Spatial Accuracy of Predictive Saccades Determines the Performance of Continuous Visuomotor Action

In a table tennis rally, players perform interceptive actions on a moving ball continuously in a short time, such that the acquisition process of visual information is an important determinant of the performance of the action. However, because it is technically hard to measure gaze movement in a real game, little is known about how gaze behavior is conducted during the continuous visuomotor actions and contributes to the performance. To examine these points, we constructed a novel psychophysical experiment model enabling a continuous visuomotor task without spatial movement of any body parts, including the arm and head, and recorded the movement of the gaze and effector simultaneously at high spatiotemporal resolution. In the task, Gabor patches (target) moved one after another at a constant speed from right to left at random vertical positions on an LC display. Participants hit the target with a cursor moving vertically on the left side of the display by controlling their prehensile force on a force sensor. Participants hit the target with the cursor using a rapid-approaching movement (rapid cursor approach, RCA). Their gaze also showed rapid saccadic approaching movement (saccadic eye approach, SEA), reaching the predicted arrival point of the target earlier than the cursor. The RCA reached in or near the Hit zone in the successful (Hit) trial, but ended up away from it in the unsuccessful (Miss) trial, suggesting the spatial accuracy of the RCA determines the task's success. The SEA in the Hit trial ended nearer the target than the Miss trial. The spatial accuracy of the RCA diminished when the target disappeared 100 ms just after the end of the SEA, suggesting that visual information acquired after the saccade acted as feedback information to correct the cursor movement online for the cursor to reach the target. There was a target speed condition that the target disappearance did not compromise RCA's spatial accuracy, implying the possible RCA correction based on the post-saccadic gaze location information. These experiments clarified that gaze behavior conducted during fast continuous visuomotor actions enables online correction of the ongoing interceptive movement of an effector, improving visuomotor performance.

Experimental Evaluation on Haptic Feedback Accuracy by Using Two Self-Made Haptic Devices and One Additional Interface in Robotic Teleoperation

The goal of haptic feedback in robotic teleoperation is to enable users to accurately feel the interaction force measured at the slave side and precisely understand what is happening in the slave environment. The accuracy of the feedback force describing the error between the actual feedback force felt by a user at the master side and the measured interaction force at the slave side is the key performance indicator for haptic display in robotic teleoperation. In this paper, we evaluate the haptic feedback accuracy in robotic teleoperation via experimental method. A special interface iHandle and two haptic devices, iGrasp-T and iGrasp-R, designed for robotic teleoperation are developed for experimental evaluation. The device iHandle integrates a high-performance force sensor and a micro attitude and heading reference system which can be used to identify human upper limb motor abilities, such as posture maintenance and force application. When a user is asked to grasp the iHandle and maintain a fixed position and posture, the fluctuation value of hand posture is measured to be between 2 and 8 degrees. Based on the experimental results, human hand tremble as input noise sensed by the haptic device is found to be a major reason that results in the noise of output force from haptic device if the spring-damping model is used to render feedback force. Therefore, haptic rendering algorithms should be independent of hand motion information to avoid input noise from human hand to the haptic control loop in teleoperation. Moreover, the iHandle can be fixed at the end effector of haptic devices; iGrasp-T or iGrasp-R, to measure the output force/torque from iGrasp-T or iGrasp-Rand to the user. Experimental results show that the accuracy of the output force from haptic device iGrasp-T is approximately 0.92 N, and using the force sensor in the iHandle can compensate for the output force inaccuracy of device iGrasp-T to 0.1 N. Using a force sensor as the feedback link to form a closed-loop feedback force control system is an effective way to improve the accuracy of feedback force and guarantee high-fidelity of feedback forces at the master side in robotic teleoperation.

A Disturbance Suppression Micro-Newton Force Sensor Based on Shadow Method

<div>The precision of micro-force measurement is determined by the sensitivity of force sensors and the magnitude of environmental disturbances. Damping, a process that converts vibrational energy into heat, is one of the most effective methods of suppressing disturbances. Inspired by the shadow formed at a pond when water striders walked on the water, a bionic viscoelastic-polymer micro-force (VPMF) sensor with a high damping ratio based on the shadow method was developed. In the VPMF sensor, the surface of the polymer was deformed by the contact of a cylindrical flat punch when the sensor was subjected to a normal force. A shadow with a bright edge was formed due to the refraction that parallel light went through the deformed surface. The force was in proportion to the change of the shadow diameter. The sensor optimal sensitivity was 2.15 μN/pixel and the measurement range was 0.981 mN. The damping ratio of the VPMF sensor was 0.22 on account of viscoelasticity, which could suppress disturbances effectively. The VPMF sensor could reduce the influence of disturbances by about 96.23% compared to the cantilever. The present study suggests that the VPMF sensor is hopefully applied to the reliable measurement of micro force under complex environments.</div>

