in only one fixed direction. Observation and biological references suggest that the dorsal fin rays of seahorses can tilt longitudinally in the spine direction, changing the thrust direction. This study aims to analyze the dynamic effects of seahorse dorsal fin inclining and design a flexible bionic thruster based on this principle. Computational fluid dynamics analysis hypothesizes that fin inclination controls the net force direction in the vertical plane. A force sensor and pulley system test platform were constructed to examine the influences of wave features and the inclination angle on thrust in both vertical and horizontal directions, with discrete fin surfaces used to eliminate force interference. Force testing and snapshots indicate that wave velocity positively impacts net force magnitude, while fin inclination allows for control over force orientation. This tiltable oscillating fin thruster possesses more degrees of freedom, leading to better flexibility and providing controllable thrust orientation.

Hierarchically‐Interlocked, Three‐Axis soft Iontronic Sensor for Omnidirectional Shear and Normal Forces

AbstractArtificial tactile sensing capable of measuring shear and normal forces is crucial for the diverse human‐machine interactions and dexterous robotic manipulations. However, existing soft multi‐axis force sensors usually suffer from limited detectable directions and complex coupling mechanisms, limiting their applications in realistic wearable and robotic systems. Here, a hierarchically‐interlocked, three‐axis soft iontronic sensor is presented with an asymmetrical electrode pattern that leverages the mortise‐and‐tenon structure and ultracapacitive principle to detect omnidirectional shear and normal forces. The designed sensor facilitates the decoupling process and achieves enhanced sensing performances including high accuracy, fast response ability, and mechanical robustness. Prototypical integration and application of the sensor are demonstrated to perform wearable telecontrol of virtual platforms and assist robot gripper through closed‐loop force feedback. A sensing array is further developed to construct a touch panel and identify handwriting based on the continuously measured directions of applied forces. This work may offer a potentially promising solution for the next‐generation intelligent electronic skins requiring multimodal tactile sensing information.

A high-sensitivity flexible bionic tentacle sensor for multidimensional force sensing and autonomous obstacle avoidance applications

Bionic tentacle sensors are important in various fields, including obstacle avoidance, human‒machine interfaces, and soft robotics. However, most traditional tentacle sensors are based on rigid substrates, resulting in difficulty in detecting multidirectional forces originating from the external environment, which limits their application in complex environments. Herein, we proposed a high-sensitivity flexible bionic tentacle sensors (FBTSs). Specifically, the FBTS featured an ultrahigh sensitivity of 37.6 N−1 and an ultralow detection limit of 2.4 mN, which benefited from the design of a whisker-like signal amplifier and crossbeam architecture. Moreover, the FBTS exhibited favorable linearity (R2 = 0.98) and remarkable durability (more than 5000 cycles). This was determined according to the improvement in the uniformity of the sensing layer through a high-shear dispersion process. In addition, the FBTS could accurately distinguish the direction of external stimuli, resulting in the FBTS achieving roughness recognition, wind speed detection and autonomous obstacle avoidance. In particular, the ability of autonomous obstacle avoidance was suitably demonstrated by leading a bionic rat through a maze with the FBTS. Notably, the proposed FBTS could be widely applied in tactile sensing, orientation perception, and obstacle avoidance.

Senswing: A Force Sensing Wing for Intelligent Flapping-Wing Aerial Vehicles—Wing Design and Comprehensive Evaluation of Force Sensing Capabilities

This paper proposes a force-sensing wing, Senswing, to enhance the intelligence of flapping-wing aerial vehicles (FWAVs). Force perception is a crucial capability for robots to interact safely and effectively in unknown environments. However, FWAVs perform flapping motions with significant acceleration and deceleration, which can cause the flexure element inside force sensors to deteriorate due to repeated loading or even fail due to impulsive forces. To address this, we constructed a force measurement system by attaching 16 strain gauges directly to the wing root while maintaining high rigidity. We confirmed that the external force measurement capability closely matched the values obtained by a six-axis force sensor, with almost no error. Additionally, when measuring aerodynamic forces during wing flapping, the sensor could detect differences in wind speed even during flapping. With this sensor, FWAVs can achieve in-flight measurement of thrust and lift through a force-sensing system.

Design and Evaluation of a Novel Variable Stiffness Hip Joint Exoskeleton.

