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This paper reports a MEMS resonator with closed-loop vibration control which can be parametric driven at ambient pressure. Non-interdigitated comb fingers are used as parametric force electrodes and optimized design enables the electrodes to generate large electrostatic stiffness, which makes parametric drive possibly realized at ambient pressure and low Q-factor (65.8). Closed-loop vibration control...
This paper presents an out-of-plane (z-axis) accelerometer, which incorporates the use of two different MEMS capacitive electrode structures in combination for implementing a linear closed-loop system. During the implementation, the complexity of the design and fabrication steps of the sensing element is kept at a minimum. The proposed accelerometer uses capacitive MEMS sensing element fabricated...
In this paper we have proposed an electrostatic micro-actuator able to reach high velocity in short time in one direction and stop with less damage and recoil in desired position without mechanical stopper. This device would be applicable in many applications such as optical switching and biological microinjection. In many cases which high velocity micro-actuator needed mechanical stopper had been...
This paper describes an investigation into a new design of friction test apparatus with an artificial fingertip. In order to mimic a human finger stroking on surfaces, this special friction apparatus consists of an artificial fingertip, a linear flexure mechanism and a reciprocal stage. The contact force and friction force are measured simultaneously. The detailed design of major parts will be provided...
There are few mathematical indices to quantize the adaptability, although it is mentioned repeatedly as a highlight of underactuated mechanisms in literatures. This paper discusses the grasp adaptability of underactuated mechanisms. Different from compliance, namely the reciprocal of stiffness, the adaptability is presented as the ability of adaptive motion. Two measures of adaptability are proposed...
To realize the underwater intervention, a Father-son Underwater Intervention Robotic System (FUIRS) is proposed in our laboratory. The FUIRS employs a novel biomimetic microrobot to realize underwater manipulation tasks. The main work of this paper is to describe the biomimetic microrobot which is inspired by an octopus. The microrobot is mainly composed of body and arm. We use IPMC to fabricate the...
Cardiovascular and postural systems are understood to interact with each other to maintain equilibrium. Prolonged standing is known to induce postural sway, pre-syncope symptoms and muscle fatigue. Prior work has shown the presence of interactions between the cardiovascular and postural systems during quiet stance. The cause-and-effect relation between the representative signals of the two systems...
This paper describes the position and force control of a novel two-finger gripper using force control technology, a master-slave force control strategy is deveoped for making the force track the desired force quickly with lower overshoot. PID controller is adapted to the position system for the master finger, and force control is used to the slave finger with grey GM(1,1) model, the prediction models...
In this paper, a pneumatic flexible finger joint is recommended, which uses the plate-spring as skeleton. Bending status of the plate-spring is equal to the large deflection of elastic cantilever, which is actuated by a pneumatic artificial muscle actuator of longitudinal expandable rubber bellows. By this actuator, a follower force tangential to the axis of the plate-spring as well as a moment is...
the prediction of finger pinch force via surface electromyography (sEMG) signals is important in bionic control area. The purpose of this paper was to study how to improve the prediction accuracy while using support vector regression (SVR) to predict the pinch force. Four healthy subjects performed constant-posture force-varying pinch operations. The sEMG signal was acquired using two electrodes while...
This paper presents the development and design of an exoskeleton for the hand, utilising a physical phenomena known as granular jamming, where pressure within a soft membrane is varied to cause a granular material to change from a solid to fluid-like state. Experimentation and simulation is performed to discover and analyse the relationship between chamber size and the generation of resistive forces...
Controlling absolute magnitudes of fingertip force is an important skill in many haptic interactions such as surgical operations and mechanical assemblies. A fundamental question in the force control is how quickly human can output a target force with expected accuracy. In this paper, human's capability to control absolute magnitudes of fingertip force under audio or visual feedback was observed through...
Ultrasonic vibration of a plate can be used to modulate the friction of a finger pad sliding on a surface. This modulation can modify the user perception of the touched object and induce the perception of textured materials. In the current paper, an elastic model of finger print ridges is developed. A friction reduction phenomenon based on non-Coulombic friction is evaluated based on this model. Then,...
This work aims to demonstrate and explain a nearly century old electrostatic haptic effect in human fingertips, which has since gone unreported. This effect, based on the original work of Johnsen and Rahbek [1], as well as research on electrostatic chucking devices [2], is capable of producing electrostatic forces on the finger an order of magnitude greater than those previously reported in literature...
The purpose of this paper is to determine an optimum design for a DC-actuated, jagged-edge shaped comb drive incorporable in micro electromechanical systems (MEMS) as gripper actuator for micro-robotics domain precise manipulation. The commercial Comsol Multiphysics software based on finite element method (FEM) was used to carry out all the simulations in the 2D domain. Several geometries were analyzed...
A soft wearable robot with a tendon drive is a promising technology that enables a wearable robot to be compact and lightweight. A soft tendon routing system was previously proposed to apply a tendon drive to a soft wearable robot.
Interdigitated Finger Capacitors or Comb Drives have an integral role in MEMS designing. Though numerous applications of this device have been implemented, a lack of uniform linearity still remains. We have thus endeavored to improve the same. The results thus obtained suggested a change of design affects the linearity far more than a change in any other parameter and thus we present a novel change...
In this work a new approach is taken towards determining the quantified contribution of tactile acuity to human manual dexterity, and the implications of this approach when applied to the development of artificial fingertip touch sensors for humanoid robots or for prosthetic hands. The interdependence between several dimensions of both tactile acuity and dexterity is investigated. An experimental...
This trial was performed to examine the influences of finger sensor on the optical biosignal acquired from photoplethysmography (PPG). Besides examining the sensor components, factors such as sensor position, motion artifact, contact force and bad contact were also investigated. All sessions resulted in direct effects on the wave shape, AC and DC levels of the PPG signal. We concluded that the impacts...
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