Novel Application of a Force Sensor during Sit-to-Stands to Measure Dynamic Cerebral Autoregulation Onset

Purpose: Current sit-to-stand methods measuring dynamic cerebral autoregulation (dCA) do not capture the precise onset of the time delay (TD) response. Reduced sit-to-stand reactions in older adults and individuals post-stroke could inadvertently introduce variability, error, and imprecise timing. We applied a force sensor during a sit-to-stand task to more accurately determine how TD before dCA onset may be altered. Methods: Middle cerebral artery blood velocity (MCAv) and mean arterial pressure (MAP) were measured during two sit-to-stands separated by 15 minutes. Recordings started with participants sitting on a force-sensitive resistor for 60 seconds, then asked to stand for two minutes. Upon standing, the force sensor voltage immediately dropped and marked the exact moment of arise-and-off (AO). Time from AO until an increase in cerebrovascular conductance (CVC = MCAv/MAP) was calculated as TD. Results: We tested the sensor in 4 healthy young adults, 2 older adults, and 2 individuals post-stroke. Healthy young adults stood quickly and the force sensor detected a small change in TD compared to classically estimated AO, from verbal command to stand. When compared to the estimated AO, older adults had a delayed measured AO and TD decreased up to ~50% while individuals post-stroke had an early AO and TD increased up to ~14%. Conclusion: The transition reaction speed during the sit to stand has the potential to influence dCA metrics. As observed in the older adults and participants with stroke, this response may drastically vary and influence TD.

A Disturbance Suppression Micro-Newton Force Sensor Based on Shadow Method

<div>The precision of micro-force measurement is determined by the sensitivity of force sensors and the magnitude of environmental disturbances. Damping, a process that converts vibrational energy into heat, is one of the most effective methods of suppressing disturbances. Inspired by the shadow formed at a pond when water striders walked on the water, a bionic viscoelastic-polymer micro-force (VPMF) sensor with a high damping ratio based on the shadow method was developed. In the VPMF sensor, the surface of the polymer was deformed by the contact of a cylindrical flat punch when the sensor was subjected to a normal force. A shadow with a bright edge was formed due to the refraction that parallel light went through the deformed surface. The force was in proportion to the change of the shadow diameter. The sensor optimal sensitivity was 2.15 μN/pixel and the measurement range was 0.981 mN. The damping ratio of the VPMF sensor was 0.22 on account of viscoelasticity, which could suppress disturbances effectively. The VPMF sensor could reduce the influence of disturbances by about 96.23% compared to the cantilever. The present study suggests that the VPMF sensor is hopefully applied to the reliable measurement of micro force under complex environments.</div>

The Reliability of a New Device for Measuring the Maximum Bite Force

Objective. To test the inter- and intraexaminer reliability of a recently developed instrument for measuring the maximum bite force (MBF). Material and Methods. Sixty patients who were clinically confirmed as having Oral Submucous Fibrosis (OSMF) and 60 healthy controls were included in this study. For each subject, age, gender, weight, height, and body mass index (BMI) were recorded. The maximum bite force was recorded in alternate order with a bite force sensor (D1) and an occlusal force meter (D2). Bite force was measured in the first molar region. Pearson’s correlation coefficient and kappa statistic were applied to assess the reliability between D1 and D2 in the assessment of maximum bite force. The independent t -test was performed to find the statistical significance between the two study groups. The paired t -test was applied to find out the difference between the right and left disease in groups of two devices separately. The one-way analysis of covariance (ANOVA) was performed to find the significant difference between grades of OSMF. Results. The results of the kappa values were 0.8531 ± 0.0724 and 0.7336 ± 0.0737 for interdevice reliability in OSMF patients in right and left sides. Similar findings were obtained in right and left sides of healthy individuals ( 0.7549 ± 0.0816 and 0.9440 ± 0.0806 ) and in the total sample ( 0.8132 ± 0.0544 and 0.8303 ± 0.0538 ). Pearson’s correlation coefficient between two devices revealed a high and significant positive correlation between D1 and D2 separately and in the whole sample. Conclusion. The observations of the present study suggest that the bite force sensor can be used as a reliable device for measuring bite force.

