Force Sensor Research Articles

Automatic Detection of Fatigued Gait Patterns in Older Adults: An Intelligent Portable Device Integrating Force and Inertial Measurements with Machine Learning.

This study aimed to assess the feasibility of early detection of fatigued gait patterns for older adults through the development of a smart portable device. The smart device incorporated seven force sensors and a single inertial measurement unit (IMU) to measure regional plantar forces and foot kinematics. Data were collected from 18 older adults walking briskly on a treadmill for 60min. The optimal feature set for each recognition model was determined using forward sequential feature selection in a wrapper fashion through fivefold cross-validation. The recognition model was selected from four machine learning models through leave-one-subject-out cross-validation. Five selected characteristics that best represented the state of fatigue included impulse at the medial and lateral arches (increased, p = 0.002 and p < 0.001), contact angle and rotation range of angle in the sagittal plane (increased, p < 0.001), and the variability of the resultant swing angular acceleration (decreased, p < 0.001). The detection accuracy based on the dual signal source of IMU and plantar force was 99%, higher than the 95% accuracy based on the single source. The intelligent portable device demonstrated excellent generalization (ranging from 93 to 100%), real-time performance (2.79ms), and portability (32g). The proposed smart device can detect fatigue patterns with high precision and in real time. The application of this device possesses the potential to reduce the injury risk for older adults related to fatigue during gait.

Feedback control of heart rate during robotics-assisted tilt table exercise in patients after stroke: a clinical feasibility study

BackgroundPatients with neurological disorders including stroke use rehabilitation to improve cognitive abilities, to regain motor function and to reduce the risk of further complications. Robotics-assisted tilt table technology has been developed to provide early mobilisation and to automate therapy involving the lower limbs. The aim of this study was to evaluate the feasibility of employing a feedback control system for heart rate (HR) during robotics-assisted tilt table exercise in patients after a stroke.MethodsThis feasibility study was designed as a case series with 12 patients (n=12\\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$n = 12$$\\end{document}) with no restriction on the time post-stroke or on the degree of post-stroke impairment severity. A robotics-assisted tilt table was augmented with force sensors, a work rate estimation algorithm, and a biofeedback screen that facilitated volitional control of a target work rate. Dynamic models of HR response to changes in target work rate were estimated in system identification tests; nominal models were used to calculate the parameters of feedback controllers designed to give a specified closed-loop bandwidth; and the accuracy of HR control was assessed quantitatively in feedback control tests.ResultsFeedback control tests were successfully conducted in all 12 patients. Dynamic models of heart rate response to imposed work rate were estimated with a mean root-mean-square (RMS) model error of 2.16 beats per minute (bpm), while highly accurate feedback control of heart rate was achieved with a mean RMS tracking error (RMSE) of 2.00 bpm. Control accuracy, i.e. RMSE, was found to be strongly correlated with the magnitude of heart rate variability (HRV): patients with a low magnitude of HRV had low RMSE, i.e. more accurate HR control performance, and vice versa.ConclusionsFeedback control of heart rate during robotics-assisted tilt table exercise was found to be feasible. Future work should investigate robustness aspects of the feedback control system. Modifications to the exercise modality, or alternative modalities, should be explored that allow higher levels of work rate and heart rate intensity to be achieved.

Hybrid Sensor Fusion Mixed with Reinforcement Learning in Autonomous Dual-Arm Lifting Tasks Performed by Humanoid Robots

Humanoid robots often struggle with tasks such as lifting objects due to the complexity involved in identifying contact points, applying the correct force, and tracking task progress. We propose an integrated solution that leverages the dual-arm capability of humanoids and utilizes sensor fusion from vision and force sensors. Our system employs a computer vision algorithm to detect and characterize object properties (shape, size, position, orientation) and differentiate between parallel and non-parallel bi-manipulation tasks. The controller then identifies optimal contact points for the end effectors, generating trajectories fed into a closed-loop controller using force feedback. For parallel bi-manipulation, momentum cancellation is achieved through sensor fusion. For non-parallel surfaces, a reinforcement learning algorithm determines the appropriate lifting force to prevent slippage using only two contact points. Experimental validation on a real humanoid platform demonstrates the effectiveness of our approach in autonomously lifting objects, regardless of contact surface configuration. This advancement significantly enhances the reliability and versatility of humanoid robots in performing complex manipulation tasks, contributing to their practical deployment in human-oriented environments.

