Grasping Contact Analysis Of Viscoelastic Materials For Design And Development Of An Endoscopic Tactile Sensor
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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.
Design Finite Element And Experimental Analysis Of Piezoelectric Tactile Sensors For Endoscopic Graspers
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Author : Harpiyar Singh
language : en
Publisher:
Release Date : 2003
Design Finite Element And Experimental Analysis Of Piezoelectric Tactile Sensors For Endoscopic Graspers written by Harpiyar Singh and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003 with Detectors categories.
This dissertation reports on the design, experimentation and the finite element analysis of a prototype PVDF endoscopic tooth-like tactile sensor capable of measuring the compliance of a contact tissue/sensed object. Present day endoscopic graspers are designed tooth-like in order to grasp slippery tissues, but do not measure tissue tactile properties like force and softness. The main objective of this study is to design and model a sensor capable of measuring the total applied force on the sensed object as well as compliance of the tissue/sensed object. The sensor consists of a rigid and compliant cylindrical element. Determination of the compliance of sensed objects is based on the relative deformation of contact object/tissue on the compliant and rigid elements of the sensor. A PVDF film is sandwiched between rigid cylinder and plate, which measures the force applied on the rigid element. Another PVDF film is sandwiched between the two base plates to measure the total force applied on the sensor. Using 2D finite element analysis, the tissue has been modeled as an elastic beam on rigid and elastic foundations and the results are compared with 3D ANSYS model. (Abstract shortened by UMI.).
Development Of Piezoresistive Tactile Sensors And A Graphical Display System For Minimally Invasive Surgery And Robotics
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Author : Masoud Kalantari
language : en
Publisher:
Release Date : 2013
Development Of Piezoresistive Tactile Sensors And A Graphical Display System For Minimally Invasive Surgery And Robotics written by Masoud Kalantari and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013 with categories.
Design And Fabrication Of A Micromachined Tactile Sensor For Endoscopic Graspers
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Author : Nakka Purushotham Rao
language : en
Publisher:
Release Date : 2004
Design And Fabrication Of A Micromachined Tactile Sensor For Endoscopic Graspers written by Nakka Purushotham Rao and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004 with Detectors categories.
The present day endoscopic graspers are designed to be tooth-like in order to grasp slippery tissue during Minimally Invasive Surgery (MIS). However they do not have any sensing device to provide the surgeons any tactile feedback. This thesis describes the design, fabrication and testing of a micro-machined tooth-like tactile sensor, which can be integrated with the tip of an endoscopic grasper. The sensor consists of three parts; the first part is a 25-micron polyvinylidene fluoride (PVDF) film. The second part is made of a silicon substrate with cavities etched using anisotropic etching of silicon. The bottoms of the cavities are covered with a layer of aluminum. The two parts then are bond to each other in such a way that the lower aluminum layer of PVDF is facing the bottom of the cavities forming a parallel plate capacitor with the aluminum layer in the cavity. The third layer is a 0.5mm thick toothlike plexiglass glued on the top of the PVDF. The static response of the sensor is obtained by applying a static force on the tooth and measuring the change in capacitance between the bottom electrode of the PVDF film and the electrode deposited on surface of the etched cavity. The dynamic response of the device is determined by applying a sinusoidal force on the tooth of the sensor and measuring the output voltage from the PVDF film. The experimental results are compared with both analytical and finite element results. The sensor exhibits high sensitivity and linearity. The sensor can also be integrated with a commercial endoscopic grasper without changing its original design.
Functional Tactile Sensors
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Author : Ye Zhou
language : en
Publisher: Woodhead Publishing
Release Date : 2021-01-20
Functional Tactile Sensors written by Ye Zhou and has been published by Woodhead Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-01-20 with Technology & Engineering categories.
Functional Tactile Sensors: Materials, Devices and Integrations focuses on the subject of novel materials design and device integration of tactile sensors for functional applications. The book addresses the design, materials characteristics, device operation principles, specialized device application and mechanisms of the latest reported tactile sensors. The emphasis of the book lies in the materials science aspects of tactile sensors—understanding the relationship between material properties and device performance. It will be an ideal resource for researchers working in materials science, engineering and physics. - Includes the latest advances and recent developments in tactile sensors for artificial intelligence applications - Reviews the relationship between materials properties and device performance - Addresses materials and device design strategies for targeted sensing applications
Polyvinylidene Fluoride Based Mems Tactile Sensor For Minimally Invasive Surgery
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Author : Mohammad Ameen Yousef Qasaimeh
language : en
Publisher:
Release Date : 2007
Polyvinylidene Fluoride Based Mems Tactile Sensor For Minimally Invasive Surgery written by Mohammad Ameen Yousef Qasaimeh 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.
Mechanics Of Localized Slippage In Tactile Sensing
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Author : Anh-Van Ho
language : en
Publisher: Springer
Release Date : 2013-12-24
Mechanics Of Localized Slippage In Tactile Sensing written by Anh-Van Ho and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-12-24 with Technology & Engineering categories.
Localized slippage occurs during any relative sliding of soft contacts, ranging from human fingertips to robotic fingertips. Although this phenomenon is dominant for a very short time prior to gross slippage, localized slippage is a crucial factor for any to-be-developed soft sensing system to respond to slippage before it occurs. The content of this book addresses all aspects of localized slippage, including modeling and simulating it, as well as applying it to the construction of novel sensors with slip tactile perception.
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 Sensors For Robotics And Medicine
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Author : John G. Webster
language : en
Publisher: Wiley-Interscience
Release Date : 1988-11-15
Tactile Sensors For Robotics And Medicine written by John G. Webster and has been published by Wiley-Interscience this book supported file pdf, txt, epub, kindle and other format this book has been release on 1988-11-15 with Technology & Engineering categories.
A comprehensive review of the principles, design, and application of tactile sensors, incorporating new research results. Tactile sensors may be used in the augmentation or replacement of damaged human appendages, and they are used in robots, including applications in nuclear reactors, in underwater exploration, and in space. Contributors examine characteristics (and limitations) of sensor materials, the design of tactile sensors based on the physiology of the human hand, and numerous applications of this emerging technology.
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.