scholarly journals A New Design of the Miniature Force Sensor Based on Strain Gages for Ablation Catheter

2017 ◽  
Author(s):  
Xiaochan Shi ◽  
Xuelian Gu ◽  
Jiahong Tan ◽  
Bo Liang
Keyword(s):  
Contact Force ◽  
Force Measurement ◽  
Low Cost ◽  
Femoral Vein ◽  
Force Sensor ◽  
Heart Cells ◽  
Strain Gages ◽  
Ablation Catheter ◽  
Radio Frequency Energy ◽  
Catheter Tip

Recently, the radiofrequency ablation catheter is widely used in the treatment of atrial fibrillation. Radiofrequency catheter tip is inserted through femoral vein puncture and pushed to the heart cavity. The radio frequency energy is applied to the ablation lesion on the inner wall of the heart, and then the heart cells die to achieve the aim of treatment[1]. During the treatment, however, the patients need repeated ablation because of the ineffective ablation, and the complications may occur. Continuous pulmonary vein lesion and isolation of wall is very important to increase the success of surgery [2]. Research [3] shows that the contact force between catheter tip and the tissue of inner heart is a key factor influencing the lesion size. In order to monitor the contact force, many force sensors have been studied. Fukuda [4] used semiconductor strain gage outside of the catheter to monitor the contact force. Peirs [5] monitored the contact force by optical technology. The disadvantages of the current sensors are using special expensive signal detecting and analyzing instrument, such as Endosense (SMART touch), which will increase the cost tremendously. For clinical application, it is necessary to develop a low cost sensor with enough accuracy which can also be used in the catheter for contact force measurement. This paper focuses on designing a novel force-voltage transferring sensor. The sensor consists of a Ni-Ti alloy tube and several strain gages. With the compact design of a spiral structure, it can reduce the overall cost while keeping a good performance at the same time. The price of SMART touch catheter is 4, 348 dollars. The proposed design will be as much as 20–30 percent below SMART’s price.

A New Low-Cost System for Tyre-Road Force Measurements: Design and Validation

2007 ◽  
Author(s):  
Francesco Braghin ◽  
Federico Cheli ◽  
Emiliano Giangiulio ◽  
Federico Mancosu
Keyword(s):  
Control Systems ◽  
Contact Force ◽  
Measurement System ◽  
Force Measurement ◽  
Low Cost ◽  
Contact Forces ◽  
Vehicle Safety ◽  
Measurement Systems ◽  
Wheel Turn ◽  
Force Measurement System

The measurement of tyre-road contact forces is the first step towards the development of new control systems for the improvement of vehicle safety and performances. At present, tyre-road contact force measurement systems are very expensive and modify the non suspended vehicle inertia due to their high mass and rotational inertia moment. Thus, vehicle dynamics is significantly affected. The measured contact forces are therefore not fully representative of the contact forces that the tyres will experience during real working conditions. A new low-cost tyre-road contact force measurement system has been developed that is installable on any type of wheel. Its working principle is based on the measurement of three deformations of the wheel. Through a dynamic calibration of the instrumented wheel it is possible to reconstruct all three contact force and torque components once per wheel turn. These forces are then sent to the vehicle chassis and may be used by on-board active control systems to improve vehicle safety and performances. Validation tests were carried out with a vehicle having all four wheels equipped with the low-cost tyre-road contact force measurement system. It was possible to reconstruct contact forces once per wheel turn in any working condition with a precision that is comparable to that of existing high-cost measurement systems ([1], [2], [3], [4], [5]).

scholarly journals Novel Contact Force Sensor Incorporated in Irrigated Radiofrequency Ablation Catheter Predicts Lesion Size and Incidence of Steam Pop and Thrombus

2008 ◽  
Vol 1 (5) ◽  
pp. 354-362 ◽  
Author(s):  
Katsuaki Yokoyama ◽  
Hiroshi Nakagawa ◽  
Dipen C. Shah ◽  
Hendrik Lambert ◽  
Giovanni Leo ◽  
...  
Keyword(s):  
Radiofrequency Ablation ◽  
Contact Force ◽  
Force Sensor ◽  
Lesion Size ◽  
Ablation Catheter

scholarly journals MEMS-Based Flexible Force Sensor for Tri-Axial Catheter Contact Force Measurement

2017 ◽  
Vol 26 (1) ◽  
pp. 264-272 ◽  
Author(s):  
Hardik J. Pandya ◽  
Jun Sheng ◽  
Jaydev P. Desai
Keyword(s):  
Contact Force ◽  
Force Measurement ◽  
Force Sensor

scholarly journals Development of Force Sensor System Based on Tri-Axial Fiber Bragg Grating with Flexure Structure

Sensors ◽  
2021 ◽  
Vol 22 (1) ◽  
pp. 16
Author(s):  
Dongjoo Shin ◽  
Hyeong-U Kim ◽  
Atul Kulkarni ◽  
Young-Hak Kim ◽  
Taesung Kim
Keyword(s):  
Fiber Bragg Grating ◽  
Optical Sensors ◽  
Calibration Curve ◽  
Electromagnetic Interference ◽  
Low Cost ◽  
Force Sensor ◽  
Simulation Software ◽  
Sensor System ◽  
Bragg Grating ◽  
Catheter Tip

Fiber Bragg grating (FBG) sensors have an advantage over optical sensors in that they are lightweight, easy to terminate, and have a high flexibility and a low cost. Additionally, FBG is highly sensitive to strain and temperature, which is why it has been used in FBG force sensor systems for cardiac catheterization. When manually inserting the catheter, the physician should sense the force at the catheter tip under the limitation of power (<0.5 N). The FBG force sensor can be optimal for a catheter as it can be small, low-cost, easy to manufacture, free of electromagnetic interference, and is materially biocompatible with humans. In this study, FBG fibers mounted on two different flexure structures were designed and simulated using ANSYS simulation software to verify their sensitivity and durability for use in a catheter tip. The selected flexure was combined with three FBGs and an interrogator to obtain the wavelength signals. To obtain a calibration curve, the FBG sensor obtained data on the change in wavelength with force at a high resolution of 0.01 N within the 0.1–0.5 N range. The calibration curve was used in the force sensor system by the LabVIEW program to measure the unknown force values in real time.