Investigation of hand tremor suppression by a customized passive surgical support robot during internal limiting membrane peeling.

To construct a quantitative evaluation system for hand tremor during internal limiting membrane (ILM) peeling and investigate changes in hand tremor attributable to the use of the customized passive surgical support robot. This analytical and experimental study developed a hand tremor evaluation system that synchronizes three elements: surgical microscope images, an artificial eye module with a force sensor to simulate ILM peeling, and microforceps with an inertial measurement unit. Two surgeons used this system to measure hand tremor during ILM peeling with and without the robot. The horizontal, vertical, and combined vertical and horizontal components of hand tremor were 8.1 ± 6.1, 1.7 ± 1.8, and 8.5 ± 6.2 mG, respectively, in the no robot group. These components decreased to 7.2 ± 6.0, 1.5 ± 1.7, and 7.5 ± 6.1 mG, respectively, in the robot group. In particular, hand tremor was significantly suppressed by 11.9% for the horizontal component using the robot (p = 0.0006). The newly constructed system helps to quantitatively evaluate hand tremor during ILM peeling. The customized passive surgical support robot enables to decrease hand tremor during ILM peeling.

Performance Characterization of a Radial Rotating Detonation Combustor with Axial Exhaust

Abstract This experimental study characterizes the performance of a radial rotating detonation combustor (RDC). An aerospike nozzle for rocket propulsion has been integrated into the center of the combustor, although the same combustor could also be coupled with turbomachinery. The radial RDC utilized a rapid to gradual (RTG) area change in the flow direction to effectively confine the detonation region close to the inlet plane and to improve the uniformity of the flow exiting the RDC. Three test cases were analyzed, (a) a baseline case at a total reactant mass flow rate, m˙ = 0.136 kg/s and equivalence ratio, ϕ = 0.6, (b) a higher reactant flow rate, m˙ = 0.318 kg/s and ϕ = 0.6, and (c) a higher ϕ = 0.8 at m˙ = 0.318 kg/s. All tests were conducted using methane and a 67% oxygen and 33% nitrogen (by mole) oxidizer mixture. Measurements were acquired using CTAP probes inside the combustion channel and along the aerospike to characterize the performance, PCB and ion probes near the detonation region to identify wave modes and their variations during the test, and thrust measurements using a six-axis force sensor. Results show highly complex wave modes with multiple co-rotating and/or counter-rotating waves depending upon the reactant flow rate. The pressure and thrust measurements are consistent with the wave mode analysis. In general, a positive (combustor only) pressure gain was inferred when losses associated with the injection system were excluded.

Quantifying T cell receptor mechanics at membrane junctions using DNA origami tension sensors.

The T cell receptor (TCR) is thought to be a mechanosensor, meaning that it transmits mechanical force to its antigen and leverages the force to amplify the specificity and magnitude of TCR signalling. Although a variety of molecular probes have been proposed to quantify TCR mechanics, these probes are immobilized on hard substrates, and thus fail to reveal fluid TCR-antigen interactions in the physiological context of cell membranes. Here we developed DNA origami tension sensors (DOTS) which bear force sensors on a DNA origami breadboard and allow mapping of TCR mechanotransduction at dynamic intermembrane junctions. We quantified the mechanical forces at fluid TCR-antigen bonds and observed their dependence on cell state, antigen mobility, antigen potency, antigen height and F-actin activity. The programmability of DOTS allows us to tether these to microparticles to mechanically screen antigens in high throughput using flow cytometry. Additionally, DOTS were anchored onto live B cells, allowing quantification of TCR mechanics at immune cell-cell junctions.