Expanding the Horizons of Wireless Sensing

All interactions of objects, humans, and machines with the physical world are via contact forces. For instance, objects placed on a table exert their gravitational forces, and the contact interactions via our hands/feet are guided by the sense of contact force felt by our skin. Thus, the ability to sense the contact forces can allow us to measure all these ubiquitous interactions, enabling a myriad of applications. Furthermore, force sensors are a critical requirement for safer surgeries, which require measuring complex contact forces experienced as a surgical instrument interacts with the surrounding tissues during the surgical procedure. However, with currently available discrete point-force sensors, which require a battery to sense the forces and communicate the readings wirelessly, these ubiquitous sensing and surgical sensing applications are not practical. This motivates the development of new force sensors that can sense, and communicate wirelessly without consuming significant power to enable a battery-free design. In this magazine article, we present WiForce, a low-power wireless force sensor utilizing a joint sensing-communication paradigm. That is, instead of having separate sensing and communication blocks, WiForce directly transduces the force measurements onto variations in wireless signals reflecting WiForce from the sensor. This novel trans-duction mechanism also allows WiForce to generalize easily to a length continuum, where we can detect as well as localize forces acting on the continuum. We fabricate and test our sensor prototype in different scenarios, including testing beneath a tissue phantom, and obtain sub-N sensing and sub-mm localizing accuracies (0.34 N and 0.6 mm, respectively).

Payload Identification and Gravity/Inertial Compensation for Six-Dimensional Force/Torque Sensor with a Fast and Robust Trajectory Design Approach

In the robot contact operation, the robot relies on the multi-dimensional force/torque sensor installed at the end to sense the external contact force. When the effective load and speed of the robot are large, the gravity/inertial force generated by it will have a non-negligible impact on the output of the force sensor, which will seriously affect the accuracy and effect of the force control. The existing identification algorithm time is often longer, which also affects the efficiency of force control operations. In this paper, a self-developed multi-dimensional force sensor with integrated gravity/inertial force sensing function is used to directly measure the resultant force. Further, a method for the rapid identification of payload based on excitation trajectory is proposed. Firstly, both a gravity compensation algorithm and an inertial force compensation algorithm are introduced. Secondly, the optimal spatial recognition pose based on the excitation trajectory was designed, and the excitation trajectory of each joint is represented by a finite Fourier series. The least square method is used to calculate the identification parameters of the load, the gravity, and inertial force. Finally, the experiment was verified on the robot. The experimental results show that the algorithm can quickly identify the payload, and it is faster and more accurate than other algorithms.

Design, inverted vat photopolymerization 3D printing, and initial characterization of a miniature force sensor for localized in vivo tissue measurements

Background Tissue healthiness could be assessed by evaluating its viscoelastic properties through localized contact reaction force measurements to obtain quantitative time history information. To evaluate these properties for hard to reach and confined areas of the human body, miniature force sensors with size constraints and appropriate load capabilities are needed. This research article reports on the design, fabrication, integration, characterization, and in vivo experimentation of a uniaxial miniature force sensor on a human forearm. Methods The strain gauge based sensor components were designed to meet dimensional constraints (diameter ≤3.5mm), safety factor (≥3) and performance specifications (maximum applied load, resolution, sensitivity, and accuracy). The sensing element was fabricated using traditional machining. Inverted vat photopolymerization technology was used to prototype complex components on a Form3 printer; micro-component orientation for fabrication challenges were overcome through experimentation. The sensor performance was characterized using dead weights and a LabVIEW based custom developed data acquisition system. The operational performance was evaluated by in vivo measurements on a human forearm; the relaxation data were used to calculate the Voigt model viscoelastic coefficient. Results The three dimensional (3D) printed components exhibited good dimensional accuracy (maximum deviation of 183μm). The assembled sensor exhibited linear behavior (regression coefficient of R2=0.999) and met desired performance specifications of 3.4 safety factor, 1.2N load capacity, 18mN resolution, and 3.13% accuracy. The in vivo experimentally obtained relaxation data were analyzed using the Voigt model yielding a viscoelastic coefficient τ=12.38sec and a curve-fit regression coefficient of R2=0.992. Conclusions This research presented the successful design, use of 3D printing for component fabrication, integration, characterization, and analysis of initial in vivo collected measurements with excellent performance for a miniature force sensor for the assessment of tissue viscoelastic properties. Through this research certain limitations were identified, however the initial sensor performance was promising and encouraging to continue the work to improve the sensor. This micro-force sensor could be used to obtain tissue quantitative data to assess tissue healthiness for medical care over extended time periods.