Research on Axis Piezoelectric Six-Component Force/Moment Sensor Clamp Device

2013 ◽  
Vol 427-429 ◽  
pp. 1217-1222
Author(s):  
Ning Xu ◽  
Han Neng Ren ◽  
Ying Jun Li
Keyword(s):  
Force Feedback ◽  
Simulation Analysis ◽  
Force Measurement ◽  
Surface Friction ◽  
Force Sensor ◽  
Structure Design ◽  
Sensor Calibration ◽  
Force Transmission ◽  
Finite Element Software ◽  
Component Force

The six-component force measurement and real-time force feedback is not only the basis of multi-equipment coordination of operational control and the force comply with the control, but also to develop the technical basis of the overloaded operators, equipment and other heavy equipment. This article designed a fastening device based on the swelling principle of surface friction, for the six-component force sensor with parallel axis rigid connection. Analysis the six-component force sensor measurement principle, study the blessing device dynamometer performance of six-component force sensor. Use the finite element software for modeling and simulation analysis of the structure. Design of the loading experiments, the experiments show that the fastening technology based on the principle of swelling of the surface friction, to solve the six-component force sensor axis fixed and force transmission, interference of swelling structure to the sensor calibration is relatively small, both achieve effective clamping, but also improves the transfer efficiency of the power flow. With good positioning, highly repetitive assembly and disassembly, convenient adjusting device, etc.

Research on Axis Piezoelectric Six-Axis Force/Torque Sensor Clamping Device

2013 ◽  
Vol 365-366 ◽  
pp. 623-626
Author(s):  
Ying Jun Li ◽  
Qi Zhang ◽  
Gui Cong Wang
Keyword(s):  
Force Feedback ◽  
Simulation Analysis ◽  
Force Measurement ◽  
Surface Friction ◽  
Force Sensor ◽  
Equipment Operation ◽  
Heavy Equipment ◽  
Rigid Connection ◽  
Clamping Device ◽  
Technical Basis

Six-axis force measurement and real-time force feedback control is realized the basis of the coordination of multi-equipment operation control and conform control, and is developed the technical basis of overloaded operators equipment and other heavy equipment. A surface friction clamping device which is based on the principle of swelling is designed in the paper, and is used to rigid connection between the six-axis force sensor and parallel shaft. The measuring principle of six-axis force sensor is analyzed. Six-axis force sensor dynamometer performance is researched under the influence of clamping device. Modeling and simulation analysis of the structure is obtained by using FEM and loading experiment is designed.

Force Feedback Glove for Manipulation of Virtual Objects

1993 ◽  
Vol 5 (1) ◽  
pp. 79-84 ◽  
Author(s):  
Haruhisa Kawasaki ◽  
◽  
Takahiro Hayashi
Keyword(s):  
Feedback Control ◽  
Force Feedback ◽  
Joint Angle ◽  
Force Sensor ◽  
Servo Motor ◽  
Force Transmission ◽  
Transmission Characteristics ◽  
Angle Sensor ◽  
Virtual Objects ◽  
The Difference

This paper presents a new force feedback glove for manipulation of virtual objects. The glove is comprised of wire, link, servo motor, force sensor, and joint angle sensor of fingers. These devices are mounted to the back of glove. The object grasping sense is generated by the force feedback control of the servo motor. We show the force transmission characteristics of the glove and the experimental results of recognition of the difference in rigidity of object.

