An Endoscopic and Robotic Tooth-like Compliance and Roughness Tactile Sensor

2002 ◽  
Vol 124 (3) ◽  
pp. 576-582 ◽  
Author(s):  
J. Dargahi
Keyword(s):  
Surface Roughness ◽  
Theoretical Analysis ◽  
Rough Surface ◽  
Polyvinylidene Fluoride ◽  
Tactile Sensor ◽  
Relative Deformation ◽  
End Effectors ◽  
Experimental Values ◽  
Robotic Applications

This paper reports on design, fabrication and testing of a prototype Polyvinylidene Fluoride (PVDF) tactile sensor for endoscopic and robotic applications. The sensor can measure both compliance and surface roughness. It consists of rigid and compliant elements. A relative deformation between adjacent parts of the contact object is used to measure the compliance, and the deformation of the compliant element of the sensor is used to measure the profile of a rough surface. The sensor in miniaturized form can be integrated with both endoscopic graspers and robotic end effectors. The theoretical analysis of the sensor is made and compared with experimental values. The advantages and limitations of the sensor are also discussed.

scholarly journals Surface roughness estimation by optimal tactile features for fruits and vegetables

2017 ◽  
Vol 14 (4) ◽  
pp. 172988141772186
Author(s):  
Jun Zhou ◽  
Yimeng Meng ◽  
Mingjun Wang ◽  
Muhammad Sohail Memon ◽  
Xiaorong Yang
Keyword(s):  
Surface Roughness ◽  
Polyvinylidene Fluoride ◽  
High Performance ◽  
Fruits And Vegetables ◽  
Back Propagation ◽  
Tactile Sensor ◽  
Mechanical Analysis ◽  
Identification Accuracy ◽  
Optimized Design ◽  
Forward Selection

A study was conducted to evaluate the surface roughness levels of fruits and vegetables by a novel tactile sensor. Firstly, the effective areas of the sensor were determined through the mechanical analysis with the ANSYS software, and the sensitive elements of polyvinylidene fluoride piezoelectric films and strain gauges were randomly arranged in these areas. When the sensor contacted with the surfaces of the fruits and vegetables, the signals produced by the sensitive elements were output and tactile features were obtained. Secondly, the D-score criterion was applied to evaluate the contribution of every tactile feature component in expressing the surface roughness levels. According to the value of D-score, the strategies of the sequential forward selection and equential forward floating selection were used to guide the optimization of feature components selection. Back propagation neural network model was applied to evaluate the performance of the optimal features. Finally, the experimental results revealed that the identification accuracy of the algorithm was up to 93.737%, which demonstrated that the optimal feature subsets possessed fewer dimensions while maintaining a high performance in expressing the surface roughness characteristics of the fruits and vegetables. The results also provided a basis for the optimized design of the tactile sensor.

Impact of medical titanium implant surface on the efficiency of fibrointegration

2020 ◽  
pp. 50-55
Author(s):  
T. R. Davydova ◽  
А. I. Shaikhaliev ◽  
D. A. Usatov ◽  
G. A. Gasanov ◽  
R. S. Korgoloev
Keyword(s):  
Surface Roughness ◽  
Titanium Dioxide ◽  
Rough Surface ◽  
Soft Tissues ◽  
Titanium Implant ◽  
Implant Surface ◽  
Anatase Structure ◽  
Bioactive Coating ◽  
Cell Structures ◽  
Titanium Alloy Ti6al4v

The aim of this study was to study the effect of surface branching of titanium endoprostheses on the efficiency of fibrointegration. The object of the study was samples of titanium alloy Ti6Al4V in the form of disks with a diameter of 5 mm and a thickness of 1 mm with various surface treatments: 1) samples with a rough surface after sandblasting; 2) samples with a rough surface after sandblasting with a bioactive coating of titanium dioxide TiO2 with anatase structure. The study of surface roughness was carried out by profilometry. Evaluation of the spreading and proliferation of cells on the surface of test samples, as well as evaluation of the effectiveness of fibrointegration was carried out according to standard methods using scanning electron microscopy. During the experiments, mesinchymal stem cells were sown on test samples and the test samples were introduced into the soft tissues of experimental animals. Based on the results obtained, it was concluded that the technology of forming rough surfaces by sandblasting does not provide high uniformity and reproducibility in the nanometer range and, apparently, another method for obtaining a rough surface should be chosen. The application of a bioactive coating of titanium dioxide TiO2 with the anatase structure to the surface of titanium endoprostheses increases the efficiency of fibrointegration, however, primarily the fibrointegration of titanium endoprostheses depends on their surface roughness, which determines the concentration of cell structures, the intensity of their adhesion and the ability to fibrointegrative process.

scholarly journals Design and Calibration of a Force/Tactile Sensor for Dexterous Manipulation

