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The buffing process used in the repair polishing of an automotive body surface is carried out manually using skilled workers based on their own experience. However, the number of skilled workers available in the workforce is decreasing owing to the aging population. In addition, the surface quality after the buffing process has been applied is dependent on the proficiency level of the polishing worker...
Working at micro-scale efficiently requires accurate and integrated force feedback implemented with a sensor adapted to the scale. This paper presents a 3D-printed vision-based micro-force sensor intended to be used inside the chamber of a Scanning Electron Microscope (SEM). The combination of 3D printed elastic structures with a highly effective vision based measurement method allows to design integrated...
The study of the rhizosphere with conventional methods can lead to errors in the analysis of the soil-root interface. The aim of this work is to design and carry out a versatile Rhizobox system that allows the study of different crops and types of research. For this purpose, a model that allows different adjustments in the support and development compartments of the rhizosphere and an array of access...
This paper reports on a method to measure spring constant of hydrogel microparticles by a MEMS sensor. For calculating spring constant, not only force but also displacement is necessary. The MEMS sensor consists of two sidewall doped piezoresistive cantilevers in the ranges of μΝ and μm so that both parameters can be measured simultaneously. When one cantilever pushes a target to a wall, the cantilever...
Body weight support (BWS) is important in rehabilitation robotic systems for patients with locomotion difficulties. We are building an active body weight support (ABWS) system that allows patients to move freely in the three dimensional Cartesian space and provides well-controlled supportive force against gravity. In the BWS unit, both the cable position and tension force on the cable should be controlled...
This paper proposes a novel dexterous robotic finger with sensing parallel and self-adaptive grasp, called S-PASA finger, which can perform parallel and self-adaptive hybrid grasping mode. The S-PASA finger consists of two phalanges, two joints, a four-link mechanism with a composite flexible link, one spring, four sensors, a control module, a drive module, and two servo motors. The S-PASA finger...
The following article presents our attempt to design and build a simple, low-cost, impedance controlled, multifinger gripper having two phalanges in each finger. The paper discusses two different approaches of creating its mechanical construction, comparing the strengths and weaknesses of both solutions, as well as electronic design and software architecture of the controller. The results of basic...
Controlling the gripping force on objects has been a challenging task for industrial grippers. Its realization often requires an electric gripper with embedded force sensors and control feedback. This approach is costly and introduces extra complexity for grippers. To avoid damage while handling fragile objects, this paper presents a novel force regulation mechanism (FRM) to be installed on grippers...
This paper presents a Micro Electro-Mechanical System (MEMS) that performs electrostatic force actuation and capacitive microdisplacement sensing in the same chip. By driving the actuator with a given voltage, a known force can be applied to a microsample under test by using a silicon probe tip, while the obtained displacement is measured. This allows to extract the mechanical properties of the microsample...
We demonstrate the consistent and manageable nature of surface adhesion and stiction forces in MEMS devices fabricated using the high-temperature epitaxial encapsulation process. In this encapsulation process (commercialized by SiTime), there are no chemical anti-stiction films or getters. Data from more than 2000 test structures with more than 80 design variations from three different fabrication...
This paper explores a novel stiffness sensor which is mounted on the tip of a laparoscopic camera. The proposed device is able to compute stiffness when interacting with soft surfaces. The sensor can be used in Minimally Invasive Surgery, for instance, to localise tumor tissue which commonly has a higher stiffness when compared to healthy tissue. The purely mechanical sensor structure utilizes the...
This paper presents a hand-held microsurgical forceps design with force-feedback capabilities designed for micromanipulation tasks. The device uses a customized force sensor that measures grasping forces over a range of 0–300mN and uses an actuator to exert amplified forces back on to the operator's fingertip in a mechanically-ungrounded setup. This allows perception of low force levels that are otherwise...
When we construct mobile wireless sensor networks, how to deploy sensor nodes is a critical issue because it affects the cost and monitoring capability of the network. We propose a method to dynamically and effectively deploy sensor nodes to an unknown area with obstacles. The way to supply sensor nodes at any time without depending on the formation of sensor network was developed. Attractive forces...
Haptics are force sensitive devices able to remotely actuate real equipment or to interact with virtual reality models by returning feedback information from the reaction force to the performed action, which allows the haptic device and so the user, to feel the system response.
This paper proposes a passive-type exoskeleton called PEXER IV (Passive Exoskeleton for Easy Running, version IV) as shown Fig. 1 and its design objectives for development. PEXER IV is a wearable-type device, aiming reduction of physical load of a runner. The development of the assistive exoskeleton for running has some difficulties. The exoskeleton must sufficiently exert force to support a part...
The paper presented is dedicated to developing an electronic measurement and registration system of hydraulic dampers test stand and equipment for the needs of Sofia Metropolitan. The intended purpose of the system is to evaluate the working condition of hydraulic dampers of oscillations by identifying their characteristics with certain accuracy. For that reason the electronic system of the test stand...
The present paper deals with the effect of folded beam and spring support incorporated to the proof mass on comb displacement and sensitivity. The study is made for folded beam and spring type support. All the experiments are carried out on COMSOL Multiphysics 4.3 simulation tool.
In this paper, we discuss a wearable wireless system capable of acquiring data from a variety of sensors. The device uses Bluetooth technology to stream data from up to 16 channels/sensors to a laptop computer running MATLAB. Complete with programmable sampling rates, off-the-shelf components, and power saving features, this system provides an inexpensive and reliable means of transmitting data for...
This paper presents the fabrication of an integrated long-range thermal bimorph actuator that controls the z-position of an AFM cantilever in liquid. Multiplied in an array, such individually actuated probes can parallelize cell force spectroscopy measurements, thereby drastically reducing the time needed per measured cell. This particular approach implicates the need for devices with an individual...
This paper presents a new hand-held device capable of amplifying delicate micromanipulation forces during minimal invasive surgical tasks. It relays force sensing to the user through a simple sliding feature that is coupled to the surgical tool, which translates relative to the casing of the device held by the operator. This forgoes the need of grounding frames or anchoring mechanisms to the body,...
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