Force Sensor Research Articles

Evaluation of Automated Finger Compression for Capillary Refill Time Measurement in Pediatrics.

Early shock reversal is crucial to improve patient outcomes. Capillary refill time (CRT) is clinically important to identify and monitor shock in children but has issues with inconsistency. To minimize inconsistency, we evaluated a CRT monitoring system using an automated compression device. Our objective was to determine proper compression pressure in children. Clinician force for CRT was collected during manual CRT measurement as a reference for automated compression in a previous study (12.9 N, 95% confidence interval, 12.5-13.4; n = 454). An automated compression device with a soft inflation bladder was fitted with a force sensor. We evaluated the effectiveness of the automated pressure to eliminate pulsatile blood flow from the distal phalange. Median and variance of CRT analysis at each pressure was compared. A comparison of pressures at 300 to 500 mm Hg on a simulated finger yielded a force of 5 to 10 N, and these pressures were subsequently used for automated compression for CRT. Automated compression was tested in 44 subjects (median age, 33 months; interquartile range [IQR], 14-56 months). At interim analysis of 17 subjects, there was significant difference in the waveform with residual pulsatile blood flow (9/50: 18% at 300 mm Hg, 5/50:10% at 400 mm Hg, 0/51: 0% at 500 mm Hg, P = 0.008). With subsequent enrollment of 27 subjects at 400 and 500 mm Hg, none had residual pulsatile blood flow. There was no difference in the CRT: median 1.8 (IQR, 1.06-2.875) in 400 mm Hg vs median 1.87 (IQR, 1.25-2.8325) in 500 mm Hg, P = 0.81. The variance of CRT was significantly larger in 400 mm Hg: 2.99 in 400 mm Hg vs. 1.35 in 500 mm Hg, P = 0.02, Levene's test. Intraclass correlation coefficient for automated CRT was 0.56 at 400 mm Hg and 0.78 at 500 mm Hg. Using clinician CRT measurement data, we determined either 400 or 500 mm Hg is an appropriate pressure for automated CRT, although 500 mm Hg demonstrates superior consistency.

A Simple Method to Manufacture a Force Sensor Array Based on a Single-Material 3D-Printed Piezoresistive Foam and Metal Coating.

Nowadays, 3D printing is becoming an increasingly common option for the manufacturing of sensors, primarily due to its capacity to produce intricate geometric shapes. However, a significant challenge persists in integrating multiple materials during printing, for various reasons. In this study, we propose a straightforward approach that combines 3D printing with metal coating to create an array of resistive force sensors from a single material. The core concept involves printing a sensing element using a conductive material and subsequently separating it into distinct parts using metal-coated lines connected to the electrical ground. This post-printing separation process involves manual intervention utilizing a stencil and metallic spray. The primary obstacle lies in establishing a sufficient contact surface between the sprayed metal and the structure, to ensure effective isolation among different zones. To address this challenge, we suggest employing a lattice structure to augment the contact surface area. Through experimental validation, we demonstrate the feasibility of fabricating two sensing elements from a single-material 3D-printed structure, with a maximum electrical isolation ratio between the sensors of above 30. These findings hold promise for the development of a new generation of low-tech 3D-printed force/displacement sensor arrays.

Dynamic characteristics optimization of elastomer for resistance strain force sensor

PurposeThis paper aims to provide a new method to study and improve the dynamic characteristics of the four-column resistance strain force sensor through the elastomer structure design and optimization.Design/methodology/approachBased on the mechanism analysis method, the authors first present a dynamic characteristic model of the four-column resistance strain force sensors’ elastomer. Then, the authors verified and modified the model according to the Solidworks finite element simulation results. Finally, the authors designed and optimized two types of four-column elastomers based on the dynamic characteristic model and verified the improvement of sensor dynamic performance through a hammer knock dynamic experiment.FindingsThe Solidworks finite element simulation and hammer knock dynamic experiment results show that the relative error of the model is less than 10%, which confirms the accuracy of the model. The dynamic performance of the sensors based on the model can be improved by more than 30%, which is a great improvement in sensor dynamic performance.Originality/valueThe authors first present a dynamic characteristic model of the four-column elastomer and optimize the four-column sensors successfully based on the mechanism analysis method. And a new method to study and improve the dynamic characteristics of the resistance is provided.

