Non Linear Large Deformation Modeling Of All Elastomer Mems Tactile Sensors With Bionic And Robotic Applications
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Non Linear Large Deformation Modeling Of All Elastomer Mems Tactile Sensors With Bionic And Robotic Applications
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Author : Kourosh Mahmoud-Kalayeh
language : en
Publisher:
Release Date : 2018
Non Linear Large Deformation Modeling Of All Elastomer Mems Tactile Sensors With Bionic And Robotic Applications written by Kourosh Mahmoud-Kalayeh and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018 with categories.
The study is motivated by the need to develop highly sensitive tactile sensors for both robotic and bionic applications. The ability to predict the response of an elastomeric layer under severe pressure conditions is a key to the development of highly sensitive capacitive tactile sensors capable of detecting the location and magnitude of applied forces over a broad range of contact severity and layer depression. Thus, in this work, a large deformation Mooney-Rivlin (M-R) material model is employed in developing empirical-analytical models capable of predicting the response of tactile unit-sensors under the application of normal forces under large strain, large deformation conditions.
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.
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.
Robot Tactile Sensing
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Author : R. Andrew Russell
language : en
Publisher:
Release Date : 1990
Robot Tactile Sensing written by R. Andrew Russell and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1990 with Computers categories.
This work introduces tactile sensing for those engaged in advanced, sensor-based robotics, with special reference to problems of addressing arrays of sensor elements. It describes tactile sensors to register contact, surface profile, thermal properties and other tactile sensing modes. The use of robot manipulators to provide mobility for tactile sensors, and techniques for applying tactile sensing in robotic manipulation and recognition tasks are also covered. The various applications of this technology are discussed, and robot hands and grips are detailed.
Large Area All Elastomer Tactile Sensors For Robotic Skins
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Author : Peter Block
language : en
Publisher:
Release Date : 2014
Large Area All Elastomer Tactile Sensors For Robotic Skins written by Peter Block and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014 with categories.
Advances In Dielectric Elastomer Composites
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Author : Masoud Asgari
language : en
Publisher: CRC Press
Release Date : 2025-03-25
Advances In Dielectric Elastomer Composites written by Masoud Asgari and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-03-25 with Technology & Engineering categories.
This is a comprehensive guide to dielectric elastomer composites (DECs), which play an integral role in new electromechanically active smart-material technologies. Introducing the basic concepts behind DECs, the book is accessible to readers at all levels. It demonstrates how to implement practical problem-solving methods through nonlinear continuum mechanics and also discusses fiber-reinforced anisotropic DE composites and the electromechanically coupled behavior of anisotropic fiber-reinforced DEs. Using practical examples throughout, it proposes models which utilize the strain energy function, nonlinear electro-elasticity, and nonlinear continuum mechanics. It presents clear guidelines for creating practical nonlinear finite element code, and introduces the reader to hyperelasticity. The book will be an accessible reference guide for students, researchers, and engineers in the field of mechanical engineering, bioengineering, materials science, aeronautics, and robotics.
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.
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
Dielectric Elastomer Sensors
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Author : Na Ni
language : en
Publisher:
Release Date : 2017
Dielectric Elastomer Sensors written by Na Ni and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with Science categories.
Dielectric elastomers (DEs) represent a class of electroactive polymers (EAPs) that exhibit a significant electromechanical effect, which has made them very attractive over the last several decades for use as soft actuators, sensors and generators. Based on the principle of a plane-parallel capacitor, dielectric elastomer sensors consist of a flexible and stretchable dielectric polymer sandwiched between two compliant electrodes. With the development of elastic polymers and stretchable conductors, flexible and sensitive dielectric elastomer tactile sensors, similar to human skin, have been used for measuring mechanical deformations, such as pressure, strain, shear and torsion. For high sensitivity and fast response, air gaps and microstructural dielectric layers are employed in pressure sensors or multiaxial force sensors. Multimodal dielectric elastomer sensors have been reported that can detect mechanical deformation but can also sense temperature, humidity, as well as chemical and biological stimulation in human-activity monitoring and personal healthcare. Hence, dielectric elastomer sensors have great potential for applications in soft robotics, wearable devices, medical diagnostic and structural health monitoring, because of their large deformation, low cost, ease of fabrication and ease of integration into monitored structures.
Tactile Sensing Technology And Systems
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Author : Maurizio Valle
language : en
Publisher: MDPI
Release Date : 2020-12-02
Tactile Sensing Technology And Systems written by Maurizio Valle and has been published by MDPI this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-12-02 with Technology & Engineering categories.
Tactile sensors are basically distributed sensors which translate mechanical and physical variables and pain stimuli into electrical variables. Contact information is further processed and conveyed to a supervising system. Tactile arrays ought to be mechanically flexible (i.e., conformable to the object it is applied to) and stretchable and tactile information decoding must be implemented in real time. The development of artificial tactile sensing is a big challenge as it involves numerous research areas. Application domains include humanoid and industrial robotics, prosthetics, biomedical instrumentation, health care, cyber physical systems, virtual reality, arts, to name but a few. Recent and relevant achievements in materials and transducers have not yet successfully boosted system developments due to the challenging gaps which still need to be filled at many levels, e.g. data decoding and processing, miniaturization, mechanical compliance, robustness, among others. Tactile sensing has developed rapidly over the past three decades, but has yet to achieve high impact breakthroughs in application domains. In this Special Issue, we focus on both insights and advancements in tactile sensing with the goal of bridging different research areas, e.g., material science, electronics, robotics, neuroscience, mechanics, sensors, MEMS/NEMS, addictive and 3D manufacturing, bio and neuro-engineering.