A Vision-Based Micro-Newton Static Force Sensor Using a Displacement-Amplifying Compliant Mechanism (DaCM)

Baichapur, Gautham S.; Gugale, Harshala; Maheshwari, Ashveen; Bhargav, Santosh D. B.; Ananthasuresh, G. K.

doi:10.1080/15397734.2013.864938

Cited by 15 publications

(10 citation statements)

References 29 publications

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“…We also considered the same initial deflection of the haltere (50 µm) along the sensing direction in order to compare the force required with that in the actuation direction (direct comparison). This micro-static force sensor can detect the quasi-static forces from 2 µN to 1400 µN and is calibrated for linearity of the force-deflection data over this range (Baichapur et al, 2014). Even though, the forces measured for the calibration objects are an order of magnitude higher than those for the halteres, we can rely on the accuracy and repeatability of the measurements at low forces due to its linearity behavior in this scope.…”

Section: Resultsmentioning

confidence: 99%

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Modelling of soldier fly halteres for gyroscopic oscillations

Parween

Pratap

2015

Biology Open

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Nature has evolved a beautiful design for small-scale vibratory rate-gyro in the form of dipteran halteres that detect body rotations via Coriolis acceleration. In most Diptera, including soldier fly, Hermetia illucens, halteres are a pair of special organs, located in the space between the thorax and the abdomen. The halteres along with their connecting joint with the fly's body constitute a mechanism that is used for muscle-actuated oscillations of the halteres along the actuation direction. These oscillations lead to bending vibrations in the sensing direction (out of the haltere's actuation plane) upon any impressed rotation due to the resulting Coriolis force. This induced vibration is sensed by the sensory organs at the base of the haltere in order to determine the rate of rotation. In this study, we evaluate the boundary conditions and the stiffness of the anesthetized halteres along the actuation and the sensing direction. We take several cross-sectional SEM (scanning electron microscope) images of the soldier fly haltere and construct its three dimensional model to get the mass properties. Based on these measurements, we estimate the natural frequency along both actuation and sensing directions, propose a finite element model of the haltere's joint mechanism, and discuss the significance of the haltere's asymmetric cross-section. The estimated natural frequency along the actuation direction is within the range of the haltere's flapping frequency. However, the natural frequency along the sensing direction is roughly double the haltere's flapping frequency that provides a large bandwidth for sensing the rate of rotation to the soldier flies.

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Section: Resultsmentioning

confidence: 99%

“…We used a micro-Newton static force sensor set up (Baichapur et al, 2014), as shown in Fig. 2A, to evaluate the haltere stiffness along both directions.…”

Section: Methodsmentioning

confidence: 99%

Modelling of soldier fly halteres for gyroscopic oscillations

Parween

Pratap

2015

Biology Open

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“…This pre-calibrated curve is used in estimating the forces that is applied by the gripper onto the cell that is grasped. This technique of using nonlinear finite element analysis is shown to be effective [10,14]. However, a method of calibrating the gripper is to be carried out as a future course of this work.…”

Section: Methodsmentioning

confidence: 94%

“…2(c) their output points move substantially as a result of a small force applied by the object squeezed in the gap. This design of the mechanism allows scaling up by using an array of DaCMs at the jaws of the actuator region as shown in The design of the DaCM in the composite compliant mechanism is known to serve as a force sensor [14]. For this, the DaCM is to be redesigned to meet the requirements on the resolution of the force that it should detect.…”

Section: Introductionmentioning

confidence: 99%

Micro-scale composite compliant mechanisms for evaluating the bulk stiffness of MCF-7 cells

Bhargav

Jorapur

Ananthasuresh

2015

Mechanism and Machine Theory

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“…It is necessary to measure the joint stiffness to estimate the natural frequency of the haltere along the flapping direction. A micro-Newton static force sensor set up (Baichapur et al, 2014), shown in Fig. 4, is used to evaluate the joint stiffness along the flapping direction.…”

Section: Estimation Of the Haltere Stiffnessmentioning

confidence: 99%

Modeling Strain Sensing by the Gyroscopic Halteres, in the Dipteran Soldier Fly,Hermetia illucens

Parween

Pratap

Deora

et al. 2014

Mechanics Based Design of Structures and Machines

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Dipteran insects are known to receive mechanosensory feedback on their aerial rotations from a pair of vibratory gyroscopic organs called halteres. Halteres are simple cantilever-like structures with an end mass that evolved from the hind wings of the ancestral four-winged insects form. In most Diptera, including the soldier fly Hermetia illucens, the halteres vibrate at the same frequency as the wings. These vibrations occur in a vertical plane such that any rotation about this plane imposes orthogonal Coriolis forces on the halteres causing their plane of vibration to shift laterally by a small degree. This motion results in strain variation at the base of the haltere shaft, which is sensed by the campaniform sensilla. This strain variation is, therefore, a key parameter for sensing body rotations. In this paper, we present a study of the basic mechanism of soldier fly halteres to demonstrate its use as a vibratory gyroscope. First, we use a static force sensor to determine the stiffness of the haltere, to evaluate the natural frequency along the flapping direction, followed by nanoindentation-based measurement of its elastic modulus. We then model the haltere as a simple structure with the measured material properties and carry out an analysis to estimate the gyroscopic strain. We also use Finite Element simulations to verify our estimates. This study is intended to provide a better understanding of the mechanism of the natural vibratory gyroscope.

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A Vision-Based Micro-Newton Static Force Sensor Using a Displacement-Amplifying Compliant Mechanism (DaCM)

Cited by 15 publications

References 29 publications

Modelling of soldier fly halteres for gyroscopic oscillations

Modelling of soldier fly halteres for gyroscopic oscillations

Micro-scale composite compliant mechanisms for evaluating the bulk stiffness of MCF-7 cells

Modeling Strain Sensing by the Gyroscopic Halteres, in the Dipteran Soldier Fly,Hermetia illucens

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