An atomic force microscope-like dual-stage force controlled fast tool servo for in-process inspection of micro-structured surfaces

This study presents the development of a dual-stage force sensor integrated fast tool servo (FS-FTS) for in-process inspection of micro-structures. With the cutting tool serving as a probe, the measurement principle of the FS-FTS is similar to that of an atomic force microscope (AFM). The force modulation method, inspired by the tapping mode AFM, is employed to detect the weak contact between the cutting tool and the workpiece. The primary stage of the dual-stage FTS is responsible for tracking the surface profile of the micro-structures while the secondary stage offers the high-frequency oscillation to modulate the force signal. An experimental method is proposed to determine the optimal oscillation frequency. The transfer function of the FS-FTS, from the input voltage of the primary stage to the output force of the force detection module, is identified, and a notch filter integrated feedback controller is designed for the force control. With the designed dual-stage FS-FTS and force controller, the tip of the cutting tool could follow the unknown workpiece contour with a specified constant contact force, and the surface profile is obtained through the measured displacement of the primary stage. The feasibility and superiority of the developed system are validated through the in-process inspection of micro-lens with a depth of 19μm. The results demonstrate that the developed FS-FTS realizes the sub-micron profile measurement with a scanning speed of 150μm/min, and the depth of the resulting surface scratches is less than 20 nm.

Damage Resistance of Kevlar® Fabric, UHMWPE, PVB Multilayers Subjected to Concentrated Drop-Weight Impact.

The impact resistance of layered polymer structures using polyvinyl butyral (PVB) in combination with Kevlar® fabric and ultra-high molecular weight polyethylene (UHMWPE) were fabricated and tested. Methods of wet impregnation and hot-press impregnation and consolidation of fabric with PVB and UHMWPE were used to manufacture multilayer constructs. All sandwich constructs were fixed to the surface of ballistic clay and subject to a free drop-weight test with a conical impactor having a small contact area. All tests were made at the same impact energy of 9.3 J and velocity of 2.85 m/s. The change in the resistance force was recorded using a piezoelectric force sensor at the time intervals of 40 μs. Using experimental force-time history, the change in the impactor's velocity, the depth of impactor penetration, the energy transformation at various stages of impactor interaction with the sample, and other parameters were obtained. Three indicators were considered as the main criteria for the effectiveness of a sample's resistance to impact: (1) minimum deformation, bulging, of the panel backside at the moment of impact, (2) minimum absorption of impact energy per areal density, and (3) minimal or, better yet, no destruction of structural integrity. Under the tested conditions, the rigid Kevlar-PVB-Kevlar sandwich at the frontside and relatively soft but flexible UHMWPE-Kevlar-UHMWPE layers in the middle helped to localize and absorb impact energy, while the backside Kevlar-PVB-Kevlar sandwich minimized local bulging providing the best overall performance. The front layer damage area was very shallow and less than two impactor tip diameters. The backside bulging was also less than in any other tested configurations.

Nonlinear observer-based impedance control of a fully-actuated hexarotor for accurate aerial physical interaction

PurposeFully-actuated unmanned aerial vehicles (UAVs) are a growing and promising field of research, which shows advantages for aerial physical interaction. The purpose of this paper is to construct a force sensor-denied control method for a fully-actuated hexarotor to conduct aerial interaction with accurate force exerted outward.Design/methodology/approachFirst, by extending single-dimension impedance model to the fully-actuated UAV model, an impedance controller is designed for compliant UAV pose/force control. Then, to estimate the interaction force between UAV end-effector and external environment accurately, combined with super-twisting theory, a nonlinear force observer is constructed. Finally, based on impedance controller and estimated force from observer, an interaction force regulation method is proposed.FindingsThe presented nonlinear observer-based impedance control approach is validated in both simulation and environments, in which the authors try to use a fully-actuated hexarotor to accomplish the task of aerial physical interaction finding that a specified force is able to be exerted to environment without any information from force sensors.Originality/valueA solution of aerial physical interaction for UAV system enabling accurate force exerted outward without any force sensors is proposed in this paper.

