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In order to ensure safe operation, robots must be able to reliably detect behavior perturbations that result from unexpected physical interactions with their environment and human co-workers. While some robots provide firmware force sensors that generate rough force estimates, more accurate force measurements are usually achieved with dedicated force-torque sensors. However, such sensors are often...
This paper presents a methodology for the development of a multi-axis force/torque sensor based on optoelectronic technology. The advantages of using this sensing principle are the low manufacturing costs, the simple fabrication, and the immunity to electrical noise. The force/ torque sensor makes use of six optical sensors: each sensor measures the displacement of a reflective surface that moves...
Industrial robots are often used for the simulation of satellites during on orbit servicing. In order to cover also the docking phase, both robots are equipped with force-torque sensors, and the measured forces and torques are taken to compute the desired motion of the position controlled robots. Since the system dynamics of robots and of free floating bodies obviously differ, for each robot we distinguish...
A Hit and Hit Again on the head can harm the function of brain if ignored for long periods. A sequence of such hits can lead to a type of brain malfunctioning called “concussion”. Concussion alters the brain functionality when occurred for more number of iterations in accidents. It happens when a sudden blow is introduced to the head during a fall, hit or could be worse in case of accidents In this...
Specific molecular recognition between antibody and receptor on cell membrane plays a central role in biological research. As a main component in the renin-angiotensin system (RAS), angiotensin II type I receptor (AT1R) mediates the classical biological actions of angiotensin II (Ang II). In this study, we applied atomic force microscopy (AFM) to characterize and quantify binding interaction between...
Research on the human-centric design of driving interface devices, such as a pedal and a steering wheel, has been conducted to improve the operational comfort as well as the driving safety in developing an intelligent driver assistance system. However, the evidence on human factors in driving has been still insufficient to attain such research goals. In this paper, an electric-driven pedal interface...
To develop a mechanism that will smoothly support the standup motion of elderly people, we reconsidered the operation-start timing of our previously developed device using a measurement apparatus. In the experiments with elderly subjects, the mechanism did not work as well as it did with younger subjects. For younger subjects, the floor's reaction force decreased when the support mechanism was used,...
This paper proposes position and force sensors of the haptic interface for training simulation of radial artery puncture. The position sensor with two optocouplers and one code stick is designed to measure translational movement of the guidewire. The position sensor can measure linear motion with speed up to 160mm/s with 1mm error. The resolution of the designed position sensor is 0.195mm. A leverage...
Advanced surgical robotic systems aim to offer improved capabilities through automated low-level functions. In the applications, soft tissue mechanics and tool-tissue interaction modeling play an important role in achieving optimal control, relying on model-based control methods. This approach allows for addressing crucial issues during teleoperation, such as time-delay, state observation or stability...
Haptic sensation delivered to doctor's hands during CT-guided needle intervention complements insufficient visual information. Exploitation of the haptic information is to be trained using simulation. A model is necessary to compute the reflective forces occurring when the needle tip contacts with layers of soft tissues such as skin, membrane, and other layers of tissues. This paper proposes a nonlinear...
Use of a Quadrotor is considered as one of the methods to inspect infrastructures such as a tunnel or a bridge. In such a case, it needs to control the position of the airframe. Note, however, that it is difficult to realize the position control using GPS in environments, such as in a tunnel or under a bridge, because there is a problem, such as the weakness of the GPS signal or the incomplete reaching...
In this paper, the design of a hand rehabilitation system is introduced for evaluating the hand function and performing the hand rehabilitation. In an attempt to evaluate the hand function such as a finger stiffness, a finger independency, a multi-finger synergy quantitatively, the finger joint angles and the external force to the finger should be measured via the device. In addition, the device assists...
This paper presents the development of a flexible force sensor that can be integrated on a catheter and provide catheter contact force to ensure sufficient power delivery during during RF ablation for atrial fibrillation treatment. The flexible force sensor consists of a strain gauge (PEDOT:PSS) incorporated on a polymer substrate (PDMS) and was fabricated using existing microfabrication technologies...
NANIUM's Fan-Out Wafer-Level Packaging technology WLFO (Wafer-Level Fan-Out) is based on embedded Wafer Level Ball Grid Array (eWLB) [1]. Since it's invention almost 10 years ago, it became the leading technology for Fan-Out Wafer-Level packages. The WLFO technology is based upon the reconstitution to wafer format of semiconductor dies or other active / passive components separated by mold compound...
3D imaging module was integrated by 3 Printed Circuit Board Assembly (PCBA) which consists of Main Board (MB), Projector Mini Board (PMB) and 2 Camera Module (2CAM). A piece of thin liner will then attach underneath of the module to strengthen the structure and as heat transfer mechanism. In order to achieve product specification on module thickness and flatness, a mechanical top clamp fixture with...
3D imaging module was integrated by 3 Printed Circuit Board Assembly (PCBA) which consists of Main Board (MB), Projector Mini Board (PMB) and 2 Camera Module (2CAM). A piece of thin liner will then attach underneath of the module to strengthen the structure and as heat transfer mechanism. In order to achieve product specification on module thickness and flatness, a mechanical top clamp fixture with...
This paper described newly developed haptic mechanism of tendon-based replica-type master controller for underwater manipulator operation. It provides a mechanism for connecting the mechanical part and actuator to elastic component for measuring the force from the user input. A prototype was developed to the force measurement and reaction force control tests and the results were analyzed.
This paper presents a novel technique to estimate the wave excitation force which is an essential signal in the control of a Point Absorber Wave Energy Converter (PAWEC). The work uses a nonlinear PAWEC simulation together with a modified form of the well-known fast adaptive actuator fault estimation (FAFE) technique for nonlinear Lipschitz system, the fast adaptive unknown input estimation (FAUIE)...
A long-range, continuous, and accessible kinetic measurement system is required for evaluating gait disorders. Although methods employing force plates are gold standard in kinetic gait analysis, their usage is often limited by their measurement range, and they are cost-prohibitive for general clinics. Instrumented insole-based gait analysis systems using accessible sensors were proposed in previous...
The missing haptic feedback in minimally invasive and robotic surgery has prompted the development of a number of approaches to estimate the force acting on the instruments. Modifications of the instrument can be costly, fragile, and harder to sterilize. We propose a method to estimate the forces from the tissue deformation, hence working with multiple instruments and avoiding any modification to...
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