A new robot skin for force and position detection

2014 ◽  
Vol 41 (6) ◽  
pp. 534-542 ◽  
Author(s):  
Haibin Wu ◽  
Yixian Su ◽  
Jinjin Shi ◽  
Jinwen Li ◽  
Jinhua Ye
Keyword(s):  
Contact Force ◽  
Low Cost ◽  
Force Sensor ◽  
Viscoelastic Layer ◽  
Position Sensor ◽  
Content Type ◽  
Position Detection ◽  
Sensor Module ◽  
Contact Position ◽  
Robot Skin

Purpose – The aim of the research is to achieve a robot skin which is easy to use, and can detect both position and force interacted between robot and environments. Design/methodology/approach – The new type of robot skin proposed in this paper includes two functional modules – contact position sensor and contact force sensor. The contact position sensor module is based on the resistor divider principle, which consists of two perpendicular conductive fiber layers and insulated dot spacer between them. The contact force sensor module is based on capacitance change theory, which consists of two soft conductive plates and a viscoelastic layer between them. By combining the two modules, the soft robot skin was designed. Findings – Simulation and experiment results demonstrate that the proposed robot skin design is feasible and effective enough to sense contact position and contact force simultaneously. Practical implications – This robot skin is low-cost and easy to make and use, which provides safety solutions for most of the robot. Originality/value – For the first time, an integrated robot skin which can get contact position and force information simultaneously is designed. Unlike general tactile sensor matrices, this robot skin has only six leads. Furthermore, the number of leads does not increase with the enlarging of sensor area. Soft and simple structure of the robot skin makes it possible to cover any region of the robot body.

scholarly journals Differential Soft Sensor-Based Measurement of Interactive Force and Assistive Torque for a Robotic Hip Exoskeleton

Sensors ◽  
2021 ◽  
Vol 21 (19) ◽  
pp. 6545
Author(s):  
Sun’an Wang ◽  
Binquan Zhang ◽  
Zhenyuan Yu ◽  
Yu’ang Yan
Keyword(s):  
Human Body ◽  
Force Measurement ◽  
Low Cost ◽  
Wearable Sensors ◽  
Force Sensor ◽  
Interaction Force ◽  
Soft Sensor ◽  
Sensor System ◽  
Physical Interaction ◽  
Indirect Measure

With the emerging of wearable robots, the safety and effectiveness of human-robot physical interaction have attracted extensive attention. Recent studies suggest that online measurement of the interaction force between the robot and the human body is essential to the aspects above in wearable exoskeletons. However, a large proportion of existing wearable exoskeletons monitor and sense the delivered force and torque through an indirect-measure method, in which the torque is estimated by the motor current. Direct force/torque measuring through low-cost and compact wearable sensors remains an open problem. This paper presents a compact soft sensor system for wearable gait assistance exoskeletons. The contact force is converted into a voltage signal by measuring the air pressure within a soft pneumatic chamber. The developed soft force sensor system was implemented on a robotic hip exoskeleton, and the real-time interaction force between the human thigh and the exoskeleton was measured through two differential soft chambers. The delivered torque of the hip exoskeleton was calculated based on a characterization model. Experimental results suggested that the sensor system achieved direct force measurement with an error of 10.3 ± 6.58%, and torque monitoring for a hip exoskeleton which provided an understanding for the importance of direct force/torque measurement for assistive performance. Compared with traditional rigid force sensors, the proposed system has several merits, as it is compact, low-cost, and has good adaptability to the human body due to the soft structure.

scholarly journals Development of a Virtual Force Sensor for a Low-Cost Collaborative Robot and Applications to Safety Control

Sensors ◽  
2019 ◽  
Vol 19 (11) ◽  
pp. 2603 ◽  
Author(s):  
Shih-Hsiang Yen ◽  
Pei-Chong Tang ◽  
Yuan-Chiu Lin ◽  
Chyi-Yeu Lin
Keyword(s):  
Contact Force ◽  
External Force ◽  
Force Control ◽  
Low Cost ◽  
Force Sensor ◽  
Production Costs ◽  
Robot Arm ◽  
Robot Arms ◽  
Virtual Force ◽  
Collaborative Robot

To protect operators and conform to safety standards for human–machine interactions, the design of collaborative robot arms often incorporates flexible mechanisms and force sensors to detect and absorb external impact forces. However, this approach increases production costs, making the introduction of such robot arms into low-cost service applications difficult. This study proposes a low-cost, sensorless rigid robot arm design that employs a virtual force sensor and stiffness control to enable the safety collision detection and low-precision force control of robot arms. In this design, when a robot arm is subjected to an external force while in motion, the contact force observer estimates the external torques on each joint according to the motor electric current and calculation errors of the system model, which are then used to estimate the external contact force exerted on the robot arm’s end-effector. Additionally, a torque saturation limiter is added to the servo drive for each axis to enable the real-time adjustment of joint torque output according to the estimated external force, regulation of system stiffness, and achievement of impedance control that can be applied in safety measures and force control. The design this study developed is a departure from the conventional multisensor flexible mechanism approach. Moreover, it is a low-cost and sensorless design that relies on model-based control for stiffness regulation, thereby improving the safety and force control in robot arm applications.

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