A Nonlinear Approach For Characterization Of Viscoelastic Materials With Application In Tactile Sensing For Robotics And Minimally Invasive Surgery
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A Nonlinear Approach For Characterization Of Viscoelastic Materials With Application In Tactile Sensing For Robotics And Minimally Invasive Surgery
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Author : Ali Shabram
language : en
Publisher:
Release Date : 2008
A Nonlinear Approach For Characterization Of Viscoelastic Materials With Application In Tactile Sensing For Robotics And Minimally Invasive Surgery written by Ali Shabram and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008 with categories.
Tactile Sensing And Displays
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Author : Javad Dargahi
language : en
Publisher: John Wiley & Sons
Release Date : 2012-11-06
Tactile Sensing And Displays written by Javad Dargahi and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-11-06 with Science categories.
Comprehensively covers the key technologies for the development of tactile perception in minimally invasive surgery Covering the timely topic of tactile sensing and display in minimally invasive and robotic surgery, this book comprehensively explores new techniques which could dramatically reduce the need for invasive procedures. The tools currently used in minimally invasive surgery (MIS) lack any sort of tactile sensing, significantly reducing the performance of these types of procedures. This book systematically explains the various technologies which the most prominent researchers have proposed to overcome the problem. Furthermore, the authors put forward their own findings, which have been published in recent patents and patent applications. These solutions offer original and creative means of surmounting the current drawbacks of MIS and robotic surgery. Key features:- Comprehensively covers topics of this ground-breaking technology including tactile sensing, force sensing, tactile display, PVDF fundamentals Describes the mechanisms, methods and sensors that measure and display kinaesthetic and tactile data between a surgical tool and tissue Written by authors at the cutting-edge of research into the area of tactile perception in minimally invasive surgery Provides key topic for academic researchers, graduate students as well as professionals working in the area
Springer Handbook Of Robotics
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Author : Bruno Siciliano
language : en
Publisher: Springer
Release Date : 2016-07-27
Springer Handbook Of Robotics written by Bruno Siciliano and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-07-27 with Technology & Engineering categories.
The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/
Grasping Contact Analysis Of Viscoelastic Materials For Design And Development Of An Endoscopic Tactile Sensor
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Author : Ali Bonakdar
language : en
Publisher:
Release Date : 2007
Grasping Contact Analysis Of Viscoelastic Materials For Design And Development Of An Endoscopic Tactile Sensor written by Ali Bonakdar and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007 with categories.
In this study, analytical and Finite Element Method (FEM) are employed to determine the contact pressure on the surface of a tissue being grasped by an endoscopic grasper, in Minimally Invasive Surgery (MIS). Normally, an endoscopic grasper has corrugated teeth in order to maintain a firm grip on slippery tissues. Because it is very important to avoid damage while grasping and manipulating tissue during endoscopic surgery, it is essential to determine the exact contact pressure on the surface of the tissue. To this end, a comprehensive closed form analysis is undertaken followed by the finite element and experimental analyses of the grasping contact pressure on viscoelastic materials which have similar properties as that of biological tissues. The behavior of a grasper with wedge and semi-cylindrical teeth is examined when pressed into a linear viscoelastic material. Initially, a single tooth penetrating into a solid is studied and then is extended to the multi teeth grasper. The elastic wedge and semi-cylinder penetration is the basis of the closed form analysis. Also the effects of time are included in the equations by considering the corresponding integral operator from viscoelastic stress-stain relations. In addition, a finite element analysis is carried out. Finally, the experimental results will be presented to validate both analytical and FEM analysis. The results of this study provide a closed form expression for grasping contact pressure, force and contact area along with the variations of stress in tissue obtained through FEM analysis. The variation of contact pressure and the rate of growth of the contact area with time are also presented. In order to determine the properties of the biological tissues during MIS, we present the design, analysis, fabrication and assembly of four-tooth annular micro-fabricated tactile sensors incorporated to the upper and lower jaws of an endoscopic surgical grasper tool. Two viscoelastic models, namely, Kelvin-Voight and Kelvin are employed for tissue characterization. The relationship between the force ratio, compliance and the equivalent viscous damping of the tissue are studied. The designed sensor uses a Polyvinylidene Fluoride (PVDF) film as its sensing element. The sensor consists of arrays of rigid and compliant elements which are mounted on the tip of an endoscopic surgical grasper tool. The relative force between adjacent parts of the contact object is used to measure the viscoelastic properties.
