Search results

1 – 10 of over 84000
To view the access options for this content please click here
Article
Publication date: 7 September 2012

Xuefeng Zhang, Yulong Zhao and Xuelei Zhang

The purpose of this paper is to provide a thin tactile force sensor array based on conductive rubber and to offer descriptions of the sensor design, fabrication and test.

Abstract

Purpose

The purpose of this paper is to provide a thin tactile force sensor array based on conductive rubber and to offer descriptions of the sensor design, fabrication and test.

Design/methodology/approach

The sensor array consists of a sandwich structure. Sensing elements are distributed discretely in the sensor. Each sensing element has two electrodes and a piece of conductive rubber with piezoresistive property. The electrodes, as well as the conductive trace for signal transmission, are printed on the substrate layer by the screen printing technique. A scanning circuit based on zero potential method and an experimental set‐up based on balance to characterize the sensor array are designed and implemented in the test of the sensor array.

Findings

Experimental results verify the validity of the sensor array in measuring the vertical tactile force between the sensing elements and the object.

Research limitations/implications

In this paper, all the sensors are tested without calibration procedures and the procedure of the dynamic test is implemented by manual operation.

Practical implications

The sensor array could be applied to measure the plantar force for gait detection in clinical applications.

Originality/value

The paper presents a tactile force sensor array with discrete sensing elements to essentially restrict the cross‐talk among sensing elements. This paper will provide many practical details that can help others in the field.

Details

Sensor Review, vol. 32 no. 4
Type: Research Article
ISSN: 0260-2288

Keywords

To view the access options for this content please click here
Article
Publication date: 27 March 2009

Zhou Gaofeng, Zhao Yulong and Jiang Zhuangde

The flexibly thin film grid pressure sensor is mainly used to detect the interface pressure distribution between touching objects. Aim at larger measurement error, the…

Abstract

Purpose

The flexibly thin film grid pressure sensor is mainly used to detect the interface pressure distribution between touching objects. Aim at larger measurement error, the strip double sensing layer pressure sensor are designed and fabricated and tested.

Design/methodology/approach

Defects and characteristic of the flexibly thin film grid pressure sensor based on piezoresistive effect are analyzed and pointed out in this paper. After comparison of four sensors, the strip double sensing layer pressure sensor was thought to be best.

Findings

Experiment shows that the strip double sensing layer pressure sensor could eliminate the measurement error basically and illustrates the validity of measuring the interface pressure distribution between area touching objects.

Research limitations/implications

In this paper, only the strip double sensing layer pressure sensor was used to verify the validity of measuring the static interface pressure distribution between peach and platform. But there also exists some problems such as the adhering reliability of electrode and the unevenness of sensing layer. These problems could be overcome in the future research if the fabricating procedure and ingredient of material could be adjusted correctly.

Practical implications

The strip double sensing layer pressure sensor could be applied to detect the static interface pressure distribution such as peach pressure distribution. For dynamic measurement, this research needs to be done further.

Originality/value

Strip double sensing layer pressure sensor with simple “interlayer” structure and with low manufacture cost is presented to basically eliminate the measurement error of interface pressure distribution of original sensor.

Details

Sensor Review, vol. 29 no. 2
Type: Research Article
ISSN: 0260-2288

Keywords

To view the access options for this content please click here
Article
Publication date: 1 February 1981

Leon D. Harmon

An extensive survey of over 300 reports worldwide shows that the state‐of‐the‐art in tactile sensing — defined as continuously variable touch sensing over an area where…

Abstract

An extensive survey of over 300 reports worldwide shows that the state‐of‐the‐art in tactile sensing — defined as continuously variable touch sensing over an area where there is special resolution — is primitive. Only now is a new level of sophistication beginning to appear. However, for industrial systems the simplest may prove to be the most reliable.

Details

Sensor Review, vol. 1 no. 2
Type: Research Article
ISSN: 0260-2288

To view the access options for this content please click here
Article
Publication date: 16 March 2015

Kun Li, Bo Pan, Juncheng Zhan, Wenpeng Gao, Yili Fu and Shuguo Wang

This paper aims to develop a novel miniature 3-axis force sensor which can detect the interaction forces during tissue palpation in MIS (minimally invasive surgery). MIS…

Abstract

Purpose

This paper aims to develop a novel miniature 3-axis force sensor which can detect the interaction forces during tissue palpation in MIS (minimally invasive surgery). MIS offers many significant merits compared with traditional open surgery, the wound to the patients and the postoperative pains are alleviated and reduced dramatically. However, the inherent drawback due to lack of force feedback still exists while conducting some operation procedures. For example, tissue palpation performed easily during open surgery could not be realized in an MIS manner.

