Contact Force Measurement Research Articles

An FBG-based method for load measurement of a cylindrical rolling element bearing

Abstract Contact forces between raceways and rolling elements of a bearing stand as crucial operational aspects defining the bearing’s performance. While monitoring bearing load through load cells or strain gauges on the shaft or housing is feasible, it may not precisely reflect the distributed load transmitted by the rollers directly to the raceways. This paper introduces a method to calculate these contact forces, relying on a linear assumption correlating the loads to the measured strains on the outer race of a bearing. In our research, we conducted both static and dynamic tests on cylindrical roller bearings through simulations and experiments. We designed an experimental test rig to conduct both static and dynamic experiments and utilized FBG optical fiber sensors for contact force measurement in bearings due to their multiple advantages, including high sensitivity, resistance to corrosion and magnetic interference, and ease of installation on the bearing outer race due to their shape and size. Our findings indicate a consistent linear relationship between contact forces and strains measured on the bearing’s outer race. Furthermore, we calculated the linear coefficient K values from three test groups: static tests under simulation study, static tests under experimental study, and dynamic tests under experimental study. The K values obtained from static tests (simulation and experimental studies) and dynamic tests (experimental study) align consistently. Following this, we calculated contact forces in both static and dynamic experiments by multiplying the measured strains with K. Our calculations resulted in an error percentage of less than 2% for static tests and below 5% for dynamic tests, highlighting the accuracy of our approach in determining these contact forces.

Development of a novel system for measuring femoroacetabular contact forces in hip arthroscopy

Purpose Arthroscopic osteochondroplasty is a minimally invasive procedure that has been used to treat femoroacetabular impingement syndrome, leading to significant improvements in patients’ clinical outcomes and quality of life. However, some studies suggest that inadequate bone resection can substantially alter hip biomechanics. These modifications may generate different contact profiles and higher contact forces, increasing the risk of developing premature joint degeneration. To improve control over bone resection and biomechanical outcomes during arthroscopic osteochondroplasty surgery, this study aims to present a novel system for measuring femoroacetabular contact forces. Design/methodology/approach Following a structured design process for the development of medical devices, the steps required for its production using additive manufacturing with material extrusion and easily accessible sensors are described. The system comprises two main devices, one for measuring femoroacetabular contact forces and the other for quantifying the force applied by the assistant surgeon during lower limb manipulation. The hip device was designed for use within an arthroscopic environment, eliminating the need for additional portals. Findings To evaluate its performance, the system was first tested in a laboratory setup and later under in-service conditions. The 3D printing parameters were tuned to ensure the watertighness of the device and sustain the intraoperative fluid pressures. The final prototype allowed for the controlled measurement of the hip contact forces in real-time. Originality/value Using additive manufacturing and readily available sensors, the present work presents the first device to quantify joint contact forces during arthroscopic surgeries, serving as an additional tool to support the surgeon’s decision-making process regarding bone resection.

The Wheel–Rail Contact Force for a Heavy-Load Train Can Be Measured Using a Collaborative Calibration Algorithm

The wheel–rail contact force is a crucial indicator for ensuring the secure operation of a heavy-load train. However, obtaining the real-time wheel–rail contact force of a heavy-load train is a challenging task as, due to safety considerations, it is not possible to install instrumented wheelsets on heavy-load trains. This work presents a novel approach to quantify the wheel–rail contact force of a heavy-load train, utilizing a cooperative calibration methodology. First, a ground measurement platform for the wheel–rail contact force of a heavy-load train is constructed on a selected rail section. The railway inspection car’s wheel–rail contact force measurement system is fine-tuned using a multilayer perceptron calibration approach, and the ground platform then uses the results to fine-tune the railway inspection car’s examined wheelset. Second, based on actual measured data on the wheel–rail contact force of a heavy-load train, and using the golden jackal optimization algorithm, the multilayer perceptron correction approach is employed to create a data relationship mapping model. This model correlates the corrected data on the wheel–rail contact force obtained from the railway inspection car with the wheel–rail contact force of a heavy-haul train with an axle load of 25 tons, and the precision of the mapping is guaranteed. Finally, by combining the wheel–rail contact force correction method for the railway inspection car and the contact force mapping model between the railway inspection car and the heavy-load train, collaborative calibration of the wheel–rail contact force of the heavy-load train is realized. The experimental results under two working conditions show that this method can realize high-precision, real-time measurement of the wheel–rail contact force of a heavy-load train. For the working condition of a straight-line section, the calibration error was within 1.593 kN, and the MAPE was 0.105%; for the working condition of a curved-line section, the calibration error was 2.344 kN, and the RMSE was 184.72 N.