Design and performance evaluation of a 3-axis force sensor for MIS palpation

Sensor Review ◽  
2015 ◽  
Vol 35 (2) ◽  
pp. 219-228 ◽  
Author(s):  
Kun Li ◽  
Bo Pan ◽  
Juncheng Zhan ◽  
Wenpeng Gao ◽  
Yili Fu ◽  
...  
Keyword(s):  
Open Surgery ◽  
Force Feedback ◽  
Force Measurement ◽  
Force Sensor ◽  
Optimization Method ◽  
Geometric Parameters ◽  
Characteristic Matrix ◽  
Content Type ◽  
Sensor Structure ◽  
External Loads

Purpose – This paper aims to develop a novel miniature 3-axis force sensor which can detect the interaction forces during tissue palpation in MIS (minimally invasive surgery). MIS offers many significant merits compared with traditional open surgery, the wound to the patients and the postoperative pains are alleviated and reduced dramatically. However, the inherent drawback due to lack of force feedback still exists while conducting some operation procedures. For example, tissue palpation performed easily during open surgery could not be realized in an MIS manner. Design/methodology/approach – The force sensor is based on the resistive-based sensing method that utilizes strain gauges to measure the strain when the external loads are acting on the tip of the sensor. A novel flexible tripod structure with bending and compression deformations is designed to discriminate the magnitudes and directions of the three orthogonal force components. A linear characteristic matrix is derived to disclose the relationship between the sensitivity and the geometric parameters of the structure, and a straightforward geometric parameterized optimization method considering the sensitivity isotropy is proposed to provide the sensor structure with high sensitivity and adequate stiffness. Findings – The sensor prototype can perform force measurement with sensing ranges of ± 3.0 N in axial direction and ± 1.5 N in radial direction, and the resolutions are 5 per cent and 1 per cent, respectively. It is concluded that this force sensor is compatible with MIS instruments and the ex-vivo experiment shows that the sensor can be used to perform tissue palpation during MIS procedures. Originality/value – This paper is intended to address the significant role of force sensing and force feedback during MIS operations, and presents a new application of the resistive-based sensing method in MIS. A tripod structure is designed and a straightforward optimization method considering the sensitivity isotropy of the sensor is proposed to determine geometric parameters suited for the given external loads.

A Novel Parallel Decoupled Tri-Axis Force Sensor

2014 ◽  
Vol 487 ◽  
pp. 643-648
Author(s):  
Yu Lei Hou ◽  
Zhan Ye Zhang ◽  
Xin Zhe Hu ◽  
Da Xing Zeng
Keyword(s):  
Performance Analysis ◽  
Force Measurement ◽  
Structural Characteristics ◽  
Force Sensor ◽  
Structure Type ◽  
Element Simulation ◽  
Static Performance ◽  
And Performance ◽  
Elastic Sensitive Element ◽  
Component Force

This paper presents a novel parallel tri-axis force sensor with decoupled feature, and performs its performance analysis. Firstly, the structural characteristics of the parallel tri-axis force sensor are introduced and the stress distribution of each limb elastomer is analyzed. To measure the transformation relationship between the force and strain, the electric bridge is formed by pasting strain on the elastic-sensitive element. Then, the finite element simulation of the elastomer is conducted and performance analysis of the sensor is carried out, which shows that the parallel tri-axis force sensor is decoupled, linear and fully-isotropy. The sensor possesses good static performance and can meet the requirements of tri-axis force measurement in general industrial production. The contents of this paper riches the structure type of the multi-component force sensor and will be useful for the research and development of the parallel force sensor.

Static Strength Test and Analysis of the Hot-Metal Car Frame

2012 ◽  
Vol 562-564 ◽  
pp. 979-982 ◽  
Author(s):  
Kun Li Mao ◽  
Jun He
Keyword(s):  
Finite Element ◽  
Theoretical Calculation ◽  
Simulation Analysis ◽  
Work Conditions ◽  
Structure Design ◽  
Test Scheme ◽  
Hot Metal ◽  
Iron And Steel ◽  
Finite Element Software ◽  
Testing Technology

260T hot-metal car is a huge shape machinery product used in iron and steel plant for the short distance transportation. The work conditions of the hot-metal car are bad, so the reliability of the product structure must be guaranteed. During the structure design, theoretical study and computer simulation analysis of the car frame are taken using the commercial finite element software. The tests for the 260T hot-metal car product are accomplished by using the modern static testing technology to verify the theoretical calculation. The paper describes the test scheme and field test process, extracts the strain and stress value of key points on the car frame and analyses the test data. At last, the test result data are compared with the finite element computation result data, verifying the theoretical calculation.

