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.

Development of a commercially viable piezoelectric force sensor system for static force measurement

2017 ◽  
Vol 28 (9) ◽  
pp. 095103 ◽  
Author(s):  
Jun Liu ◽  
Xinwei Luo ◽  
Jingcheng Liu ◽  
Min Li ◽  
Lan Qin
Keyword(s):  
Force Measurement ◽  
Force Sensor ◽  
Sensor System ◽  
Static Force

scholarly journals Identifying human body states by using a flexible integrated sensor

2020 ◽  
Vol 4 (1) ◽  
Author(s):  
Ying Jin ◽  
Guoning Chen ◽  
Kete Lao ◽  
Songhui Li ◽  
Yong Lu ◽  
...  
Keyword(s):  
Body Temperature ◽  
Respiratory Rate ◽  
Human Body ◽  
Low Cost ◽  
Vital Signs ◽  
Force Sensor ◽  
Diagnostic Methods ◽  
Body Parts ◽  
Integrated Sensor ◽  
Flexible Sensors

Abstract Flexible sensors are required to be lightweight, compatible with the skin, sufficiently sensitive, and easily integrated to extract various kinds of body vital signs during continuous healthcare monitoring in daily life. For this, a simple and low-cost flexible temperature and force sensor that uses only two carbon fiber beams as the sensing layer is reported in this work. This simple, flexible sensor can not only monitor skin temperature changes in real time but can also extract most pulse waves, including venous waves, from most parts of the human body. A pulse diagnostic glove containing three such flexible sensors was designed to simulate pulse diagnostic methods used in traditional Chinese medicine. Wearable equipment was also designed in which four flexible sensors were fixed onto different body parts (neck, chest, armpit, and fingertip) to simultaneously monitor body temperature, carotid pulse, fingertip artery pulse, and respiratory rate. Four important physiological indicators—body temperature (BT), blood pressure (BP), heart rate (HR), and respiratory rate (RR)—were extracted by the wearable equipment and analyzed to identify exercise, excited, tired, angry, and frightened body states.

scholarly journals Design of a contactless body temperature measurement system using Arduino

2020 ◽  
Vol 19 (3) ◽  
pp. 1251 ◽  
Author(s):  
Asif A. Rahimoon ◽  
Mohd Noor Abdullah ◽  
Ishkrizat Taib
Keyword(s):  
Body Temperature ◽  
Human Body ◽  
Low Cost ◽  
Wearable Sensors ◽  
Vital Signs ◽  
Smart Phone ◽  
Human Body Temperature ◽  
Body Temperature Measurement ◽  
The Difference ◽  
Temperature Measurement System

<span lang="EN-US">The recent advances in electronics and microelectronics devices allow the development of newly low-cost monitoring tools used by peoples for health preventive purposes. Sensors used in medical equipments convert various forms of human body vital signs into electrical signals. Therefore, the healthcare monitoring systems considering non-invasive and wearable sensors with integrated communication mediums allow an efficient solution to live a comfortable home life.  This paper presents the remote monitoring of human body temperature (HBT) wirelessly by means of Arduino controller with different sensors and open source internet connection. The proposed monitoring system uses an internet network via wireless fieldity (wifi) connection to be linked with online portal on smart phone or computer. The proposed system is comprised of an Arduino controller, LM-35 (S1), MLX-90614 (S2) temperature sensors and ESP-wifi shield module. The obtained result has shown that real time temperature monitoring data can be transferred to authentic observer by utilizing internet of things (IoT) applications. The findings from this research indicates that the difference of average temperature in between Sensor S1 and S2 is about 15 <sup>0</sup>C</span>

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.

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.

Body Fitness Monitoring Using IoT Device

2018 ◽  
pp. 154-169 ◽  
Author(s):  
Govinda K.
Keyword(s):  
Human Body ◽  
Health Monitoring ◽  
Low Cost ◽  
Wearable Sensors ◽  
Wireless Body Area Network ◽  
Heart Beat ◽  
Sensor Nodes ◽  
Physiological Data ◽  
Area Network ◽  
Technological Advances

Recent technological advances in wireless communications and wireless sensor networks have enabled the design of intelligent, tiny, low-cost, and lightweight medical sensor nodes that can be placed on the human body strategically. The focus of this chapter is to implement the health monitoring system continuously without hospitalization using wearable sensors and create a wireless body area network (WBAN). Wearable sensors monitor the parameters of the human body like temperature, pressure, and heart beat by using sensors and providing real-time feedback to the user and medical staff and WBANs promise to revolutionize health monitoring. In this chapter, medical sensors are used to collect physiological data from patients and transmit it to the system which has details of an individual stored using Bluetooth/Wi-Fi with the help of Arduino and to medical server using Wi-Fi/3G communications.

scholarly journals Towards Model-Free Tool Dynamic Identification and Calibration Using Multi-Layer Neural Network

Sensors ◽  
2019 ◽  
Vol 19 (17) ◽  
pp. 3636 ◽  
Author(s):  
Hang Su ◽  
Wen Qi ◽  
Yingbai Hu ◽  
Juan Sandoval ◽  
Longbin Zhang ◽  
...  
Keyword(s):  
Dynamic Models ◽  
Robot Manipulator ◽  
Force Sensor ◽  
Interaction Force ◽  
Physical Interaction ◽  
Bilateral Teleoperation ◽  
Dynamic Identification ◽  
Model Based ◽  
Model Free ◽  
Identification Technique

In robot control with physical interaction, like robot-assisted surgery and bilateral teleoperation, the availability of reliable interaction force information has proved to be capable of increasing the control precision and of dealing with the surrounding complex environments. Usually, force sensors are mounted between the end effector of the robot manipulator and the tool for measuring the interaction forces on the tooltip. In this case, the force acquired from the force sensor includes not only the interaction force but also the gravity force of the tool. Hence the tool dynamic identification is required for accurate dynamic simulation and model-based control. Although model-based techniques have already been widely used in traditional robotic arms control, their accuracy is limited due to the lack of specific dynamic models. This work proposes a model-free technique for dynamic identification using multi-layer neural networks (MNN). It utilizes two types of MNN architectures based on both feed-forward networks (FF-MNN) and cascade-forward networks (CF-MNN) to model the tool dynamics. Compared with the model-based technique, i.e., curve fitting (CF), the accuracy of the tool identification is improved. After the identification and calibration, a further demonstration of bilateral teleoperation is presented using a serial robot (LWR4+, KUKA, Germany) and a haptic manipulator (SIGMA 7, Force Dimension, Switzerland). Results demonstrate the promising performance of the model-free tool identification technique using MNN, improving the results provided by model-based methods.

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