Sensors ◽  
2019 ◽  
Vol 19 (4) ◽  
pp. 966 ◽  
Author(s):  
Marco Costanzo ◽  
Giuseppe De Maria ◽  
Ciro Natale ◽  
Salvatore Pirozzi
Keyword(s):  
Experimental Validation ◽  
Sensory System ◽  
Tactile Sensor ◽  
Contact Forces ◽  
Dexterous Manipulation ◽  
Soft Contact ◽  
Grasping Force ◽  
Sense Of Touch ◽  
Human Sense ◽  
Robotic Applications

This paper presents the design and calibration of a new force/tactile sensor for robotic applications. The sensor is suitably designed to provide the robotic grasping device with a sensory system mimicking the human sense of touch, namely, a device sensitive to contact forces, object slip and object geometry. This type of perception information is of paramount importance not only in dexterous manipulation but even in simple grasping tasks, especially when objects are fragile, such that only a minimum amount of grasping force can be applied to hold the object without damaging it. Moreover, sensing only forces and not moments can be very limiting to securely grasp an object when it is grasped far from its center of gravity. Therefore, the perception of torsional moments is a key requirement of the designed sensor. Furthermore, the sensor is also the mechanical interface between the gripper and the manipulated object, therefore its design should consider also the requirements for a correct holding of the object. The most relevant of such requirements is the necessity to hold a torsional moment, therefore a soft distributed contact is necessary. The presence of a soft contact poses a number of challenges in the calibration of the sensor, and that is another contribution of this work. Experimental validation is provided in real grasping tasks with two sensors mounted on an industrial gripper.

scholarly journals Effects of Roughness on Stresses in an Oxide Scale Formed on a Superalloy Substrate

Coatings ◽  
2021 ◽  
Vol 11 (4) ◽  
pp. 479
Author(s):  
Yang Zhao ◽  
Fan Sun ◽  
Peng Jiang ◽  
Yongle Sun
Keyword(s):  
Residual Stress ◽  
Surface Roughness ◽  
Residual Stresses ◽  
Oxide Scale ◽  
Rough Surface ◽  
Alumina Scale ◽  
Growth Stress ◽  
Oxide Growth ◽  
Substrate Thickness ◽  
Roughness Effect

The effects of surface roughness on the stresses in an alumina scale formed on a Fecralloy substrate are investigated. Spherical indenters were used to create indents with different radii and depths to represent surface roughness and then the roughness effect was studied comprehensively. It was found that the residual stresses in the alumina scale formed around the rough surface are almost constant and they are dominated by the curvature rather than the depth of the roughness. Oxidation changes the surface roughness. The edge of the indent was sharpened after oxidation and the residual stress there was released presumably due to cracking. The residual stresses in the alumina scale decrease with increase in oxidation time, while the substrate thickness has little effect, given that the substrate is thicker than the alumina scale. Furthermore, the effect of roughness on the oxide growth stress is analysed. This work indicates that the surface roughness should be considered for evaluation of stresses in coatings.

scholarly journals Structural design and output characteristic analysis of magnetostrictive tactile sensor for robotic applications

AIP Advances ◽  
2018 ◽  
Vol 8 (5) ◽  
pp. 056622 ◽  
Author(s):  
Wendong Zheng ◽  
Bowen Wang ◽  
Huaping Liu ◽  
Yunkai Li ◽  
Ran Zhao ◽  
...  
Keyword(s):  
Structural Design ◽  
Tactile Sensor ◽  
Output Characteristic ◽  
Characteristic Analysis ◽  
Robotic Applications

Effect of Rolling Velocity and Maximum Hertzian Pressure on Fluid Film in Steady State EHL Line Contact with Rough Surface and Linear Piezoviscosity

2014 ◽  
Vol 592-594 ◽  
pp. 1371-1375
Author(s):  
Nitesh Talekar ◽  
Punit Kumar
Keyword(s):  
Surface Roughness ◽  
Steady State ◽  
Film Thickness ◽  
Rough Surface ◽  
Computer Code ◽  
Fluid Film ◽  
Line Contact ◽  
Rolling Velocity ◽  
Load Carrying ◽  
Lubricated Contact

Consideration of surface roughness in steady state EHL line contact is the first step towards understanding the lubrication of rough surface problem. Current paper investigates the use of sinusoidal waviness in the contact; more precisely it gives performance of real fluid in EHL line contact. The effect of various parameters like rolling velocity (U) and maximum Hertzian pressure (ph) on surface roughness by using properties of linear and exponential piezo-viscosity is taken into consideration to evaluate behavior of pressure distribution of load carrying fluid film and film thickness. Full isothermal, Newtonian simulation of EHL problem gives described effects. Spiking or fluctuation of pressure and film thickness curves is expected to show presence of irregularities on the surface chosen and amount of fluctuation depends on certain parameters and intensity of irregularities present. Rolling side domain of-4.5 ≤ X ≤ 1.5 with grid size ∆X=0.01375 is selected. A computer code is developed to solve Reynolds equation, which governs the generation of pressure in the lubricated contact zone is discritized and solved along with load balance equation using Newton-Raphson technique.