Machine learning enhanced smart tactile specklegram fiber sensor using spatial mode downsampling.

This study presents a proof-of-concept demonstration of a demodulation technique using a seven-core fiber (SCF) and machine learning (ML) algorithms for multimode fiber (MMF)-based tactile sensing. By condensing high-resolution images into vectors of seven power values from the cores of the MMF, dataset size is significantly reduced compared to conventional specklegram sensors, mitigating post-processing workload. This downsampling approach, akin to machine learning pooling layers, boosts computational efficiency without compromising accuracy. Leveraging power measurements from the seven cores along with a Gaussian process regression model, the proposed sensor achieves a spatial resolution of 0.075 mm (1 mm sampling) for detecting normal force distribution, outperforming conventional ML algorithms used in MMF specklegram sensors with 20 times less computation time. Moreover, the sensor design enables simultaneous measurement of contact force and position with over 96% accuracy. This study underscores the potential of SCF-based sensors to streamline data acquisition and storage while preserving signal quality, potentially eliminating the need for free-space coupling and cameras commonly used in MMF specklegram setups, thus paving the way for all-fiber-based, high-speed, cost-effective, multi-parameter tactile sensors.

PC-Kriging-powered parallelizing Bayesian updating for stochastic vehicle-track dynamical system with contact force measurements and Gaussian process discrepancy model

High-precision vehicle-track coupled dynamical models play a vital role in assessing the running safety of the vehicle, tracking fatigue behavior, and establishing a digital twin for high-speed railways. This study established a high-fidelity vehicle-track coupled dynamical model as a forward solver, which was then updated in a Bayesian inference framework based on the field tests of rail irregularities and wheel/rail normal contact forces. The prediction errors corresponding to different time steps were represented through a Gaussian process (GP) model characterized by a covariance function with the Gaussian kernel to incorporate the correlation between different time steps. To cope with the considerable expense of the likelihood function calculations with large-scale loop operations and the computational burden due to the large batch of repetitive evaluations of the high-fidelity forward model involved in the stochastic sampling from the posterior probability distribution, a metamodel-powered parallelizing stochastic sampling scheme was adopted. The posterior distribution could be formulated by replacing the expensive explicit model evaluation involved in the likelihood function with a Polynomial-Chaos-Kriging (PC-Kriging) predictor providing a surrogate mapping between the wheel/rail normal contact forces and physical parameters. Finally, a parallelizing computing scheme running across multiple CPU cores on high-performance computers was realized to sample from the vectorized formula of the emulator-powered posterior distribution. Field test data from a high-speed railway in China was adopted to demonstrate that the Bayesian inference scheme can quantify the uncertainties of the core physical parameters of the high-fidelity vehicle-track coupled dynamical system by efficiently trading off accuracy and computational efficiency.

<b>Cage Wear Prediction for Traction Motor Bearings of Railway Vehicles Based on Measurement of Contact Force between Rolling Element and Cage</b>

<b>Cage Wear Prediction for Traction Motor Bearings of Railway Vehicles Based on Measurement of Contact Force between Rolling Element and Cage</b>

Development and Investigation of a Grasping Analysis System with Two-Axis Force Sensors at Each of the 16 Points on the Object Surface for a Hardware-Based FinRay-Type Soft Gripper.

