Notable advancements have been achieved in providing amputees with sensation through invasive and non-invasive haptic feedback systems such as mechano-, vibro-, electrotactile and hybrid systems. Purely mechanical-driven feedback approaches, however, have been little explored. In this paper, we now created a haptic feedback system that does not require any external power source (such as batteries) or other electronic components. The system is low-cost, lightweight, adaptable and robust against external impact (such as water). Hence, it will be sustainable in many aspects. We have made use of latest multimaterial 3D printing technology (Stratasys Objet500 Connex3) being able to fabricate a soft sensor and a mechano-tactile feedback actuator made of a rubber (TangoBlack Plus) and plastic (VeroClear) material. When forces are applied to the fingertip sensor, fluidic pressure inside the system acts on the membrane of the feedback actuator resulting in mechano-tactile sensation. We present the design, fabrication and validation of the proposed haptic feedback system. Our ∅7 mm feedback actuator is able to transmit a force range between 0.2 N (the median touch threshold) and 2.1 N (the maximum force transmitted by the feedback actuator at a 3 mm indentation) corresponding to force range exerted to the fingertip sensor of 1.2 − 18.49 N.
This paper presents experimental results on the effects of insulating coatings and current prepulse on tungsten planar wire array Z-pinches on ∼100 ns main current facility. Optical framing images indicated that without a current prepulse the wire ablation process was asymmetrical and the implosion was zippered. The x-ray peak power was ∼320 GW. By using insulating coatings on the wire surface the asymmetry remained, and the processes of ablation and implosion were delayed by ∼30 ns. The x-ray burst was narrow and decreased to ∼200 GW. When current prepulses were used on both standard and insulated wire arrays, implosion symmetry was improved and the x-ray burst was improved (to ∼520 GW peak power). In addition, there was a strong emitting precursor column for insulated loads with the current prepulse.
Planar wire array Z pinches were carried out on the QiangGuang-I facility (1.3 MA, 100 ns). The effect of prepulse current and insulating coatings on the Z pinch behavior is investigated. Commonly there is a multichannel gas switch filled with 0.5 Mpa dry air between the transmission line and the MITL to cut off the prepulse current. By varying gas pressure filled in the switch, the parameters of the prepulse current can be controlled. With a 0.2 Mpa pressure the prepulse amplitude and duration are 70 kA and 200 ns respectively. The total width and length of the single planar wire array loads are 15 mm and 2 cm respectively. The standard loads consist of ten tungsten wires with diameter of 15 m. And for insulating loads there are 5 m Polyimide coatings over the wires. Both two types of planar wire array loads were studied on QiangGuang-I facility with and without the prepulse current.
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