Force-Sensitive Prosthetic Hand with 3-axis Magnetic Force Sensors

Votta, Ann Marie; Gunay, Sezen Yagmur; Erdoğmuş, Deni̇z; Önal, Çağdaş D.

doi:10.1109/cbs46900.2019.9114463

Cited by 9 publications

(9 citation statements)

References 21 publications

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“…The piezo sensors generate small voltages as a function of contact forces applied onto the sensor [27,29,74,79]. The magnetic sensors create distortions in magnetic field due to the applied force [53,77,80,81]. A unifying theme of these three sensor types is the fact that they all need to be digitized before communicating these readings to remotely located wireless reader.…”

Section: Discrete Mems Force Sensorsmentioning

confidence: 99%

“…Typically, past work addresses this by using amplifiers and digitization blocks in Data acquisition units (DAQs) for the sensors. Usually, a DAQ would consist of OPAMP amplifier circuits, ADCs for resistive and piezo sensors [10,11], CDCs for capacitive sensors [24,30], and magnetometers for magnetic sensors [53,80]. After digitization, the values are modulated onto a wireless signal to communicate the readings to a distance.…”

Section: Discrete Mems Force Sensorsmentioning

confidence: 99%

See 1 more Smart Citation

WiForceSticker: Batteryless, Thin Sticker-like Flexible Force Sensor

Gupta¹,

Park²,

Bashar³

et al. 2022

Preprint

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Any two objects in contact with each other exert a force that could be simply due to gravity or mechanical contact, such as a robotic arm gripping an object or even the contact between two bones at our knee joints. The ability to naturally measure and monitor these contact forces allows a plethora of applications from warehouse management (detect faulty packages based on weights) to robotics (making a robotic arms' grip as sensitive as human skin) and healthcare (knee-implants). It is challenging to design a ubiquitous force sensor that can be used naturally for all these applications. First, the sensor should be small enough to fit in narrow joints or not make the robotic arm bulky. Next, we don't want to lay long, cumbersome cables to read the force values from the sensor to the monitoring device. And finally, even current wireless technology requires a battery that could be hazardous for in-body applications. We develop WiForceSticker, a wireless, battery-free, sticker-like force sensor that can be ubiquitously deployed on any surface, such as all warehouse packages, robotic arms, and knee joints. WiForceSticker first designs a tiny 4 mm × 2 mm × 0.4 mm capacitative sensor design equipped with a 10 mm × 10 mm antenna designed on a flexible PCB substrate. Secondly, it introduces a new mechanism to transduce the force information on ambient RF radiations that can be read by a remotely located reader wirelessly without requiring any battery or active components at the force sensor, by interfacing the sensors with COTS RFID systems. The sensor can detect forces in the range of 0-6 N with sensing accuracy of < 0.5 N across multiple testing environments and evaluated with over 10, 000 varying force level presses on the sensor. We also showcase two application case studies with our designed sensors, weighing warehouse packages and sensing forces applied by bone joints.

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Section: Discrete Mems Force Sensorsmentioning

confidence: 99%

Section: Discrete Mems Force Sensorsmentioning

confidence: 99%

WiForceSticker: Batteryless, Thin Sticker-like Flexible Force Sensor

Gupta¹,

Park²,

Bashar³

et al. 2022

Preprint

View full text Add to dashboard Cite

show abstract

“…Though it has the highest accuracy among all the feedback systems the overall cost is increased as a high-end microprocessor is required for the neural network. Ann Marie Votta et.al [9] (2019) developed a 3D force sensing unit for both shear and normal force readings. In the standard force sensor normal force is measured to control grasp force, but in this 3D force sensor the shear force is also measured to ensure grasp stability.…”

Section: Feedback Systemsmentioning

confidence: 99%

Review on Recent Advancements in Bionicarm

Mujumale¹,

Kalke²,

Mulik³

et al. 2022

IJEAST

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Bionic arm has been a prime example of bending technology to improve the lives of amputees. This paper aims to study bionic arm and its developments through the years. The paper primarily focuses on the ‘mechanical-human spectrum’ and its implications on the feasibility of the arm. This paper also highlights the various actuation systems used in practice which are a key component of the arm. When feedback is provided to any system its performance is enhanced, this is also true in case of the arm and the paper describes all aspects related to it

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“…Many attempts to acquire a proportional signal to the prosthetic’s grasping force have been made using a variety of different techniques. Some examples include techniques using pressure chambers and pressure sensors [ 21 , 22 ], liquid metal sensors [ 23 ], piezo electrodes [ 24 ], magnets and hall effect sensors [ 25 ], sensor fabrics [ 26 , 27 ], camera and image processing [ 28 ], strain gauges and custom-designed loadcells [ 29 , 30 ], and other multi-sensor approaches [ 31 , 32 ]. All these examples have a common theme: the sensing element is embedded in the finger.…”

Section: Introductionmentioning

confidence: 99%

An Improved Approach for Grasp Force Sensing and Control of Upper Limb Soft Robotic Prosthetics

2023

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The following research proposes a closed loop force control system, which is implemented on a soft robotic prosthetic hand. The proposed system uses a force sensing approach that does not require any sensing elements to be embedded in the prosthetic’s fingers, therefore maintaining their monolithic structural integrity, and subsequently decreasing the cost and manufacturing complexity. This is achieved by embedding an aluminum test specimen with a full bridge strain gauge circuit directly inside the actuator’s housing rather than in the finger. The location of the test specimen is precisely at the location of the critical section of the bending moment on the actuator housing due to the tension in the driving tendon. Therefore, the resulting loadcell can acquire a signal proportional to the prosthetic’s grasping force. A PI controller is implemented and tested using this force sensing approach. The experiment design includes a flexible test object, which serves to visually demonstrate the force controller’s performance through the deformation that the test object experiences. Setpoints corresponding to “light”, “medium”, and “hard” grasps were tested with pinch, tripod, and full grasps and the results of these tests are documented in this manuscript. The developed controller was found to have an accuracy of ±2%. Additionally, the deformation of the test object increased proportionally with the given grasp force setpoint, with almost no deformation during the light grasp test, slight deformation during the medium grasp test, and relatively large deformation of the test object during the hard grasp test.

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Force-Sensitive Prosthetic Hand with 3-axis Magnetic Force Sensors

Cited by 9 publications

References 21 publications

WiForceSticker: Batteryless, Thin Sticker-like Flexible Force Sensor

WiForceSticker: Batteryless, Thin Sticker-like Flexible Force Sensor

Review on Recent Advancements in Bionicarm

An Improved Approach for Grasp Force Sensing and Control of Upper Limb Soft Robotic Prosthetics

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