The FinRay soft gripper achieves passive enveloping grasping through its functional flexible structure, adapting to the contact configuration of the object to be grasped. However, variations in beam position and thickness lead to different behaviors, making it important to research the relationship between structure and force. Conventional research using FEM simulations has tested various virtual FinRay models but replicating phenomena such as buckling and slipping has been challenging. While hardware-based methods that involve installing sensors on the gripper and the object to analyze their states have been attempted, no studies have focused on the tangential contact force related to slipping. Therefore, we developed a 16-way object contact force measurement device incorporating two-axis force sensors into each of the 16 segmented objects and compared the normal and tangential components of the enveloping grasping force of the FinRay soft gripper under two types of contact friction conditions. In the first experiment, the proposed device was compared with a device containing a six-axis force sensor in one segmented object, confirming that the proposed device has no issues with measurement performance. In the second experiment, comparisons of the proposed device were made under various conditions: two contact friction states, three object contact positions, and two object motion states. The results demonstrated that the proposed device could decompose and analyze the grasping force into its normal and tangential components for each segmented object. Moreover, low friction conditions result in a wide contact area with lower tangential frictional force and a uniform normal pushing force, achieving effective enveloping grasping.

Modeling multi-legged robot locomotion with slipping and its experimental validation

Multi-legged robots with six or more legs are not in common use, despite designs with superior stability, maneuverability, and a low number of actuators being available for over 20 years. This may be in part due to the difficulty in modeling multi-legged motion with slipping and producing reliable predictions of body velocity. Here, we present a detailed measurement of the foot contact forces in a hexapedal robot with multiple sliding contacts, and provide an algorithm for predicting these contact forces and the body velocity. The algorithm relies on the recently published observation that even while slipping, multi-legged robots are principally kinematic, and employ a friction law ansatz that allows us to compute the shape-change to body-velocity connection and the foot contact forces. This results in the ability to simulate motion plans for a large number of contacts, each potentially with slipping. Furthermore, in homogeneous environments, this kind of simulation can run in (parallel) logarithmic time of the planning horizon.

Local impedance drop as a predictor of sucessful pulmonary vein isolation

Abstract 1. Introduction Pulmonary vein isolation (PVI) is the cornerstone of AF treatment. An accurate estimation of the lesion size and a optimal evaluation of the catheter-myocardium coupling is crucial for achieving an effective and safe radiofrequency (RF) ablation. A few studies have suggested that local impedance (LI) drop is a better predictor than general impedance drop in terms of lesion size, electrical coupling and therefore acute PVI success. An open-irrigated ablation catheter designed to measure contact force (CF) and LI drop while applying RF has been recently developed. 2. Purpose The aim of this study is to evaluate if conduction GAPS are located in certain areas and if LI drop can predict the presence of conduction gaps in each of these segments. 3. Methods Observational prospective study including 55 consecutive patients who underwent PVI. The RF lesions were delivered with 30 W (posterior wall) or 35 W (anterior wall) for a maximum of 30 seg with a CF > 5 g. The applications were stopped if a LI of 35 Ohm was reached on the posterior wall or 40 Ohm on the anterior wall. PVs were divided into seven segments and ablation tags were assigned to a segment according to their anatomical position (figure 1) We categorized the tags included in each segment as successful or not according to the presence of conduction gaps detected with an Ultrahigh density mapping catheter once the WACA was completed. At the same time lesion by lesion were studied regardless of the segment where it was located. 4. Results We analyzed 4002 lesion tags of 55 patients who underwent PVI. 53 Gaps were found in 19/55 (34.5%) left WACA and 16/54 (29,6%) right WACA and were localized predominantly in three PVI segments (L1, L6 and R3) 34(54.85%) vs 19 (35,8%) (L2-L5, L7, R1-R2, R4-R7) (p<0.001) (figure 1). They were mainly circumscribed to anterior segments in left PVs and posterior-superior segment in right PVs (figure1). When examining lesions independently of their location we found a significant difference in LI drop among successful and unsuccessful lesions (24.22±8.31 vs 15.67±7.85) Ohm, p<0.001). In the same line when studying lesions in those segments with > 10% of GAPS (L1, L6 R1 and R3) LI drop was greater in successful lesion tags: L1 25.2 ± 5.35 vs 16.8 ± 5.17 (p<0.001), L6 25.2±5.7 vs 16±5.48 (p<0.001), R1 27.9±4.78 vs 17.1±5.73 (p=0.03) and R3 18.5±5.4 vs 10.7±2.49 (p<0.001). 5. Conclusions Gaps were located predominantly in anterior segments in left PVs and posterior-superior segment in right PVs. A low LI drop was an excellent predictor of conduction gaps, and it performs well regardless of the segment where it was analyzedFig. 1