Design/methodology/approach

The force sensor is based on the resistive-based sensing method that utilizes strain gauges to measure the strain when the external loads are acting on the tip of the sensor. A novel flexible tripod structure with bending and compression deformations is designed to discriminate the magnitudes and directions of the three orthogonal force components. A linear characteristic matrix is derived to disclose the relationship between the sensitivity and the geometric parameters of the structure, and a straightforward geometric parameterized optimization method considering the sensitivity isotropy is proposed to provide the sensor structure with high sensitivity and adequate stiffness.

Findings

The sensor prototype can perform force measurement with sensing ranges of ± 3.0 N in axial direction and ± 1.5 N in radial direction, and the resolutions are 5 per cent and 1 per cent, respectively. It is concluded that this force sensor is compatible with MIS instruments and the ex-vivo experiment shows that the sensor can be used to perform tissue palpation during MIS procedures.

Originality/value

This paper is intended to address the significant role of force sensing and force feedback during MIS operations, and presents a new application of the resistive-based sensing method in MIS. A tripod structure is designed and a straightforward optimization method considering the sensitivity isotropy of the sensor is proposed to determine geometric parameters suited for the given external loads.

Details

Sensor Review, vol. 35 no. 2
Type: Research Article
ISSN: 0260-2288

Keywords

To view the access options for this content please click here
Article
Publication date: 13 August 2020

Kun Li, Shuai Ji, Guojun Niu, Yue Ai, Bo Pan and Yili Fu

Existing robot-assisted minimally invasive surgery (RMIS) system lacks of force feedback, and it cannot provide the surgeon with interaction forces between the surgical…

Abstract

Purpose

Existing robot-assisted minimally invasive surgery (RMIS) system lacks of force feedback, and it cannot provide the surgeon with interaction forces between the surgical instruments and patient’s tissues. This paper aims to restore force sensation for the RMIS system and evaluate effect of force sensing in a master-slave manner.

Design/methodology/approach

This paper presents a four-DOF surgical instrument with modular joints and six-axis force sensing capability and proposes an incremental position mode master–slave control strategy based on separated position and orientation to reflect motion of the end of master manipulator to the end of surgical instrument. Ex-vivo experiments including tissue palpation and blunt dissection are conducted to verify the effect of force sensing for the surgical instrument. An experiment of trajectory tracking is carried out to test precision of the control strategy.

Findings

Results of trajectory tracking experiment show that this control strategy can precisely reflect the hand motion of the operator, and the results of the ex-vivo experiments including tissue palpation and blunt dissection illustrate that this surgical instrument can measure the six-axis interaction forces successfully for the RMIS.

Originality/value

This paper addresses the important role of force sensing and force feedback in RMIS, clarifies the feasibility to apply this instrument prototype in RMIS for force sensing and provides technical support of force feedback for further clinical application.

Details

Industrial Robot: the international journal of robotics research and application, vol. 47 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

To view the access options for this content please click here
Article
Publication date: 1 February 2005

Johan Tegin and Jan Wikander

When designing hardware and algorithms for robotic manipulation and grasping, sensory information is typically needed to control the grasping process. This paper presents…

Downloads
3994

Abstract

Purpose

When designing hardware and algorithms for robotic manipulation and grasping, sensory information is typically needed to control the grasping process. This paper presents an overview of the major grasping and manipulation approaches and the more common hardware used to obtain the necessary sensory information.

Design/methodology/approach

This paper presents an overview of tactile sensing in intelligent robotic manipulation. The history, the common issues, and applications are reviewed. Sensor performance is briefly discussed and compared to the human tactile sense. Advantages and disadvantages of the most common sensor approaches are discussed. Some examples are given of sensors that are widely available as of today. Eventually, some examples of the state‐of‐the‐art in tactile sensing application are presented.

Findings

Although many sensor technologies and strong theoretical models have been developed, there is still much left to be done in intelligent grasping and manipulation. This is partly due to the youth of the field and the complex nature of safe control in uncertain environments. Even though there are impressive results when it comes to specific examples of advanced manipulation, there seems to be room for great improvements of hardware and especially algorithms when it comes to more generic everyday domestic tasks.

Originality/value

This paper presents a review of sensor hardware while also giving a glimpse of the major topics in grasping and manipulation. While better hardware of course is desirable, the major challenges seem to lie in the development and application of grasping and manipulation algorithms.