Quantifying gliding forces of filamentous cyanobacteria by self-buckling

Filamentous cyanobacteria are one of the oldest and today still most abundant lifeforms on earth, with manifold implications in ecology and economics. Their flexible filaments, often several hundred cells long, exhibit gliding motility in contact with solid surfaces. The underlying force generating mechanism is not yet understood. Here, we demonstrate that propulsion forces and friction coefficients are strongly coupled in the gliding motility of filamentous cyanobacteria. We directly measure their bending moduli using micropipette force sensors, and quantify propulsion and friction forces by analyzing their self-buckling behavior, complemented with analytical theory and simulations. The results indicate that slime extrusion unlikely generates the gliding forces, but support adhesion-based hypotheses, similar to the better-studied single-celled myxobacteria. The critical self-buckling lengths align well with the peaks of natural length distributions, indicating the importance of self-buckling for the organization of their collective in natural and artificial settings.

Quantifying gliding forces of filamentous cyanobacteria by self-buckling.

Filamentous cyanobacteria are one of the oldest and today still most abundant lifeforms on earth, with manifold implications in ecology and economics. Their flexible filaments, often several hundred cells long, exhibit gliding motility in contact with solid surfaces. The underlying force generating mechanism is not yet understood. Here, we demonstrate that propulsion forces and friction coefficients are strongly coupled in the gliding motility of filamentous cyanobacteria. We directly measure their bending moduli using micropipette force sensors, and quantify propulsion and friction forces by analyzing their self-buckling behavior, complemented with analytical theory and simulations. The results indicate that slime extrusion unlikely generates the gliding forces, but support adhesion-based hypotheses, similar to the better-studied single-celled myxobacteria. The critical self-buckling lengths align well with the peaks of natural length distributions, indicating the importance of self-buckling for the organization of their collective in natural and artificial settings.

Strain-based multi-dimensional force sensing system for robotic friction stir welding

Accurately measuring the force in friction stir welding (FSW) is essential for monitoring and controlling the welding process. However, current research primarily focuses on force sensing in gantry FSW equipment, which has limited demand compared to FSW robot. Commercial force sensors are mostly designed for six-axis welding robot and lack for high-force hybrid FSW robot. To address this gap, we developed a wireless multi-dimensional force sensing system for hybrid FSW robot. Our system utilizes elastomer and incorporates 8 pairs of strain gauges to detect tiny deformations. Through calibration, we achieved a wider measurement range than most commercial sensors, ensuring high accuracy with low cross-talk. Extensive testing determined the static and dynamic characteristics of the system. We performed robotic FSW experiments, analysing the force/torque characteristics in each direction and investigating the effects of welding speed and plunge depth on axial force. The results demonstrate the stability and practicality of our system.

Ferroelastic Control of the Multicolor Emission from a Triply Doped Organic Crystal.

Emission from crystalline organic solids is often quenched by nonemissive energy-transfer deexcitation processes. While dispersion of fluorophores in polymers or other hosts has been used to enhance the emission intensity, this strategy results in randomization of guest orientation and optical losses at grain boundaries. Here, we report the doping of inherently nonemissive single crystals of anilinium bromide with three fluorescent organic molecules. The doping process equips the crystal with emission characteristics that tune from blue to deep orange. The emission intensity can be reversibly modulated by ferroelastic twinning, which causes the material to function as a multiemissive force sensor. This approach opens up new pathways in the manipulation of emissive properties in organic crystals and may have substantial implications for optoelectronic devices and sensors.