A self-powered magnetoelectric 3D tactile sensor with adjustable sensitivity for robot arms

With the rapid development of robot arms in various industries, the interactions between the tip ends of robot arms and the target surfaces or objects play an important role. Tactile sensors, particularly for force measurement, are widely used at the tip ends of robot arms for information exchange. Currently, most of the tactile sensors used at the tip ends of robot arms are with one planar or arc sensing surface (2D sensing area), which can only measure the contact force when the surfaces or objects are facing the sensing surface (around 180° working space range). However, contact forces may come from any direction (360° working space range), which needs tactile sensors with 3D sensing area to measure multi-direction contact forces. To tackle this problem, a self-powered magnetoelectric 3D tactile sensor (SM3D-TS) is proposed in this paper. Firstly, the design and fabrication of the SM3D-TS are described in detail. Secondly, the mechanical properties of the SM3D-TS are tested. Thirdly, the voltage-force relationship of the SM3D-TS is calibrated in single direction. Then, the force measuring and random points positioning performances are validated. Without power input, the SM3D-TS can measure contact forces from multiple directions with speed-dependent sensitivity. The experimental results show that the SM3D-TS can not only accurately measure the contact forces at given speed by independently using the induced voltages in the three axes, but also can position random points at given contact speed with high accuracy.

Measuring forces in a 2D multi-contact system using the virtual fields method: Principle, simulations and experimental application to a three-particle system

This paper proposes an experimental approach to measure contact forces in a two-dimensional system composed of cylindrical particles using the Virtual Fields Method (VFM). This identification method relies on the knowledge of the strain distribution in the particles forming the discrete medium. Synthetic strain data provided by a finite element model (with added noise) were first used as input data for the identification procedure. It is shown that if the mechanical response of the constitutive material is known, the contact forces applied to a particle can be identified, since they are proportional to a weighted average of the strain components, the weights being the virtual strain components. Various strategies were tested to propose kinematically admissible fields for the virtual displacement. Identification technique robustness was studied with respect to various sources of error, such as noise in the strain field, missing data along the boundaries, and a possible spurious shift between real and virtual fields. An experimental application was then performed on a three-particle system subjected to confined compression by processing strain maps obtained using Localized Spectrum Analysis (LSA) for each particle. In addition to the VFM equations, particle equilibrium and Newton's third law of motion were taken into account to propose a relevant strategy for processing the experimental data. The results open up prospects for applications to granular materials composed of numerous particles.

Development of a vision-based tactile sensor with micro suction cups

Tactile sensors capable of measuring contact force distribution are being actively developed for complex manipulation by robotic hands. In recent years, vision-based tactile sensors that estimate contact conditions by observing elastomer deformation with a camera from the backside and analyzing the images have attracted much attention. In the general marker displacement method using a single camera, it is difficult to estimate the contact force in the normal direction with high resolution. By applying a microstructure array (micro suction cup array) to the surface of the elastomer that is in contact with the object, the micro suction cups are deformed by the contact force. A device was fabricated that can estimate the normal contact force to each suction cup from this deformation images using machine learning. The device can vacuum a micro suction cup array and capture its deformation from the backside. The micro suction cup array (2×2) was fabricated by transferring a master mold fabricated on a high-resolution optical fabrication 3D printer onto polydimethylsiloxane. It was shown that UV nanoimprinting with soft molds can be used to fabricate large-area micro suction cup arrays relatively easily. A regression CNN model was created to estimate the normal force applied to each suction cup from the deformation image. An average error between the measured and estimated value was 21 mN, which was sufficient for the accuracy of the estimation.