Fundamental studies on tactile feedback in robotic Striploin fat trimming task

This study explores a tactile perception approach for guiding a robotic cutting tool in beef processing. A 6-axis manipulator with a static knife and a 6-axis force sensor performed fifteen cutting paths on five striploin steak pieces. Unique force transients from the knife tip and sides were used to determine the knife's position relative to tissue features. Cross-correlation analysis between the orthogonal force components revealed a high coefficient above 0.95 for paths away from the interface, dropping below 0.88 near air gaps or fat-lean interfaces due to disturbances and tissue breakdown. Force transients were also identified when the knife exited the fat layer using a programmatic method, achieving less than a 1-s deviation from manual measurements. The lateral force component showed sensitivity to the natural cutting path and surrounding tissue behaviour. These tactile perception techniques could be integrated into real-time control for a robotic cutting knife in beef processing.

Ultra-sensitive tactile force/proximity sensor based on monolithically integrated microcantilever

This paper reports a monolithically integrated tactile force and proximity sensor composed of a piezoresistive microcantilever array and a signal processing circuit. Both the microcantilever array and the signal processing circuit were fabricated on a single-crystalline silicon device layer of a silicon-on-insulator (SOI) wafer with a partially depleted (PD) SOI CMOS (complementary metal oxide semiconductor) technology followed by three micromachining processes. A dual-detection sensor of tactile force and proximity was realized by packaging the microcantilever with a polydimethylsiloxane (PDMS) elastomer on a flexible printed circuit board. A force resolution of 68 μN, a force sensitivity of 14.6 mV/N and a minimum detectable displacement of 0.1 μm were obtained in force mode. A minimum detectable distance of 2.5 mm and 2.6 mm were achieved for objects and human proximity detections in photoelectric and thermomechanical modes, respectively. By using the ultra-sensitive force sensor, wrist radial artery pulse, fingertips pulse, breath and throat vibration of human body were collected accurately. These results prove that the integrated microcantilever can achieve both proximity and tactile sensing detections simultaneously with ultra-sensitivity.

Reliability of cervicocephalic sense of force

Cervicocephalic proprioception (CCP) is an important assessment item for people with a range of clinical conditions, where reduced CCP is associated with neck pain and imbalance. Reliability has been established for a range of positional and movements tests, but there is limited data regarding sense of force, particularly across three planes of movement. The current test–retest study assessed reliability when evaluating sense of force in healthy adults (8 males, 6 females, mean age 31.50 years [SD 10.14]) over two sessions, 4–7 days apart. A force matching protocol was used to evaluate reliability of absolute error (AE), constant error (CE), and variable error (VE) for 10 % and 25 % maximal voluntary contraction (MVC) target forces for flexion, extension, lateral flexion, and rotation. Participants were strapped to a chair to limit trunk movement and data was captured using a compressive force transducer fixed to an adjustable wall mount. Six trials were performed for each contraction-type, totaling 72 submaximal MVCs per session. ICC estimates for AE (0.15–0.77), CE (0.01–0.85), and VE (0.00–0.83) were varied and confidence intervals were mostly wide. Considering lower limits of confidence intervals, CE had best reliability values generally, but more specifically the most reliable contraction type and movement was 25 % MVC flexion (ICC 0.85, confidence interval 0.54–0.95). This study found that reliability for sense of force testing was dependent upon contraction, type of error, and target force utilized. Further reliability analysis should be performed when applying this test to measure validity outcomes in clinical populations.

Using orbital angular momentum for temperature and force sensing in an optical fiber

We demonstrate an optical fiber sensor that uses the orbital angular momentum of light in a polarization maintaining fiber to act as a temperature and force sensor. The polarization of the input light is shown to greatly affect the sensitivity of the sensor. In addition, we show how our sensor can be used to resolve the direction and magnitude of a force applied to a fiber.

Multi-Degree-of-Freedom Force Sensor Incorporated into Soft Robotic Gripper for Improved Grasping Stability.

