Carbon-Nanotube-Coated 3D Microspring Force Sensor for Medical Applications

Li, Bing; Rosa, Bruno Gil; Power, Maura; Gao, Anzhu; Treratanakulchai, Shen; Anastasova, Salzitsa; Yang, Guang‐Zhong

doi:10.1021/acsami.9b12237

Cited by 38 publications

(33 citation statements)

References 29 publications

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“…Such sensors can work in a wide measurement range. [14,15] To realize high sensitivity of this kind of sensor, significant efforts have been focused on changing and optimizing conductive materials [16,17] or designing a wellconstructed flexible substrate. [18,19] However, the achievements of such methods remain relatively complex on how to achieve satisfying sensitivities.…”

Section: Doi: 101002/mame202100576mentioning

confidence: 99%

Strain Sensor with Enhanced Sensitivity for Wearable Electronics Using an Over‐Balanced Planar Elastomer

Nie

Wen

Chen

et al. 2021

Macro Materials & Eng

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Flexible sensor technologies have gained extensive interest in recent yearsowing to the increasing demands of wearable electronics. Here, the authors propose a flexible strain sensor with enhanced sensitivity by designing a new sensing approach for strain detection. The sensing approach uses an over-balanced planar elastomer (OBPE) inspired by Kirigami-like auxetic structure for stretchable sensing. The OBPE substrate is designed and fabricated with four polydimethylsiloxane (PDMS) supporting beam embedded into Ecoflex elastomer to realize auxetic characteristics. The auxetic characteristics induce the sensing region of the sensor to expand in directions both along and orthogonally to the stretch loading. Consequently, the local disconnections of the electrically linked paths composed of multi-wall carbon nanotubes (MWCNTs) in the sensing region are enhanced. Gauge factor of the OBPE strain sensor is improved up to 6 times higher than the typical strain sensor without OBPE architecture. Therefore, the enhanced sensor outputs the stronger electrical signals than the typical sensor in perceiving human motions. Moreover, the two-step casting fabrication is a low-cost process and suitable for large volume manufacturing. In addition, as this sensing method is independent of the constituent conductive materials, it has the potential to be further employed for developing other stretchable strain sensors.

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Section: Doi: 101002/mame202100576mentioning

confidence: 99%

Strain Sensor with Enhanced Sensitivity for Wearable Electronics Using an Over‐Balanced Planar Elastomer

Nie

Wen

Chen

et al. 2021

Macro Materials & Eng

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show abstract

“…This effect can be attributed to the increase in stiffness of the SSC structure due to the CNT layer. [44,45] The Joule heating applied allows for the control of the actuation more accurately than the external heating method, inducing actuation independently of the actuator environment. Additionally, as the CNT layer is placed across the entire structure, the actuation of the devices remains possible even in the case of a cut or damage as long as the CNT layer is able to produce local heating (this is demonstrated in Figure S3 and Movie S4 in the Supporting Information).…”

Section: Bending Motionmentioning

confidence: 99%

Microtentacle Actuators Based on Shape Memory Alloy Smart Soft Composite

Lee

Seichepine

Yang

2020

Adv Funct Materials

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Recent advances in miniature robotics have brought promising improvements in performance by leveraging the latest developments in soft materials, new fabrication schemes, and continuum actuation. Such devices can be used for applications that need delicate manipulation such as microsurgery or investigation of small-scale biological samples. The shape memory effect of certain alloys is one of the promising actuation mechanisms at small scales because of its high work density and simple actuation mechanism. However, for sub-millimeter devices, it is difficult to achieve complex and large displacement with shape memory alloy actuators because of the limitation in the fabrication process. Herein, a fabrication scheme for miniaturized smart soft composite actuator is proposed by utilizing two-photon polymerization. The morphing modes are varied by changing the direction of the scaffold lamination. In addition, the actuation is controlled via local resistive heating of a carbon nanotube layer deposited inside of the actuators. The proposed design can generate a 390 µN force and achieve a bending angle up to 80°. Applications of the actuators are demonstrated by grasping small and delicate objects with single and two finger devices.

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“…For error correction, X-ray fluoroscopy was used at intervals to obtain 2D projections of the continuum manipulator during the procedure, 26 but it carries the risk associated with the excessive exposure of ionising radiation to both patients and surgeons. For the force sensing of continuum robots, several force sensors based on FBG sensors have been developed by our previous work, [27][28][29] however, all of them require additional sensing elements, and the inner lumens of continuum manipulators are always occupied. They are not suitable for our application of optical biopsy with the demand of an inner lumen inside continuum manipulators.…”

Section: Literature Reviewmentioning

confidence: 99%

Laser-Profiled Continuum Robot with Integrated Tension Sensing for Simultaneous Shape and Tip Force Estimation

et al. 2020

Self Cite

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The development of miniaturised continuum robots has a wide range of applications in minimally invasive endoluminal interventions. In order to navigate inside tortuous lumens without impinging on the vessel wall and causing tissue damage or the risk of perforation, it is necessary to have simultaneous shape sensing of the continuum robot and its tip contact force sensing with the surrounding environment. Miniaturisation and size constraint of the device have precluded the use of conventional sensing hardware and embodiment schemes. In this paper, we propose the use of optical fibres for both actuation and tension/shape/force-sensing. It uses a model-based method with structural compensation, allowing direct measurement of the cable tension near the base of the manipulator without increasing the dimensions. It further structurally filters out disturbances from the flexible shaft. In addition, a model is built by considering segment differences, cable interactions/cross talks and external forces. The proposed model-based method can simultaneously estimate the shape of the manipulator and external force applied onto the robot tip. Detailed modelling and validation results demonstrate the accuracy and reliability of the proposed method for the miniaturised continuum robot for endoluminal intervention.

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Carbon-Nanotube-Coated 3D Microspring Force Sensor for Medical Applications

Cited by 38 publications

References 29 publications

Strain Sensor with Enhanced Sensitivity for Wearable Electronics Using an Over‐Balanced Planar Elastomer

Strain Sensor with Enhanced Sensitivity for Wearable Electronics Using an Over‐Balanced Planar Elastomer

Microtentacle Actuators Based on Shape Memory Alloy Smart Soft Composite

Laser-Profiled Continuum Robot with Integrated Tension Sensing for Simultaneous Shape and Tip Force Estimation

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