Measurement and separation of forces and lift-offs employing an inductance-to-digital converters (LDC)-based orthogonal LC resonance sensor

Inductor-capacitor (LC) resonance sensors based on the sensing materials’ electromagnetic properties have potential to replace strain gauges for wheel-rail contact force measurement. However, as traditional eddy current testing acts, the lift-off effects also affect the results of the LC resonance sensing which can cause the misinterpretation between forces or lift-offs. This paper proposed an LDC-based orthogonal LC resonance sensor, combined with an 8-node quadratic interpolation method to achieve the measurement and accurate separation of forces and lift-offs. The four characteristic parameters of the orthogonal LC resonance sensor, Rp1, Frequency1, Rp2, Frequency2, were measured at different applied forces and lift-offs. A new combination pattern referred to the Rp2-Rp1, frequency2-frequency1 plane was proposed, which contained force and lift-off information in both vertical and transverse directions. Through the 8-node isoparametric coordinate transformation, the applied force and lift-off were separated respectively, with the maximum relative error of 22.61% for forces and 1.66% for lift-offs. Results indicated that the proposed method is effective and can be used to measure force/stress under varying lift-offs.

The T-Blep: A Soft Optical Sensor for Stiffness and Contact Force Measurement.

This paper presents the Tactile Blep (T-Blep), an optical soft sensor that can measure the stiffness and force of different materials. The sensor consists of an inflatable membrane with an optical elements inside. The T-Blep can switch between stiffness detection and force detection modes, by changing the pattern followed by internal pressure of the membrane. Simulations reveal that a 1 mm-thick membrane enables differentiation of extra-soft, soft, and rigid targets. Furthermore, the sensitivity and FSO of the force estimation can be adjusted by varying the internal pressure. Force detection experiments exhibit a sixfold increase in detectable force range as internal pressure varies from 10 kPa to 40 kPa, with a force peak of 5.43 N and sensitivity up to 331 mV/N. A piecewise force reconstruction method provides accurate results even in challenging conditions (R2>0.994). Stiffness detection experiments reveal distinguishable patterns of pressure and voltage during indentation, resulting in a classification accuracy of 97%.

Measurement of the three-directional contact force using a smart tire with a force sensor

While designing tire performance, understanding the relationship between the tire belt or tread rubber and the road surface is crucial, as represented by the cornering performance and wear characteristics. To survey this relationship, the force generated when a tire moves over a force sensor installed on the drum side of a tire drum tester or a sheet-type sensor installed on the road surface is measured to estimate the contact pressure distribution. The former method does not allow measurements on a flat surface, whereas the latter uses an actual vehicle; thus, obtaining stable data is challenging. In this study, we measured the triaxial forces acting on the tread block of a tire with a slip angle applied to the tire alone and discussed the characteristics of these forces. In the proposed measurement method, a tire tread block is machined, and a small triaxial force sensor is embedded. This method enables measuring the forces between the tire belt and the road surface. Finally, the force generated via the tire/road interaction on the tread block was measured using a flat-belt tester. The characteristics of the forces generated by the tread block are reported based on the obtained results.

A Nonarray Soft Capacitive Tactile Sensor With Simultaneous Contact Force and Location Measurement for Intelligent Robotic Grippers

A Nonarray Soft Capacitive Tactile Sensor With Simultaneous Contact Force and Location Measurement for Intelligent Robotic Grippers

Analysis of Contact Force and Shape Change on Grasping a Square Object Using an Actual Fin Ray Soft Gripper.