In recent years, soft robotic grippers have emerged as a promising solution for versatile and safe manipulation of objects in various fields. However, precise force control is critical, especially when handling delicate or fragile objects, to avoid excessive grip force application or to prevent object slippage. Herein, we propose a novel three-degree-of-freedom force sensor incorporated within a soft robotic gripper to realize stable grasping with force feedback. The proposed optical sensor employs lightweight and compact optical fibers, thereby allowing for cost-effective fabrication, and a robust sensing system that is immune to electromagnetic fields. By innervating the soft gripper with optical fibers, a durable system is achieved with the fibers functioning as a strengthening layer, thereby eliminating the need for embedding an external stiffening structure for efficient bending actuation. The innovative contact-based light loss sensing mechanism allows for a robust and stable sensing mechanism with low drift (<0.1% over 9000 cycles) that can be applied to soft pneumatic bending grippers. We used the developed sensor-incorporated soft gripper to grasp various objects, including magnetic materials, and achieved slip detection along with grip force feedback without any signal interference. Overall, this study proposes a robust measuring multi-degree-of-freedom force sensor that can be incorporated into grippers for improved grasping stability.

Design of a Three-Axis Force Sensor Using Decoupled Compliant Parallel Mechanisms

Design of a Three-Axis Force Sensor Using Decoupled Compliant Parallel Mechanisms

A Highly Sensitive MEMS Three-Dimensional Force Sensor based on Piezoresistive Cantilever with Stress Concentration

A Highly Sensitive MEMS Three-Dimensional Force Sensor based on Piezoresistive Cantilever with Stress Concentration

Design optimization of two-dimensional wireless passive force sensor based on finite element analysis

Abstract A two-dimensional wireless and passive sensor based on finite element analysis (FEA) is designed, analyzed, optimized, and tested. The sensor is using the inverse magnetostrictive effect. The sensor included three pieces of sensitive elements that stick to the sensitive area of the elastomer. The FEA mothed is used to assist the design, analysis, and optimization process. The strain-sensitive area of the tension and torque are located in different areas, according to the finite element analysis. When the sensor was fabricated, the sensor’s output performance was tested. The experiment results show that the effective range of tension is 40 N, and the effective range of torque is 4 N·m. The optimized smart structure has a good decoupling effect, which can reduce coupling between dimensions. Finally, the two-dimensional force information can be detected passively and wirelessly.

Novel Sensory Tool Holder Design and Optimization for Multiaxis Cutting Force Sensing in Manufacturing

Novel Sensory Tool Holder Design and Optimization for Multiaxis Cutting Force Sensing in Manufacturing

Parameters identification and contact interaction control of redundant robot based on dynamic model

Human-redundant robot contact interaction control based on joint current is conducted. This is a sensorless control method. The key issues involved are dynamic parameters identification and interaction control strategy of robot. Firstly, kinematics model and linear dynamic model of robot are established and dynamic parameter matrix to be identified is obtained. Pattern search method is adopted to optimize motion trajectory of robot. Dynamic parameters is obtained by using least square method. The results indicate that the calculated current has a consistent trend with actual measured value, and the current error is small. In order to achieve independent control in null space, motion decoupling model of robot is established, and impedance control is applied to null space. When the force is applied to robot, based on impedance control and joint current changes, robot can move along the force direction, so the motion in null space can be controlled. Aiming at null space contact control during end force control task, comprehensive interaction control based on force sensor and joint current is conducted. The results show that robot can also move in compliance with human hand and achieve compliant interaction of null space when force is applied to the joint space.