Fabrication of Piezoelectric Polyvinylidene Fluoride (PVDF) Polymer-Based Tactile Sensor Using Electrospinning Method

2016 ◽  
Vol 12 ◽  
pp. 42-50 ◽  
Author(s):  
N. Manikandan ◽  
S. Muruganand ◽  
K. Sriram ◽  
P. Balakrishnan ◽  
A. Suresh Kumar
Keyword(s):  
Polyvinylidene Fluoride ◽  
Biomedical Application ◽  
Electric Pulse ◽  
High Sensitivity ◽  
Tactile Sensor ◽  
Main Role ◽  
Nano Structure ◽  
Sem Image ◽  
Β Phase ◽  
Α Phase

The polyvinylidene fluoride (PVDF) nanofiber has widely investigated as a sensor and transducer material, because of its high piezo and Ferro electric properties. The novel nano structure of PVDF has attracted considerable interest in the bio sensing and biomedical application. This paper deals with PVDF Tactile sensor. Basically The PVDF acts as piezoelectric effect which convert load into electrical signals. The tactile sensor has a main role for visual handicap and robotics. Any physical activities of robotic in all industrial the tactile sensor is a crucible role, whether it can left the object or handling glass parts pressure of object is main. The Sandwich type PVDF base tactile sensor has been fabricated using nanofiber. Using electro spinning method, the PVDF based nanofiber coated over coper the electrodes. In normal, the PVDF has α-phase and while applying electric pulse the PVDF polymer would be changed from α-phase into β-phase. Only in β-phase, the PVDF act as piezo electrics sensor and measure the piezoelectricity simultaneously measure pressure and temperature in real time. The pressure was monitored from the change in the electrical resistance via the piezo resistance of the material. The enhancement of PVDF properties has been carried by using SEM. The SEM image result showed that the size of nanofiber, the size of nanofiber is varied in the range of (180 nm-400 nm) with smooth surface. The X-Ray diffraction has shown that the PVDF was aggregated with the β-phase crystalline nature. Due to β-phase it was act as a piezo electric prosperity’s and its results are very high sensitivity.

Force/tactile sensor for robotic applications

2012 ◽  
Vol 175 ◽  
pp. 60-72 ◽  
Author(s):  
G. De Maria ◽  
C. Natale ◽  
S. Pirozzi
Keyword(s):  
Tactile Sensor ◽  
Robotic Applications

Nonparametric Object Recognition With a New Tactile Sensor

1992 ◽  
Author(s):  
S. Unsal ◽  
A. Shirkhodaie ◽  
A. H. Soni
Keyword(s):  
Decision Making ◽  
Object Recognition ◽  
Sensory Information ◽  
Tactile Sensor ◽  
Operating Environment ◽  
Tactile Sensors ◽  
Binary Array ◽  
Software And Hardware ◽  
Robotic Applications

Abstract Adding sensing capability to a robot provides the robot with intelligent perception capability and flexibility of decision making. To perform intelligent tasks, robots are highly required to perceive their operating environment, and react accordingly. With this regard, tactile sensors offer to extend the scope of intelligence of a robot for performing tasks which require object touching, recognition, and manipulation. This paper presents the design of an inexpensive pneumatic binary-array tactile sensor for such robotic applications. The paper describes some of the techniques implemented for object recognition from binary sensory information. Furthermore, it details the development of software and hardware which facilitate the sensor to provide useful information to a robot so that the robot perceives its operating environment during manipulation of objects.

Contact Analysis of a Smooth Ball on an Anisotropic Rough Surface

1994 ◽  
Vol 116 (4) ◽  
pp. 850-859 ◽  
Author(s):  
C. Y. Poon ◽  
R. S. Sayles
Keyword(s):  
Surface Roughness ◽  
Rough Surface ◽  
Stochastic Approach ◽  
Contact Analysis ◽  
Asperity Contact ◽  
Correlation Lengths ◽  
Real Contact ◽  
Rough Surface Contact ◽  
Contact Pressures ◽  
Contact Spots

The effects of surface roughness and waviness upon the real contact areas, gaps between contact spots, and asperity contact pressures were studied. The distribution of real areas, gaps, and contact pressures are presented for different surface roughness, σ and correlation lengths, β*. The load-area relationship is compared to Bush’s model of strongly anisotropic rough surface contact using a stochastic approach.

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