On-chip integration of vector force sensor based on AlGaInP micro-LEDs with interface light coupling modulated by microstructures

Optical principle-based force sensors offer significant advantages in detection applications for surgical robots and wearable devices. With the rapid development in these fields, there is an increasingly urgent demand for improving sensor performance and reducing sensor size. Here, we present a monolithic micro-vector force sensor by integrating the sapphire based AlGaInP micro light-emitting diodes (micro-LEDs) and a surface micro-structured polydimethylsiloxane (PDMS) elastomer. The sensor primarily operates based on the overlapping between the emission spectra and the detection spectra of the multiple quantum well (MQW) structure in the micro-LEDs and the modulation of the reflectance of the sapphire interface by highly elastic microstructures. This monolithic micro-vector force sensor is characterized by its small footprint with a diameter of only ∼7 mm, and it exhibits good real-time response performance with response sensitivities to normal force and shear force of 0.38 nA/mN (0–2 N) and 1.3 nA/mN (0–200 mN). Furthermore, this monolithic integrated device can be manufactured on a large scale and at low cost using wafer-level microfabrication processes. Additionally, the sensor operates in the biologically safe red light spectrum, thus offering broad prospects for applications in fields such as biomedicine and wearable devices.

Intrinsic Kerr amplification for microwave electromechanics

Electromechanical transduction gain of 21 dB is realized in a micro-cantilever resonant force sensor operated in the unresolved-sideband regime. Strain-dependent kinetic inductance weakly couples cantilever motion to a superconducting nonlinear resonant circuit. A single pump generates motional sidebands and parametrically amplifies them via four-wave mixing. We study the gain and added noise, and we analyze potential benefits of this integrated amplification process in the context force sensitivity.

Highly sensitive and easy-to-attach wearable sensor for measuring finger force based on curvature changes in an ellipse-shaped finger ring

Technologies for digitizing worker actions to enhance human labor tasks, mitigate accidents, and prevent disabling injuries have garnered significant attention. This study focuses on monitoring the force exerted by the fingers and developing a wearable fingertip force sensor based on a simple elliptical ring structure in conjunction with a commercially available resistive bend sensor. Resembling a ring accessory, the sensor is easy to attach and detach, and exhibits high sensitivity, with a resistance change of approximately 9% for a fingertip load of 1 N. Furthermore, to mitigate crosstalk during finger flexion, we propose a combined configuration employing this ring-shaped sensor alongside another sensor designed for measuring and rectifying finger flexion angles. Additionally, we introduce an empirically derived fitting function and a straightforward calibration procedure to extract the function’s parameters. The proposed system achieves an average RMS error of 0.53 N for force estimations of approximately 5 N, even during finger flexion and postural changes.

Deformable microlaser force sensing

Mechanical forces are key regulators of cellular behavior and function, affecting many fundamental biological processes such as cell migration, embryogenesis, immunological responses, and pathological states. Specialized force sensors and imaging techniques have been developed to quantify these otherwise invisible forces in single cells and in vivo. However, current techniques rely heavily on high-resolution microscopy and do not allow interrogation of optically dense tissue, reducing their application to 2D cell cultures and highly transparent biological tissue. Here, we introduce DEFORM, deformable microlaser force sensing, a spectroscopic technique that detects sub-nanonewton forces with unprecedented spatio-temporal resolution. DEFORM is based on the spectral analysis of laser emission from dye-doped oil microdroplets and uses the force-induced lifting of laser mode degeneracy in these droplets to detect nanometer deformations. Following validation by atomic force microscopy and development of a model that links changes in laser spectrum to applied force, DEFORM is used to measure forces in 3D and at depths of hundreds of microns within tumor spheroids and late-stage Drosophila larva. We furthermore show continuous force sensing with single-cell spatial and millisecond temporal resolution, thus paving the way for non-invasive studies of biomechanical forces in advanced stages of embryogenesis, tissue remodeling, and tumor invasion.