Relationships between sprint skating performance and insole plantar forces in national-level hockey athletes

BackgroundSprint skating is essential for competitive success in hockey. Previous studies have highlighted various measures of lower-body strength and power as key factors influencing sprint performance. However, while these studies have indicated a significant association between the ability to exert greater force and impulse into the ice surface, and the capacity to achieve faster sprint skating speeds, the direct relationship between these factors remains largely inferred. Research questionWhat are the relationships between insole plantar force variables, sprint skating performance, and their association with physical capacity measures, in national-level male hockey athletes? MethodsAthletes (n=13) performed 25 m sprint skating trials with insole force sensors and completed: ankle dorsiflexion and hip abduction range-of-motion (ROM), countermovement jump (CMJ), seated single-leg jump, and 10–5 repeated-hop test (RHT) assessments. ResultsRelationships were assessed using Kendall’s Tau rank correlations (τ), with significant relationships identified between mean relative weight acceptance impulse [WAI] and 0–5 m (τ=0.47) and total distance (τ=0.46) times. Additionally, significant associations were observed between mean relative WAI and: CMJ relative eccentric deceleration impulse (τ=0.44), CMJ eccentric peak velocity (τ=-0.46) and RHT concentric impulse (τ=-0.56). Finally, significant relationships were identified between mean relative PI for all strides and the 10–20 m split, with peak velocity (PV) (τ=-0.58 to −0.73); and between ankle dorsiflexion ROM and PV (τ=-0.57). SignificanceAthletes with faster initial acceleration and overall sprint performance times demonstrated lower relative WAI during their strides and employed a jump strategy that optimized concentric impulse with a rapid eccentric phase. To attain a high PV the athletes appeared to require a stride that maximized glide and minimized vertical force, with greater ankle dorsiflexion ROM potentially facilitating this.

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.

Development and evaluation of vesicourethral anastomosis bench-top model for measurement of traction force on urethra in robotic surgery.

In vesicourethral anastomosis (VUA), which is part of robot-assisted radical prostatectomy, surgeons must proceed carefully to avoid urethral damage. We developed and evaluated a VUA bench-top model that can measure the traction force on the urethra during robotic surgery. The VUA model included the urethra, bladder, pelvic bones, and a small force sensor that was capable of measuring the traction force on the urethra. Eight skilled and eight novice urologists performed a VUA task in robotic surgery. The skilled surgeons assessed the model's realism and usefulness as a training tool using a 5-point Likert scale. The evaluation items [task time, maximum force, force volume, and length of time that specific excessive forces were applied to the urethra (2, 3, 4, and ≥ 5 N)] were compared between the skilled and novice surgeons using the Mann-Whitney U test. Measurements were conducted in four directions with respect to the maximum force on the urethra: 11-1, 2-4, 5-7, and 8-10 o'clock. The quality of the model was scored 3.7 to 4.9 points for all 16 items in 4 domains except for "Usefulness compared with animal models." There were differences in the task time and almost all force parameters between the skilled and novice surgeons. We developed a relatively high-quality VUA bench-top model that measures traction force on the urethra, and we have revealed differences in the forces of action on the urethra in two groups of surgeons with different skill levels.

Fabrication of Apparatus Specialized for Measuring the Elasticity of Perioral Tissues.

On the human face, the lips are one of the most important anatomical elements, both morphologically and functionally. Morphologically, they have a significant impact on aesthetics, and abnormal lip morphology causes sociopsychological problems. Functionally, they play a crucial role in breathing, articulation, feeding, and swallowing. An apparatus that can accurately and easily measure the elastic modulus of perioral tissues in clinical tests was developed, and its measurement sensitivity was evaluated. The apparatus is basically a uniaxial compression apparatus consisting of a force sensor and a displacement sensor. The displacement sensor works by enhancing the restoring force due to the deformation of soft materials. Using the apparatus, the force and the displacement were measured for polyurethane elastomers with various levels of softness, which are a model material of human tissues. The stress measured by the developed apparatus increased in proportion to Young's modulus, and was measured by the compression apparatus at the whole region of Young's modulus, indicating that the relation can be used for calibration. Clinical tests using the developed apparatus revealed that Young's moduli for upper lip, left cheek, and right cheek were evaluated to be 45, 4.0, and 9.9 kPa, respectively. In this paper, the advantages of this apparatus and the interpretation of the data obtained are discussed from the perspective of orthodontics.