The Fin Ray-type soft gripper (FRSG) is a typical soft gripper structure and applies the deformation characteristics of the Fin Ray structure. This structure functions to stabilize the grasping of an object by passive deformation due to external forces. To analyze the performance of detailed force without compromising the actual FRSG characteristics, it is effective to incorporate multiple force sensors into the grasping object without installing them inside the Fin Ray structure. Since the grasping characteristics of the FRSG are greatly affected by the arrangement of the crossbeams, it is also important to understand the correspondence between the forces and the geometry. In addition, the grasping characteristics of an angular object have not been verified in actual equipment. Therefore, in this study, a contact force measurement device with 16 force sensors built into the grasping object and a structural deformation measurement device using camera images were used to analyze the correspondence between force and structural deformation on an actual FRSG. In the experiment, we analyzed the influence of the crossbeam arrangement on the grasping force and the grasping conditions of the square (0°) and rectangular (45°) shapes, and state that an ideal grasp in a square-shaped (45°) grasp is possible if each crossbeam in the FRSG is arranged at a different angle.

CUSTOMIZING TEXTILE AND TACTILE SKINS FOR INTERACTIVE INDUSTRIAL ROBOTS

Abstract Textiles are a promising material for building tactile skins because they are lightweight, flexible, and can conform to complex surfaces. They enhance robot-human interaction by localizing contact points and measuring contact forces. This paper presents a solution for rapidly fabricating, calibrating, and deploying these skins on industrial robot arms. The novel automated skin calibration procedure maps skin locations to robot geometry and calibrates contact force. Through experiments on a FANUC LR Mate 200id/7L industrial robot, we demonstrate that tactile skins made from textiles can be effectively used for human-robot interaction in industrial environments. We demonstrated the following: 1) modifying trajectories using human contact signals and 2) improving force interactions with humans using tactile skins This work presents a comprehensive solution for rapidly fabricating, calibrating, and deploying textile and tactile skins for interactive industrial robots. Our contributions are as follows: 1) we introduce a method for determining skin parameters based on robot geometry; 2) we propose an automated skin calibration process that calibrates both the position and force reading from the skin to the robot; and 3) we demonstrate how the skins can be integrated into robot control and learning to improve the safety and interactivity of industrial robots through experiments on a FANUC LR Mate 200id/7L industrial robot arm.

A Novel Ultrasound Elastography Configuration for Simultaneous Measurement of Contact Forces

A Novel Ultrasound Elastography Configuration for Simultaneous Measurement of Contact Forces

Progress in atrial fibrillation ablation during 25 years of Europace journal.

The first edition of Europace journal in 1999 came right around the time of the landmark publication of the electrophysiologists from Bordeaux, establishing how elimination of ectopic activity from the pulmonary veins (PVs) resulted in a marked reduction of atrial fibrillation (AF). The past 25 years have seen an incredible surge in scientific interest to develop new catheters and energy sources to optimize durability and safety of ablation, as well as study the mechanisms for AF and devise ablation strategies. While ablation in the beginning was performed with classic 4 mm tip catheters that emitted radiofrequency (RF) energy to create tissue lesions, this evolved to using irrigation and contact force (CF) measurement while increasing power. Also, so-called single-shot devices were developed with balloons and arrays to create larger contiguous lesions, and energy sources changed from RF current to cryogenic ablation and more recently pulsed field ablation with electrical current. Although PV ablation has remained the basis for every AF ablation, it was soon recognized that this was not enough to cure all patients, especially those with non-paroxysmal AF. Standardized approaches for additional ablation targets have been used but have not been satisfactory in all patients so far. This led to highly technical mapping systems that are meant to unravel the drivers for the maintenance of AF. In the following sections, the development of energies, strategies, and tools is described with a focus on the contribution of Europace to publish the outcomes of studies that were done during the past 25 years.