Precision Force Measurement Using the Levitation Mass Method (LMM)

2010 ◽  
Vol 36 ◽  
pp. 41-51
Author(s):  
Yusaku Fujii ◽  
Koichi Maru ◽  
Tao Jin ◽  
Takao Yamaguchi
Keyword(s):  
Doppler Shift ◽  
Force Measurement ◽  
Inertial Force ◽  
Force Sensor ◽  
Sensor Calibration ◽  
Future Prospects ◽  
Shift Frequency ◽  
The Stability ◽  
Calibration Material ◽  
Structure Test

This paper reviewed the present status and the future prospects of a method for precision mass and force measurement based on levitation mass method (LMM). The LMM has been proposed and improved by the author The mass which levitated using a pneumatic linear bearing in LMM is used to producte a inertial force which used as the reference force applied to the objects under test, such as to force sensor calibration, material and structure test. The inertial force is calibrated only from Doppler shift frequency. The stability of laser’s wavelength has improved in the LMM. The futhure work and the method to improve the precision have described.

scholarly journals VirtualCPR: Virtual Reality Mobile Application for Training in Cardiopulmonary Resuscitation Techniques

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2504
Author(s):  
Francisco Javier García Fierros ◽  
Jesús Jaime Moreno Escobar ◽  
Gabriel Sepúlveda Cervantes ◽  
Oswaldo Morales Matamoros ◽  
Ricardo Tejeida Padilla
Keyword(s):  
Virtual Reality ◽  
Cardiopulmonary Resuscitation ◽  
Mobile Application ◽  
Force Measurement ◽  
Heart Diseases ◽  
Medical Knowledge ◽  
Public Health Problem ◽  
Force Sensor ◽  
Previous Training ◽  
Color Indicator

Deaths due to heart diseases are a leading cause of death in Mexico. Cardiovascular diseases are considered a public health problem because they produce cardiorespiratory arrests. During an arrest, cardiac and/or respiratory activity stops. A cardiorespiratory arrest is rapidly fatal without a quick and efficient intervention. As a response to this problem, the VirtualCPR system was designed in the present work. VirtualCPR is a mobile virtual reality application to support learning and practicing of basic techniques of cardiopulmonary resuscitation (CPR) for experts or non-experts in CPR. VirtualCPR implements an interactive virtual scenario with the user, which is visible by means of employment of virtual reality lenses. User’s interactions, with our proposal, are by a portable force sensor for integration with training mannequins, whose development is based on an application for the Android platform. Furthermore, this proposal integrates medical knowledge in first aid, related to the basic CPR for adults using only the hands, as well as technological knowledge, related to development of simulations on a mobile virtual reality platform by three main processes: (i) force measurement and conversion, (ii) data transmission and (iii) simulation of a virtual scenario. An experiment by means of a multifactorial analysis of variance was designed considering four factors for a CPR session: (i) previous training in CPR, (ii) frequency of compressions, (iii) presence of auditory suggestions and (iv) presence of color indicator. Our findings point out that the more previous training in CPR a user of the VirtualCPR system has, the greater the percentage of correct compressions obtained from a virtual CPR session. Setting the rate to 100 or 150 compressions per minute, turning on or off the auditory suggestions and turning the color indicator on or off during the session have no significant effect on the results obtained by the user.

scholarly journals A Magnetorheological Fluids-Based Robot-Assisted Catheter/Guidewire Surgery System for Endovascular Catheterization