Cerebral hemodynamics underlying ankle force sense modulated by high-definition transcranial direct current stimulation.

This study aimed to investigate the effects of high-definition transcranial direct current stimulation on ankle force sense and underlying cerebral hemodynamics. Sixteen healthy adults (8 males and 8 females) were recruited in the study. Each participant received either real or sham high-definition transcranial direct current stimulation interventions in a randomly assigned order on 2 visits. An isokinetic dynamometer was used to assess the force sense of the dominant ankle; while the functional near-infrared spectroscopy was employed to monitor the hemodynamics of the sensorimotor cortex. Two-way analyses of variance with repeated measures and Pearson correlation analyses were performed. The results showed that the absolute error and root mean square error of ankle force sense dropped more after real stimulation than after sham stimulation (dropped by 23.4% vs. 14.9% for absolute error, and 20.0% vs. 10.2% for root mean square error). The supplementary motor area activation significantly increased after real high-definition transcranial direct current stimulation. The decrease in interhemispheric functional connectivity within the Brodmann's areas 6 was significantly correlated with ankle force sense improvement after real high-definition transcranial direct current stimulation. In conclusion, high-definition transcranial direct current stimulation can be used as a potential intervention for improving ankle force sense. Changes in cerebral hemodynamics could be one of the explanations for the energetic effect of high-definition transcranial direct current stimulation.

Molecular Force Sensors for Biological Application.

The mechanical forces exerted by cells on their surrounding microenvironment are known as cellular traction forces. These forces play crucial roles in various biological processes, such as tissue development, wound healing and cell functions. However, it is hard for traditional techniques to measure cellular traction forces accurately because their magnitude (from pN to nN) and the length scales over which they occur (from nm to μm) are extremely small. In order to fully understand mechanotransduction, highly sensitive tools for measuring cellular forces are needed. Current powerful techniques for measuring traction forces include traction force microscopy (TFM) and fluorescent molecular force sensors (FMFS). In this review, we elucidate the force imaging principles of TFM and FMFS. Then we highlight the application of FMFS in a variety of biological processes and offer our perspectives and insights into the potential applications of FMFS.

Edible Bite Force Sensor: A Novel Approach to Measuring Bite Force in Biomedical and Dental Applications.

BACKGROUND Measurement of bite force plays a crucial role in assessment of the masticatory system. With a growing interest in detecting occlusal irregularities, bite force sensors have garnered attention in the biomedical field. This study aimed to introduce a hydrogel bite force sensor, based on hydroxyethyl-cellulose-fructose-water (HEC-F-water), for premolar and molar teeth, and to evaluate it using optical profilometry, infrared spectroscopy (FTIR), and Instron Tension testing system, with 2.5 cm (1 inch) margins at top, bottom, right, and left. MATERIAL AND METHODS We fabricated 20 HEC-F-water hydrogel samples sized with surface of 1×1 cm, with 2 different widths - 1 mm and 5 mm. The samples were characterized using optical profilometry and FTIR and their electrical characteristics were determined using an impedance analyzer. Aluminum (Al) electrodes, fabricated using Cutting Plotter, were used to form a HEC-F-water-based transducer, which was used for bite force sensing. The Instron tensile testing system was employed, utilizing 3D printed models of the upper and lower jaw, to simulate biting. Forces in the range between 40 N and 540 N were exerted upon the transducer, and the output change in the electrical signal was measured. RESULTS The study determined the transfer function between bite force and capacitance. The fabricated sensor exhibited a sensitivity of 3.98 pF/N, an input range of 500 N, output range of 2 nF, and accuracy of 95.9%. CONCLUSIONS This study introduces an edible bite force sensor employing an edible hydrogel as a dielectric, presenting a novel avenue in the development of edible sensorics in dentistry.

