Low-cost and scalable fabrication of wearable soft sensor for neck mobility measurement

2019 ◽  
Author(s):  
Rami A. Abu Shammeh ◽  
Iyad Al-Nasri ◽  
David Walton ◽  
Ana-Luisa Trejos ◽  
Aaron D. Price
Keyword(s):  
Low Cost ◽  
Soft Sensor ◽  
Mobility Measurement ◽  
Neck Mobility

A Low-Cost Soft Coiled Sensor for Soft Robots

2016 ◽  
Author(s):  
Jianguo Zhao ◽  
Ali Abbas
Keyword(s):  
Optical Fibers ◽  
Closed Loop ◽  
Low Cost ◽  
Soft Materials ◽  
Soft Sensor ◽  
Soft Sensors ◽  
Soft Robots ◽  
Conductive Liquid ◽  
Loop Control ◽  
Sewing Threads

Soft robots made from soft materials can closely emulate biological system using simple soft mechanical structures. Compared with traditional rigid-link robots, they are safe to work with humans and can adapt to confined environments. As a result, they are widely used for various robotic locomotions and manipulations. Nevertheless, for soft robots, being able to sense its state to enable closed-loop control using soft sensors remains a challenge. Existing sensors include external sensors such as camera systems, electromagnetic tracking systems, and internal sensors such as optical fibers, conductive liquid, and carbon black filled strips. In this paper, we investigate a new soft sensor made from low-cost conductive nylon sewing threads. By continuously inserting twists into a thread under some weight, coils can be formed to enable a coiled soft sensor. The resistance of the sensor varies with the change of length. The fabrication and experiments for this new coiled sensor is described in this paper. Embedding this sensor to a 3D printed soft manipulator demonstrates the sensing capability. Compared to existing soft sensors, the coiled sensor is low-cost, easy to fabricate, and can also be used as an actuator. It can be embedded to any soft robot to measure the deformation for closed-loop feedback control.

The Roving Wire-Breaking Technique: a low cost mobility measurement procedure for string musical instruments

2018 ◽  
Vol 139 ◽  
pp. 140-148
Author(s):  
Guilherme Orelli Paiva ◽  
Frédéric Ablitzer ◽  
François Gautier ◽  
José Maria Campos dos Santos
Keyword(s):  
Low Cost ◽  
Measurement Procedure ◽  
Musical Instruments ◽  
Mobility Measurement

scholarly journals Soft sensor based on Gaussian process regression and its application in erythromycin fermentation process

2016 ◽  
Vol 22 (2) ◽  
pp. 127-135 ◽  
Author(s):  
Congli Mei ◽  
Ming Yang ◽  
Dongxin Shu ◽  
Hui Jiang ◽  
Guohai Liu ◽  
...  
Keyword(s):  
Gaussian Process ◽  
High Performance ◽  
Fermentation Process ◽  
Low Cost ◽  
Gaussian Process Regression ◽  
Principal Component ◽  
Soft Sensor ◽  
Support Vector ◽  
Soft Sensors ◽  
Uncertainty Measurement

Erythromycin fermentation process is a typical microbial fermentation process. Soft sensors can be used to estimate biomass of Erythromycin fermentation process for their relative low cost, simple development, and ability to predict difficult-to-measure variables. However, traditional soft sensors, e.g. artificial neural network (ANN) soft sensors, support vector machine (SVM) soft sensors, etc., cannot represent the uncertainty (measurement precision) of outputs. That results in difficulties in practice. Gaussian process regression (GPR) provides a novel framework to solve regression problems. The output uncertainty of a GPR model follows Gaussian distribution, expressed in terms of mean and variance. The mean represents the predicted output. The variance can be viewed as the measure of confidence in the predicted output that distinguishes the GPR from NN and SVM soft sensor models. We proposed a systematic approach based on GPR and principal component analysis (PCA) to establish a soft sensor to estimate biomass of Erythromycin fermentation process. Simulations on industrial data from an Erythromycin fermentation process show the proposed GPR soft sensor has high performance of modeling the uncertainty of estimates.

scholarly journals Differential Soft Sensor-Based Measurement of Interactive Force and Assistive Torque for a Robotic Hip Exoskeleton

Sensors ◽  
2021 ◽  
Vol 21 (19) ◽  
pp. 6545
Author(s):  
Sun’an Wang ◽  
Binquan Zhang ◽  
Zhenyuan Yu ◽  
Yu’ang Yan
Keyword(s):  
Human Body ◽  
Force Measurement ◽  
Low Cost ◽  
Wearable Sensors ◽  
Force Sensor ◽  
Interaction Force ◽  
Soft Sensor ◽  
Sensor System ◽  
Physical Interaction ◽  
Indirect Measure

With the emerging of wearable robots, the safety and effectiveness of human-robot physical interaction have attracted extensive attention. Recent studies suggest that online measurement of the interaction force between the robot and the human body is essential to the aspects above in wearable exoskeletons. However, a large proportion of existing wearable exoskeletons monitor and sense the delivered force and torque through an indirect-measure method, in which the torque is estimated by the motor current. Direct force/torque measuring through low-cost and compact wearable sensors remains an open problem. This paper presents a compact soft sensor system for wearable gait assistance exoskeletons. The contact force is converted into a voltage signal by measuring the air pressure within a soft pneumatic chamber. The developed soft force sensor system was implemented on a robotic hip exoskeleton, and the real-time interaction force between the human thigh and the exoskeleton was measured through two differential soft chambers. The delivered torque of the hip exoskeleton was calculated based on a characterization model. Experimental results suggested that the sensor system achieved direct force measurement with an error of 10.3 ± 6.58%, and torque monitoring for a hip exoskeleton which provided an understanding for the importance of direct force/torque measurement for assistive performance. Compared with traditional rigid force sensors, the proposed system has several merits, as it is compact, low-cost, and has good adaptability to the human body due to the soft structure.