An exoskeleton is a wearable device with human-machine interaction characteristics. An ideal exoskeleton should have kinematic and kinetic characteristics similar to those of the wearer. Most traditional exoskeletons are driven by rigid actuators based on joint torque or position control algorithms. In order to achieve better human-robot interaction, flexible actuators have been introduced into exoskeletons. However, exoskeletons with fixed stiffness cannot adapt to changing stiffness requirements during assistance. In order to achieve collaborative control of stiffness and torque, a bionic variable stiffness hip joint exoskeleton (BVS-HJE) is designed in this article. The exoskeleton proposed in this article is inspired by the muscles that come in agonist-antagonist pairs, whose actuators are arranged in an antagonistic form on both sides of the hip joint. Compared with other exoskeletons, it has antagonistic actuators with variable stiffness mechanisms, which allow the stiffness control of the exoskeleton joint independent of force (or position) control. A BVS-HJE model was established to study its variable stiffness and static characteristics. Based on the characteristics of the BVS-HJE, a control strategy is proposed that can achieve independent adjustment of joint torque and joint stiffness. In addition, the variable stiffness mechanism can estimate the output force based on the established mathematical model through an encoder, thus eliminating the additional force sensors in the control process. Finally, the variable stiffness properties of the actuator and the controllability of joint stiffness and joint torque were verified through experiments.

Autonomous intelligent additive manufacturing of continuous fiber-reinforced composites: data-enhanced knowledgebase and multi-sensor fusion

ABSTRACT Additive manufacturing (AM) are an emerging technique to generate complex structures of composite. However, the instability of the AM process leads to adverse manufacturing effects, including dimensional inaccuracies and poor mechanical performance in CFRP composites. Online monitoring and adaptive control based on autonomous cognition are suggested to ensure the accuracy of as-fabricated parts and enhance their quality upon manufacturing. In this study, a method of online monitoring and self-adaptive control based on multi-sensor fusion is proposed to predict and adjust the process parameters during AM of CFRP. The force sensor, visual camera, and thermal camera are employed to obtain the multiple signals upon manufacturing and then realize the autonomous perception, cognition, and decision features. Herein, the quantitative correlations between local defects and multi-sensing features are established to guide the decision-making of closed-loop adjustment. Besides, an empirical surrogate model between the misalignment of fiber bundles and input parameters is built to predict the proper parameters. Moreover, the temperature difference and contact force are selected as the controlled features, which are acquired using a thermal camera and a force sensor. The proposed system offers a novel framework for bolstering both the stability of the AM process and the quality of fabricated components.

Force Measurement Standards Up to 1 MN and Above

The use of force measurements standards ensures testing of load and force sensors designed for measuring and studying large loads in rocket science, nuclear power plant construction, and testing of structural materials. The article provides an overview of the State Primary Standard of force GET 32–2011 of the Russian Federation in the range up to 1 MN, and also analyzes international experience in the field of reproduction of the unit of force with a value above 1 MN. The range of reproduction and composition of loads of the deadweight machine EU-100 from the composition of the State Primary Standard of force GET 32–2011 of the Russian Federation, deadweight machine of the Physical-Technical Federal Institute (PTB, Germany), deadweight machine of the National Institute of Standards and Technologies, deadweight machine of the Fujian Institute for Metrology (FPIM, China) and the deadweight machine of the Korea Research Institute of Standards and Science (KRISS, Republic of Korea) were assessed. The article is of scientific and practical interest to specialists in the field of reproduction of the unit of force of large values. The generalized experience can become the basis for research in the field of improving the standards of force. The review is also addressed to teachers and students of specialized disciplines of higher education.

Visual inspection and grasping methods based on deep learning

Aiming at the problems of existing robot grasping systems that have high hardware requirements, are difficult to adapt to different objects, and produce large harmful torques during the grasping process, a visual detection and grasping method based on deep learning is proposed. The channel attention mechanism is used to improve YOLO-V3, enhance the network's ability to extract image features, improve the effect of target detection in complex environments, and increase the average recognition rate compared with the original . Aiming at the problem of discreteness of the current pose estimation angle, a minimum area bounding rectangle (MABR) algorithm based on the main network embedded in the Visual Geometry Group 16 (VGG-16) is proposed to perform grasping pose estimation and angle optimization. The average error between the improved grasping angle and the actual angle of the target is less than , which greatly reduces the harmful torque applied by the two-finger manipulator to the object during the grasping process. A visual grasping system was built using UR5 robotic arm, pneumatic two-finger manipulator, Realsense D435 camera and ATI-Mini45 six-dimensional force sensor. Experiments show that the proposed method can effectively grasp and classify different objects, has low hardware requirements, and reduces harmful torque by about , thereby reducing damage to objects. It has good application prospects.