Micromachines ◽  
2021 ◽  
Vol 12 (6) ◽  
pp. 640
Author(s):  
Linshuai Zhang ◽  
Shuoxin Gu ◽  
Shuxiang Guo ◽  
Takashi Tamiya
Keyword(s):  
Collision Detection ◽  
Endovascular Procedures ◽  
Force Feedback ◽  
Force Measurement ◽  
Occupational Hazards ◽  
Robot Assisted ◽  
X Ray ◽  
Surgical Safety ◽  
Surgical Tool ◽  
Haptic Cues

A teleoperated robotic catheter operating system is a solution to avoid occupational hazards caused by repeated exposure radiation of the surgeon to X-ray during the endovascular procedures. However, inadequate force feedback and collision detection while teleoperating surgical tools elevate the risk of endovascular procedures. Moreover, surgeons cannot control the force of the catheter/guidewire within a proper range, and thus the risk of blood vessel damage will increase. In this paper, a magnetorheological fluid (MR)-based robot-assisted catheter/guidewire surgery system has been developed, which uses the surgeon’s natural manipulation skills acquired through experience and uses haptic cues to generate collision detection to ensure surgical safety. We present tests for the performance evaluation regarding the teleoperation, the force measurement, and the collision detection with haptic cues. Results show that the system can track the desired position of the surgical tool and detect the relevant force event at the catheter. In addition, this method can more readily enable surgeons to distinguish whether the proximal force exceeds or meets the safety threshold of blood vessels.

GPU-Based Haptic Simulator for Dental Bone Drilling

2011 ◽  
Author(s):  
Fei Zheng ◽  
WenFeng Lu ◽  
Yoke San Wong ◽  
Kelvin Weng Chiong Foong
Keyword(s):  
Real Time ◽  
Graphics Processing Units ◽  
Force Feedback ◽  
Mandibular Canal ◽  
Structure Design ◽  
Patient Specific ◽  
Force Model ◽  
Bone Drilling ◽  
The Real ◽  
Drill Bits

Dental bone drilling is an inexact and often a blind art. Dentist risks damaging the invisible tooth roots, nerves and critical dental structures like mandibular canal and maxillary sinus. This paper presents a haptics-based jawbone drilling simulator for novice surgeons. Through the real-time training of tactile sensations based on patient-specific data, improved outcomes and faster procedures can be provided. Previously developed drilling simulators usually adopt penalty-based contact force models and often consider only spherical-shaped drill bits for simplicity and computational efficiency. In contrast, our simulator is equipped with a more precise force model, adapted from the Voxmap-PointShell (VPS) method to capture the essential features of the drilling procedure. In addition, the proposed force model can accommodate various shapes of drill bits. To achieve better anatomical accuracy, our oral model has been reconstructed from Cone Beam CT, using voxel-based method. To enhance the real-time response, the parallel computing power of Graphics Processing Units is exploited through extra efforts for data structure design, algorithms parallelization, and graphic memory utilization. Preliminary results show that the developed system can produce appropriate force feedback at different tissue layers.

Numerical Simulation on Heat Dissipating Performance of New Pipe with Grid Plate

2012 ◽  
Vol 532-533 ◽  
pp. 417-421
Author(s):  
Chang Li Song ◽  
Jing Ji
Keyword(s):  
Heat Transfer ◽  
Simulation Analysis ◽  
Heat Transfer Analysis ◽  
Finite Element Software ◽  
Grid Plate ◽  
Steady State Heat ◽  
Steady State Heat Transfer ◽  
Energy Conservation Law ◽  
Optimal Diameter ◽  
Selection Of

In order to improve the pipe dissipating area, a kind of new pipe with grid plate is proposed in this paper. Based on the basic principle of heat transfer and energy conservation law, by finite element software ANSYS the simulation analysis of the steady-state heat transfer of the new pipeline is carried out, process of ANSYS modeling, loading and solving is introduced in detail, the distribution of temperature and stress for pipe with a grid plate is given, these can provide the foundation for the selection of the optimal diameter of the grid plate and transient heat transfer analysis of pipe.

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