Contact Sensing via Active Oscillatory Actuation

2020 ◽  
Author(s):  
Rahul Mitra ◽  
Kirkland Boyd ◽  
Divas Subedi ◽  
Digesh Chitrakar ◽  
Edwin Aldrich ◽  
...  
Keyword(s):  
Contact Sensing

scholarly journals Design of a Sensitive Balloon Sensor for Safe Human–Robot Interaction

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2163
Author(s):  
Dongjin Kim ◽  
Seungyong Han ◽  
Taewi Kim ◽  
Changhwan Kim ◽  
Doohoe Lee ◽  
...  
Keyword(s):  
High Performance ◽  
Strain Sensor ◽  
High Sensitivity ◽  
Human Robot Interaction ◽  
Large Area ◽  
Tactile Sensors ◽  
Robot Interaction ◽  
Mechanical Crack ◽  
Flexible Strain Sensor ◽  
Contact Sensing

As the safety of a human body is the main priority while interacting with robots, the field of tactile sensors has expanded for acquiring tactile information and ensuring safe human–robot interaction (HRI). Existing lightweight and thin tactile sensors exhibit high performance in detecting their surroundings. However, unexpected collisions caused by malfunctions or sudden external collisions can still cause injuries to rigid robots with thin tactile sensors. In this study, we present a sensitive balloon sensor for contact sensing and alleviating physical collisions over a large area of rigid robots. The balloon sensor is a pressure sensor composed of an inflatable body of low-density polyethylene (LDPE), and a highly sensitive and flexible strain sensor laminated onto it. The mechanical crack-based strain sensor with high sensitivity enables the detection of extremely small changes in the strain of the balloon. Adjusting the geometric parameters of the balloon allows for a large and easily customizable sensing area. The weight of the balloon sensor was approximately 2 g. The sensor is employed with a servo motor and detects a finger or a sheet of rolled paper gently touching it, without being damaged.

Kinematic Fixturing With Respect to a Plane Using Contact Sensing

1998 ◽  
Author(s):  
Walter W. Nederbragt ◽  
Bahram Ravani
Keyword(s):  
Spatial Constraint ◽  
Spatial Constraints ◽  
Constraint Equations ◽  
Contact Sensing ◽  
Geometric Elements ◽  
Work Cells

Abstract This paper presents a method for determining the location of geometric elements that compose the external features of referencing fixtures. Since in most applications parts that are handled in robotic work-cells are on a worktable or a floor, this paper focuses on fixture geometries that reside on a plane of known location. The location of the unknown geometric elements are found using contacts to the geometric elements and spatial constraints between the geometric elements. Geometric equations for contacts between lines, planes, points, spheres, and cylinders are derived. Spatial constraint equations are also derived. An algorithm is given for locating the geometric elements that form the fixture. The algorithm uses the contact equations and spatial constraint equations to locate the geometric elements. To illustrate the use of this algorithm, two examples are described in detail.

Capacitive-Based Contact Sensing for Office-Based Ventilation Tube Applicator for Otitis Media With Effusion Treatment

2015 ◽  
Vol 15 (7) ◽  
pp. 3926-3933 ◽  
Author(s):  
Nazir Kamaldin ◽  
Wenyu Liang ◽  
Kok Kiong Tan ◽  
Chee Wee Gan ◽  
Hsueh Yee Lim
Keyword(s):  
Otitis Media ◽  
Otitis Media With Effusion ◽  
Ventilation Tube ◽  
Contact Sensing

scholarly journals Collectible optical power of various specially shaped multimode optical fiber probes for contact sensing

2008 ◽  
Vol 47 (1) ◽  
pp. 010502 ◽  
Author(s):  
Chao Lu ◽  
Claire Gu ◽  
Liangcai Cao ◽  
Qingsheng He ◽  
Guofan Jin
Keyword(s):  
Optical Fiber ◽  
Optical Power ◽  
Multimode Optical Fiber ◽  
Optical Fiber Probes ◽  
Fiber Probes ◽  
Contact Sensing

Radar and Non-Contact Sensing

2021 ◽  
Author(s):  
Malikeh P. Ebrahim ◽  
Neil Tom ◽  
Duygu Nazan Gençoğlan ◽  
Şule Çolak ◽  
Mehmet R. Yuce
Keyword(s):  
Contact Sensing

scholarly journals Non-Contact Sensing Testbed for Post-Surgery Monitoring by Exploiting Artificial-Intelligence

2020 ◽  
Vol 10 (14) ◽  
pp. 4886 ◽  
Author(s):  
Mohammed Ali Mohammed Al-hababi ◽  
Muhammad Bilal Khan ◽  
Fadi Al-Turjman ◽  
Nan Zhao ◽  
Xiaodong Yang
Keyword(s):  
Artificial Intelligence ◽  
Health Care ◽  
Software Defined Radio ◽  
Orthogonal Frequency Division Multiplexing ◽  
Nearest Neighbor ◽  
Wireless Channel ◽  
Weight Lifting ◽  
K Nearest Neighbor ◽  
Post Surgery ◽  
Contact Sensing

Non-contact health care monitoring is a unique feature in the emerging 5G networks that is achieved by exploiting artificial intelligence (AI). The ratio of the number of health care problems and patients is increasing exponentially and creating burgeoning data. The integration of AI and Internet of things (IoT) systems enables us to increase the huge volume of data to be generated. The approach by which AI is applied to the IoT systems enhances the intelligence of the health care system. In post-surgery monitoring of the patient, timely consultation is essential before further loss. Unfortunately, even after the advice of the doctor to the patient, he/she may forget to perform the activity in the correct way, which may lead to complications in recovery. In this research, the idea is to design a non-contact sensing testbed using AI for the classification of post-surgery activities. Universal software-defined radio peripheral (USRP) is utilized to collect the data of spinal cord operated patients during weight lifting activity. The wireless channel state information (WCSI) is extracted by using orthogonal frequency division multiplexing (OFDM) technique. AI applies machine learning to classify the correct and wrong way of weight lifting activity that was considered for experimental analysis. The accuracy achieved by the proposed testbed by using a fine K-nearest neighbor (FKNN) algorithm is 99.6%.

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