Can you feel the force just right? Tactile force feedback for training of minimally invasive surgery—evaluation of vibration feedback for adequate force application

BackgroundTissue handling is a crucial skill for surgeons and is challenging to learn. The aim of this study was to develop laparoscopic instruments with different integrated tactile vibration feedback by varying different tactile modalities and assess its effect on tissue handling skills.MethodsStandard laparoscopic instruments were equipped with a vibration effector, which was controlled by a microcomputer attached to a force sensor platform. One of three different vibration feedbacks (F1: double vibration > 2 N; F2: increasing vibration relative to force; F3: one vibration > 1.5 N and double vibration > 2 N) was applied to the instruments. In this multicenter crossover trial, surgical novices and expert surgeons performed two laparoscopic tasks (Peg transfer, laparoscopic suture, and knot) each with all the three vibration feedback modalities and once without any feedback, in a randomized order. The primary endpoint was force exertion.ResultsA total of 57 subjects (15 surgeons, 42 surgical novices) were included in the trial. In the Peg transfer task, there were no differences between the tactile feedback modalities in terms of force application. However, in subgroup analysis, the use of F2 resulted in a significantly lower mean-force application (p-value = 0.02) among the student group. In the laparoscopic suture and knot task, all participants exerted significantly lower mean and peak forces using F2 (p-value < 0.01). These findings remained significant after subgroup analysis for both, the student and surgeon groups individually. The condition without tactile feedback led to the highest mean and peak force exertion compared to the three other feedback modalities.ConclusionContinuous tactile vibration feedback decreases the mean and peak force applied during laparoscopic training tasks. This effect is more pronounced in demanding tasks such as laparoscopic suturing and knot tying and might be more beneficial for students. Laparoscopic tasks without feedback lead to increased force application.

Robotic Arms for Telemedicine System Using Smart Sensors and Ultrasound Robots

Given the global population ages, the traditional medical system must change. Our telemedicine system combines the devices with sensors. Our telemedicine system is a new type of medical application. In this paper, we systematically integrate the force sensor, robot arm, optical radar device, and jelly mechanism to develop a telemedicine application system. We used a three-dimensional coordinate conversion formula to convert the coordinates of each axis of the robot arm into the coordinates of the smartphone so that the doctor can control the robot arm remotely using the smartphone. The force sensor embedded in the robot arm provides transparency to the doctor during operation, enabling them to monitor whether the force applied by the robotic arm on the human body is excessive. In addition, through the jelly mechanism installed on the robot arm, the doctor only needs to use a smartphone to control the jelly mechanism to achieve remote control needs. The experimental testing results sufficiently show the practicability of our scheme for telemedicine.

3D‐Printed Mechano‐Optic Force Sensor for Soft Robotic Gripper Enabled by Programmable Structural Metamaterials

Rapid deployment of automation in today's world has opened up exciting possibilities in the realm of design and fabrication of soft robotic grippers endowed with sensing capabilities. Herein, a novel design and rapid fabrication by 3D printing of a mechano‐optic force sensor with a large dynamic range, sensitivity, and linear response, enabled by metamaterials‐based structures, is presented. A simple approach for programming the metamaterial's behavior based on mathematical modeling of the sensor under dynamic loading is proposed. Machine learning models are utilized to predict the complete force–deformation profile, encompassing the linear range, the onset of nonlinear behavior, and the slope of profiles in both bending and compression‐dominated regions. The design supports seamless integration of the sensor into soft grippers, enabling 3D printing of the soft gripper with an embedded sensor in a single step, thus overcoming the tedious and complex and multiple fabrication steps commonly applied in conventional processes. The sensor boasts a fine resolution of 0.015 N, a measurement range up to 16 N, linearity (adj. R2–0.991), and delivers consistent performance beyond 100 000 cycles. The sensitivity and range of the embedded mechano‐optic force sensor can be easily programmed by both the metamaterial structure and the material's properties.