Details

Industrial Robot: An International Journal, vol. 32 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

To view the access options for this content please click here
Article
Publication date: 26 August 2014

Yongxing Guo, Dongsheng Zhang, Zude Zhou, Fangdong Zhu and Li Xiong

This paper aims to present an effective sensing detection system based on fiber Bragg grating (FBG) sensing technology for protective barriers that have been effectively…

Abstract

Purpose

This paper aims to present an effective sensing detection system based on fiber Bragg grating (FBG) sensing technology for protective barriers that have been effectively applied to intercept and stop rocks from falling onto railway tracks. . Determination of exact stress and deformation values during impact tests for key components of the protective barrier forms important criteria for quality control of these barriers. Monitoring changes in force along the protective barrier when deployed in field application allows for real-time disaster warning for collapse and falling rocks.

Design/methodology/approach

In this paper, we propose a monitoring strategy for key components of a protective barrier. During performance tests, dynamic force and strain were measured for the steel strands and supporting I-beam, respectively. Design of a special elastic structure for the force transducer based on finite element analysis and tensile tests has been discussed here. Two types of FBG force transducers were manufactured based on the elastic structure. Four FBG force transducers and four FBG strain sensors were used for impact verification testing of a new rigid protective barrier with a design protection level of 25 KJ.

Findings

Dynamic force and strain responses were obtained during an impact of free-falling block with a kinetic energy of 25 KJ.

Originality/value

The FBG monitoring scheme can be extremely valuable for optimized design of the barrier and can provide real-time disaster warning in regions of collapse and falling rocks.

To view the access options for this content please click here
Article
Publication date: 22 March 2018

Hamza Bendemra, Toufik Al Khawli, Muddasar Anwar, Dewald Swart and Cesare Stefanini

The purpose of this paper is to present a novel force sensing jig for robot-assisted drilling used to drill holes for the fastening of floating nut plates in aircraft assembly.

Abstract

Purpose

The purpose of this paper is to present a novel force sensing jig for robot-assisted drilling used to drill holes for the fastening of floating nut plates in aircraft assembly.

Design/methodology/approach

The paper describes the drill jig, which consists of a parallel gripper, peg-in-hole pins and a back-plate with a recess where a Polydimethylsiloxane cone is placed on top of a force sensor. As the jig approaches the part, the force sensor registers the applied force until it reaches steady state, which indicates full contact between the jig and the part. The peg-in-hole pins then lock into a pre-existing hole, which provides a mechanical reference, and the support plate provides back support during drilling.

Findings

Positional accuracy and the repeatability of the system were successfully placed within the specification for accuracy and repeatability (0.1 mm tolerance and 0.2 mm tolerance, respectively).

Practical implications

The drill jig can be integrated into existing robot drilling solutions and modified for specific applications. The integration of the force sensor provides data for engineers to monitor and analyze forces during drilling. The design of the force sensing drill jig is particularly suited to industrial prototype robot drilling end-effectors for small and medium manufacturers.

Originality/value

The key novelties of this drilling jig are in the compact assembly, modular design and inclusion of force sensing and back support features.

Details

Industrial Robot: An International Journal, vol. 45 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

To view the access options for this content please click here
Article
Publication date: 1 December 2004

Gregory Tholey, Anand Pillarisetti and Jaydev P. Desai

Advancements in robotics have led to significant improvements in robot‐assisted minimally invasive surgery. This paper describes our design of an automated laparoscopic…

Downloads
1105

Abstract

Advancements in robotics have led to significant improvements in robot‐assisted minimally invasive surgery. This paper describes our design of an automated laparoscopic grasper with tri‐directional force measurement capability at the grasping jaws. The laparoscopic tool can measure normal, lateral, and longitudinal grasping forces while grasping soft tissue. Additionally, the tool can also be used to measure the tissue probing forces. Initial testing of the prototype has shown its ability to accurately characterize artificial tissue samples of varying stiffness and accurately measure the probing forces.

Details

Industrial Robot: An International Journal, vol. 31 no. 6
Type: Research Article
ISSN: 0143-991X

Keywords

To view the access options for this content please click here
Article
Publication date: 1 September 2002

J. Norberto Pires, John Ramming, Stephen Rauch and Ricardo Araújo

Force/torque sensing is very important for several automatic and industrial robotic applications. Basically, if precise control of the forces that arise from contact…

Downloads
1593

Abstract

Force/torque sensing is very important for several automatic and industrial robotic applications. Basically, if precise control of the forces that arise from contact between tools and parts is required to successfully complete the automatic task, then a force/torque sensor is needed along with some force/torque control technique. In this paper we focus on force/torque sensing aspects applied to industrial robotic tasks. Concentrating on a particular type of force/torque sensor, we demonstrate how to use them and how to integrate them into force/torque control applications using robots. Finally, an industrial application is presented where force control was fundamental for the success of the task.

Details

Sensor Review, vol. 22 no. 3
Type: Research Article
ISSN: 0260-2288

Keywords

1 – 10 of over 84000