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This work considers estimation of mass parameters for multi-robot coordinated lifting in the context of coordinated aerial manipulation, and develops strategies for active parameter estimation for cooperative manipulation tasks through an information-theoretic framework. The active sensing problem is formulated based on application of increasing forces to the object and detection of small motions...
In applications of human-robot interactions, accurate measurement of interactive forces between the human and the robot plays a significant role. Such sensors should not only be accurate and reliable, but also be soft enough to guarantee the safe and compliant human-robot interaction. In this aspect, pneumatic sensors with soft air chambers have often been utilized as a soft force measurement system...
Cardio-Pulmonary Resuscitation (CPR) is a technique that allows a CPR certified person to keep alive someone whose heartbeat and/or breathing has stopped. Through compressions applied to the thorax of the individual in need of help, one can maintain the blood flow and air intake until further help (and equipment) arrives. Training for CPR is performed using manikins that mimic a human torso. In this...
In this paper, an approach for the detection of tool wear occurring during a machining process is presented. An instrumented chuck is used to measure the tool forces. The measured signals are partitioned into machining operation and auxiliary movement. Each machining operation is analysed using the statistical central moments: mean, variance, skewness and kurtosis. The machining operations are represented...
For the condition monitoring of railway catenaries, the potential utilization of pantograph head (pan-head) vertical acceleration instead of pantograph-catenary contact force is discussed in this paper. In order to establish a baseline of the pan-head acceleration before it can be used for health condition monitoring, one of the essential frequency components, namely the catenary structure wavelength...
Flexible sensing resistors are satisfied for general-purpose applications in recording interactive force during hand manipulation. However, FSR sensors are considerably sensitive to shear. In this paper, shear effect of a Tekscan FlexiForce A401 sensor was investigated with a reformed offset runout detection instrument. Sensor output increased caused by shear stress is significant with normal load...
An optical fiber tactile sensor based on specklegram analysis is demonstrated. The system consists of microbending transducers attached to semi-rigid plates and distributed in form of array. The specklegrams produced by the multimode fibers are recorded and them the variations on fiber status, related to force magnitude, are assessed by specklegrams correlation. Finally, the spatial information was...
This paper presents the results obtained from fibre Bragg grating (FBG) sensors integrated into a railway current-collecting pantograph for accurate measurement of contact force and contact location when it is subjected to various temperature conditions. The temperature change of the pantograph is simulated, at the industrial laboratory of Brecknell Willis in the UK, by changing the DC current applied...
Skills performance assessment in physical therapy is mainly evaluated by observational means from an expert. Recent advancements in technology enable the creation of smart instrumentation that can aid trainees and evaluators during the learning and evaluation process. Towards this goal, this paper presents the design and development of a sensorized glove for measuring movement and interaction forces...
With the increasing number of plug connections in products, which are proportionally less and less space consuming, the potential for device failure caused by defect connectors increases. Therefore, it will be increasingly important to ensure the proper functioning of the electrical connections. Within the framework of a research transfer project, sensors are being developed to test the contact normal...
In the past, a large number of material models for Sn-based solder alloys have been proposed, which are usually calibrated based on the material testing under isothermal the conditions. However, their ability to map the lifetime differences depending on the temperature rate under the field and test-lab conditions, as well as on the mean operating temperature, is still not completely investigated and...
In the complex rotor bearing systems all the components and control are interdependent. Changes in one non-modular element might require complete system redesign. Research on high-speed levitated blowers, pumps and compressors requires ability to test effectively different, often novel or customized, hardware and software components. This work introduces the laboratory test rig of modular construction...
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...
We report a method to directly measure the jumping force during the coalescence of two water droplets on a superhydrophobic surface using a MEMS-based force sensor as shown in Figure 1(a). The sensor is designed to measure the jumping force during the coalescence of two droplets whose radii are several hundred μm. The measurement results show that the maximum jumping force could be more than 10 times...
We developed a MEMS 6-axis force-torque sensor attached to the tip of grasping forceps for identification of tumor in thoracoscopic surgery. To validate the grasping forceps with sensors, the gelatin in which a silicone sphere was embedded was grasped with it and the variations in 3-axis force and 3-axis torque depending on grasping positions were measured. The size of the embedded hard object in...
The objective of this study was to design and assemble a remotely operated mechanical nociceptive device for testing pain thresholds in sheep. This device was assembled by using an actuator connected to a load cell. The linear movement of the actuator was converted into an orthogonal movement using a bell crank mechanism. The assembly was then strapped on the distal forelimb of the sheep (below the...
A design of flexible piezoelectric strain energy harvester responsive to multi-directional forces from arbitrary human motions was developed by using polydimethylsiloxane (PDMS) and polyvinylidene fluoride (PVDF). Unlike the most of conventional strain energy harvesters designed to be functional only for single directional motion, our suggested design demonstrated the energy harvesting capability...
A passively self-aligned, assembly-based process for rapidly creating compact, micro-barrel hinges with unconstrained rotation from SU-8 epoxy is presented. The alignment process takes places in two stages: a coarse alignment stage guided by external dowel pins followed by a fine alignment stage driven by the hinges' features themselves. The assembly of pins into housings circumvents the design rules...
A novel gold nanoparticle embedded plasmonic micropillar (PEM) platform for large area, massively parallel, and high-precision cell force measurement is demonstrated. Gold nanoparticles implanted into PDMS micropillars by laser pulses serve as strong and point-source-like scattering centers in dark-field imaging. These mechanically anchored gold nanoparticles are physically robust and chemically stable...
The maintenance of static standing balance is not only essential for performing everyday activities but is also an important risk factor for prediction of falls in the elderly adults. Human balance / posture control is controlled by complex integration of different senses. The changes in steadiness of balance can be characterized by center-of-pressure (COP) signals measured from a 3-D force plate...
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