Decomposition of the metastable beta titanium alloy Ti-15-3

1983 ◽  
Vol 41 ◽  
pp. 264-265
Author(s):  
Y. L. Chen ◽  
S. Fujlshiro
Keyword(s):  
Low Cost ◽  
High Strength ◽  
Alpha Phase ◽  
Thick Sheet ◽  
Omega Phase ◽  
Beta Titanium Alloy ◽  
Beta Titanium ◽  
Beta Matrix ◽  
Metastable Beta ◽  
Very High

Metastable beta titanium alloys have been known to have numerous advantages such as cold formability, high strength, good fracture resistance, deep hardenability, and cost effectiveness. Very high strength is obtainable by precipitation of the hexagonal alpha phase in a bcc beta matrix in these alloys. Precipitation hardening in the metastable beta alloys may also result from the formation of transition phases such as omega phase. Ti-15-3 (Ti-15V- 3Cr-3Al-3Sn) has been developed recently by TIMET and USAF for low cost sheet metal applications. The purpose of the present study was to examine the aging characteristics in this alloy.The composition of the as-received material is: 14.7 V, 3.14 Cr, 3.05 Al, 2.26 Sn, and 0.145 Fe. The beta transus temperature as determined by optical metallographic method was about 770°C. Specimen coupons were prepared from a mill-annealed 1.2 mm thick sheet, and solution treated at 827°C for 2 hr in argon, then water quenched. Aging was also done in argon at temperatures ranging from 316 to 616°C for various times.

Chromic Acid Etching of Polyethylene

1973 ◽  
Vol 31 ◽  
pp. 72-73
Author(s):  
J. D. Muzzy ◽  
R. D. Hester ◽  
J. L. Hubbard
Keyword(s):  
Chromic Acid ◽  
Low Cost ◽  
Acid Etching ◽  
Crystalline Morphology ◽  
Bulk Specimen ◽  
Morphological Studies ◽  
Perfect Form ◽  
Molecular Length ◽  
Lamellar Texture ◽  
Cost Studies

Polyethylene is one of the most important plastics produced today because of its good physical properties, ease of fabrication and low cost. Studies to improve the properties of polyethylene are leading to an understanding of its crystalline morphology. Polyethylene crystallized by evaporation from dilute solutions consists of thin crystals called lamellae. The polyethylene molecules are parallel to the thickness of the lamellae and are folded since the thickness of the lamellae is much less than the molecular length. This lamellar texture persists in less perfect form in polyethylene crystallized from the melt.Morphological studies of melt crystallized polyethylene have been limited due to the difficulty of isolating the microstructure from the bulk specimen without destroying or deforming it.

Glass Knife Geometry as Seen by the SEM

1971 ◽  
Vol 29 ◽  
pp. 454-455
Author(s):  
J. Temple Black
Keyword(s):  
Low Cost ◽  
Amorphous Material ◽  
Stress Concentrations ◽  
Basic Tool ◽  
Tool Materials ◽  
Optical Inspection ◽  
Surface Flaws ◽  
Slip Planes ◽  
Glass Knife ◽  
Diamond Knife

In ultramicrotomy, the two basic tool materials are glass and diamond. Glass because of its low cost and ease of manufacture of the knife itself is still widely used despite the superiority of diamond knives in many applications. Both kinds of knives produce plastic deformation in the microtomed section due to the nature of the cutting process and microscopic chips in the edge of the knife. Because glass has no well defined slip planes in its structure (it's an amorphous material), it is very strong and essentially never fails in compression. However, surface flaws produce stress concentrations which reduce the strength of glass to 10,000 to 20,000 psi from its theoretical or flaw free values of 1 to 2 million psi. While the microchips in the edge of the glass or diamond knife are generally too small to be observed in the SEM, the second common type of defect can be identified. This is the striations (also termed the check marks or feathers) which are always present over the entire edge of a glass knife regardless of whether or not they are visable under optical inspection. These steps in the cutting edge can be observed in the SEM by proper preparation of carefully broken knives and orientation of the knife, with respect to the scanning beam.

Spectraplot: A PC-based spectrum translation and display program

1988 ◽  
Vol 46 ◽  
pp. 918-919
Author(s):  
H. O. Colijn
Keyword(s):  
Low Cost ◽  
Transfer Program ◽  
File Transfer ◽  
Transfer Data ◽  
Error Checking ◽  
Data Files ◽  
The University

Many labs today wish to transfer data between their EDS systems and their existing PCs and minicomputers. Our lab has implemented SpectraPlot, a low- cost PC-based system to allow offline examination and plotting of spectra. We adopted this system in order to make more efficient use of our microscopes and EDS consoles, to provide hardcopy output for an older EDS system, and to allow students to access their data after leaving the university.As shown in Fig. 1, we have three EDS systems (one of which is located in another building) which can store data on 8 inch RT-11 floppy disks. We transfer data from these systems to a DEC MINC computer using “SneakerNet”, which consists of putting on a pair of sneakers and running down the hall. We then use the Hermit file transfer program to download the data files with error checking from the MINC to the PC.

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