Identification Of Mechanical Properties Of Nonlinear Materials And Development Of Tactile Displays For Robotic Assisted Surgery Applications
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Author : Siamak Arbatani
language : en
Publisher:
Release Date : 2016
Identification Of Mechanical Properties Of Nonlinear Materials And Development Of Tactile Displays For Robotic Assisted Surgery Applications written by Siamak Arbatani and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with categories.
This PhD work presents novel methods of mechanical property identification for soft nonlinear materials and methods of recreating and modeling the deformation behavior of these nonlinear materials for tactile feedback systems. For the material property identification, inverse modeling method is employed for the identification of hyperelastic and hyper-viscoelastic (HV) materials by use of the spherical indentation test. Identification experiments are performed on soft foam materials and fresh harvested bovine liver tissue. It is shown that reliability and accuracy of the identified material parameters are directly related to size of the indenter and depth of the indentation. Results show that inverse FE modeling based on MultiStart optimization algorithm and the spherical indentation, is a reliable and scalable method of identification for biological tissues based on HV constitutive models. The inverse modeling method based on the spherical indentation is adopted for realtime applications using variation and Kalman filter methods. Both the methods are evaluated on hyperelastic foams and biological tissues on experiments which are analogous to the robot assisted surgery. Results of the experiments are compared and discussed for the proposed methods. It is shown that increasing the indentation rate eliminates time dependency in material behavior, thus increases the successful recognition rate. The deviation of an identified parameter at indentation rates of V=1, 2 and 4 mm/s was found as 28%, 21.3% and 7.3%. It is found that although the Kalman filter method yields less dispersion in identified parameters compared to the variance method, it requires almost 900 times more computation power compared to the variance method, which is a limiting factor for increasing the indentation rate. Three bounding methods are proposed and implemented for the Kalman filter estimation. It was found that the Projection and Penalty bounding methods yield relatively accurate results without failure. However, the Nearest Neighbor method found with a high chance of non-convergence. The second part of the thesis is focused on the development of tactile displays for modeling the mechanical behavior of the nonlinear materials for human tactile perception. An accurate finite element (FE) model of human finger pad is constructed and validated in experiments of finger pad contact with soft and relatively rigid materials. Hyperfoam material parameters of the identified elastomers from the previous section are used for validation of the finger pad model. A magneto-rheological fluid (MRF) based tactile display is proposed and its magnetic FE model is constructed and validated in Gauss meter measurements. FE models of the human finger pad and the proposed tactile display are used in a model based control algorithm for the proposed display. FE models of the identified elastomers are used for calculation of control curves for these elastomers. An experiment is set up for evaluation of the proposed display. Experiments are performed on biological tissue and soft nonlinear foams. Comparison between curves of desired and recreated reaction force from subject's finger pad contact with the display showed above 84% accuracy. As a complementary work, new modeling and controlling approaches are proposed and tested for tactile displays based on linear actuators. Hertzian model of contact between the human finger pad and actuator cap is derived and curves of material deformation are obtained and improved based on this model. A PID controller is designed for controlling the linear actuators. Optimization based controller tuning approach is explained in detail and robust stability of the system is also investigated. Results showed maximum tracking error of 16.6% for the actuator controlled by the PID controller. Human subject tests of recreated softness perception show 100% successful recognition rate for group of materials with high difference in their softness.
Applications Of Viscoelasticity
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Author : Pouria Hajikarimi
language : en
Publisher: Elsevier
Release Date : 2021-04-27
Applications Of Viscoelasticity written by Pouria Hajikarimi and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-04-27 with Technology & Engineering categories.
