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In this paper we introduce a prototype of a novel hall-effect based skin sensor for robotic applications. It uses a small sized chip that provides 3-axis digital output in a compact package. Our purpose was to evaluate the feasibility of measuring 3-axis force while maintain a soft exterior for safe interactions. Silicone was used to produce the soft skin layer with about 8 mm thickness. An MLX90393...
This study presents an active brace which is a cost efficient precision-controlled advanced therapy medicinal product for time and rate controlled transdermal drug delivery (TDD) through the use of drug containing nanoparticles and electronics. The active brace is designed to adjust the pressure at the contact area where the medication is applied. The drug is contained in the nanoparticles produced...
We present the design of a soft wearable robotic device composed of elastomeric artificial muscle actuators and soft fabric sleeves, for active assistance of knee motions. A key feature of the device is the two-dimensional design of the elastomer muscles that not only allows the compactness of the device, but also significantly simplifies the manufacturing process. In addition, the fabric sleeves...
soft skin artefacts made of knitted nylon reinforced silicon rubber were fabricated mimicking octopus skin. A combination of ecoflex 0030 and 0010 were used as matrix of the composite to obtain the right stiffness for the skin artefacts. Material properties were characterised using static uniaxial tension and scissors cutting tests. Two types of tactile sensors were developed to detect normal contact;...
The goal of this research is to develop a functional adhesive robot skin with micro suction cups, which realizes two new functions: adaptive adhesion to rough/curved surfaces and anisotropic adhesion. Both functions are realized by integration of asymmetric micro cups. This skin can be applied to various robot mechanisms such as robot hands, wall-climbing robot feet and so on as a kind of robot skins...
This paper presents the interface electronics design and implementation of a tactile sensing system for humanoid robot applications. The tactile system is designed to cover the human tactile sensing bandwidth ranging from 1Hz to 1kHz and to operate on a wide range of input forces/pressures. Some interface electronics prototypes have been designed and fabricated. The paper reports the experimental...
Electro-impulse de-icing (EIDI) system has become one of the important part of aviation de-icing technology, because of its advantages in low power consumption, light weight, convenient maintenance, well reliability, little expense and so on. Electrodynamics analysis is the fundamental basis of the EIDI system design, providing impulse force characteristics for the ensuing stage of structural dynamics...
Current skin biopsy techniques utilizing a punch biopsy device can leave raised scars that are cosmetically unappealing. With 3.8 million procedures per year, the potential marketability of a superior device is substantial. The goal of this study is to design a novel elliptical punch biopsy device that maintains the simplicity of existing products while minimizing scarring. Mechanical testing was...
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