Applications of Viscoelasticity: Bituminous Materials Characterization and Modeling starts with an introduction to the theory of viscoelasticity, emphasizing its importance to various applications in material characterization and modeling. It next looks at constitutive viscoelastic functions, outlines basic equations for different loading conditions, and introduces the Boltzmann superposition principle, relaxation modulus, and creep compliance. Mechanical models, including integer-order and fractional-order are studied next, featuring real experimentation data alongside the benefits and drawbacks of using each model in various real-world scenarios. The book then covers the correspondence principle, followed by time–temperature superposition, featuring a simple procedure to construct a real master curve and challenges that might be encountered. The concluding chapters cover the Hopkins and Hamming, Park and Kim, and General Power law methods for interconversion of constitutive viscoelastic functions, applications of viscoelasticity for experimental tests, and incremental form of viscoelastic relations for numerical modeling. The book also includes supplementary codes that users can duplicate and use in their own work. - Takes an applied approach to material viscoelasticity, explaining complicated viscoelastic equations and principles - Presents examples of those equations and principles being applied to common problems in realworld settings - Covers constitutive viscoelastic functions, including relaxation modulus and creep compliance - Outlines the construction of a master curve of viscoelastic material considering time–temperature superposition - Couples the correspondence principle with common viscoelastic experiments, such as threepoint bending beam, axial and torsional bar, and dynamic shear rheometer - Provides supplementary codes
Nonlinear Viscoelastic Materials
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Author : Randy Harold Ewoldt
language : en
Publisher:
Release Date : 2009
Nonlinear Viscoelastic Materials written by Randy Harold Ewoldt and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009 with categories.
(Cont.) The new framework is illustrated by examining prototypical nonlinear constitutive models (Giesekus, pseudoplastic Carreau, and elastoplastic Bingham). Various soft materials are tested experimentally, including pedal mucus gel from terrestrial gastropods, a wormlike micelle solution, ultrasoft hagfish slime, and an oilfield drilling fluid. PART THREE describes the use of nonlinear rheological behavior to enable unique functionality, specifically for bioinspired snail-like wall climbing and tunable adhesion using magnetorheological fluids. Yield stress fluids are examined here to enable the bioinspired adhesive locomotion of a self-contained mechanical device (Robosnail, developed by Brian Chan, Ph. D. '09). Field-responsive magnetorheological fluids are analyzed in the context of providing fast-switching reversible adhesion for use with adhesive locomotion devices and shape-changing soft robots. In conclusion, interest in soft materials is increasing across many disciplines. The contributions presented here provide the means to a better understanding of biological and engineered systems which involve complex viscoelastic materials.
Creep And Relaxation Of Nonlinear Viscoelastic Materials With An Introduction To Linear Viscoelasticity
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Author : W.N. Findley
language : en
Publisher: Elsevier
Release Date : 2012-12-02
Creep And Relaxation Of Nonlinear Viscoelastic Materials With An Introduction To Linear Viscoelasticity written by W.N. Findley and has been published by Elsevier this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-02 with Science categories.
Creep and Relaxation of Nonlinear Viscoelastic Materials with an Introduction to Linear Viscoelasticity deals with nonlinear viscoelasticity, with emphasis on creep and stress relaxation. It explains the concepts of elastic, plastic, and viscoelastic behavior, along with creep, recovery, relaxation, and linearity. It also describes creep in a variety of viscoelastic materials, such as metals and plastics. Organized into 13 chapters, this volume begins with a historical background on creep, followed by discussions about strain and stress analysis, linear viscoelasticity, linear viscoelastic stress analysis, and oscillatory stress and strain. It methodically walks the reader through topics such as the multiple integral theory with simplifications to single integrals, incompressibility and linear compressibility, and the responses of viscoelastic materials to stress boundary conditions (creep), strain boundary conditions (relaxation), and mixed stress and strain boundary conditions (simultaneous creep and relaxation). The book also looks at the problem of the effect of temperature, especially variable temperature, on nonlinear creep, and describes methods for the characterization of kernel functions, stress analysis of nonlinear viscoelastic materials, and experimental techniques for creep and stress relaxation under combined stress. This book is a useful text for designers, students, and researchers.
Constructional Viscoelastic Composite Materials
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Author : Pouria Hajikarimi
language : en
Publisher: Springer Nature
Release Date : 2023-06-01
Constructional Viscoelastic Composite Materials written by Pouria Hajikarimi and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-06-01 with Science categories.
Viscoelasticity is a complicated theorem that is generally used in several aspects of material characterization and modeling of polymers, resins, fiber-reinforced composites, bituminous composites, etc. On the other hand, the heterogeneous nature of composites like asphalt concrete and fiber-reinforced polymers has motivated lots of researchers to investigate the mechanical and rheological properties of these materials. This book mainly consists of the theory and application of viscoelastic materials used for construction. It starts with a comprehensible presentation of the theory of linear and nonlinear viscoelasticity. Wherein, the application of viscoelastic equations and principles on constructional viscoelastic composite materials considering time, temperature, loading rate dependency, and heterogeneity of composite substances is highlighted. The principles and equations of the viscoelasticity theorem are presented in several books, but here it is tried to present them more understandable and straightforwardly. This helps in solving real problems of heterogeneous composite materials, especially those which are used in construction. Moreover, the fundamental experiments for characterizing the elastic and viscoelastic properties of fibrous and bituminous composites are introduced and summarized. Then after, some analytical and empirical formulations for deriving the material properties of composites from the properties of the basic constituents are presented. These are followed by numerical simulation techniques using the finite element method to simulate composite materials.
Soft Tactile Sensor Embedded Artificial Skin
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Author : Jianzhu Yin
language : en
Publisher:
Release Date : 2017
Soft Tactile Sensor Embedded Artificial Skin written by Jianzhu Yin and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with categories.
When making contact with objects, we perceive them as warm or cold, rough or smooth, and hard or soft using multiple mechanoreceptors. Current robots and prosthesis lack the perception of touch that is vital for in-hand manipulation and finger-object interaction, thus struggling on certain tasks such as slip prevention, grip control, and texture/stiffness recognition. Tactile feedback on robot manipulators and prosthetic hands are important advancement because it enables manipulation in unstructured surroundings, reveals surface/volumetric properties of objects and improves robotic/prosthetic autonomy. Sensor skin can provide rich, real-time tactile information to aid manipulation and can conformally wrap around a variety of existing fingertips. Numerous soft tactile sensors have been developed using liquid metal (eutectic Gallium Indium, or eGaIn) and flexible elastomer. These sensor skins are inferior to human tactile sensing performance in terms of sensitivity, spatial and/or temporal resolution. Current approaches to measure shear force suffer from poor resolution and ambiguity. A highly sensitive sensor skin that accurately resolves contact force in three-dimension and senses vibration is needed for artificial manipulator to better interact with the environment and external objects. This dissertation describes the design and development of a soft tactile sensing skin that is conformable to existing robotic manipulators and provides dynamic tactile sensing of normal and shear force as well as vibration. A bioinspired shear force sensor is developed by measuring the asymmetric strain pattern of sensor skin when shear force is applied. However normal force would induce symmetric strain pattern, analytically proving that the sensor response is independent of normal force. A 2D solid mechanics steady finite element analysis is developed to evaluate the sensor performance and determine geometric parameters of the artificial skin and strain sensor that provide adequate sensitivity over the light touch shear force range. Static characterization experiments are conducted to produce the linear calibration between sensor response and shear force. This relation is matches analytical estimations as well as simulation predictions. The artificial sensor skin is further examined dynamically in stepwise unloading, slip and controlled vibration tests. We show that the sensor has potential of detecting insipient slip and can resolve vibrations equivalent, or better, than humans. The sensor resolves a variety of tactile events during pick and place, drop or handoff tasks on a robotic manipulator. The shear tactile sensor skin is extended to two-dimensions and integrated with a normal force sensor. The resistive normal force sensor is based on deformation of liquid metal filled spiral shaped microfluidic channel with respect to normal force. The normal force sensors exhibit sensitivity of 18 %/N and better-than-human performance to measure vibration. It is shown that the integrated sensor skin encodes spatially dispersed normal force and lumped shear force in two directions, although there are design and optimization challenges to match the sensitivity to one-dimension shear sensing skin. This research has resulted in the development of a flexible normal and shear sensing skin that is also capable of sensing vibration. The sensing skin can be applied to robotic manipulators or prosthetic hands to improve manipulation performance, prevent slip, gather surface/volumetric object properties for autonomous robot or smarter and more user-friendly prosthesis.