Remote Distributed Vibration Sensing Through Opaque Media Using Permanent Magnets

Chen, Yi; Mazumdar, Anirban; Brooks, Carlton F.; Waanders, Bart Gustaaf van Bloemen; Bond, Stephen D.; Nemer, Martin B.

doi:10.1109/tmag.2018.2816578

Cited by 7 publications

(3 citation statements)

References 33 publications

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“…M AGNETS have been used to track fingers [1], [2], styli [3], jewelry [4], vibrating beams [5], endoscopes [6], [7], catheters [8], tongues [9], jaws [10], bladders [11], heart valves [12], and joints [13]- [15], and have also been suggested for tracking other biological tissue such as muscle [16]. As demonstrated by this extensive formative work on magnet tracking, using permanent magnets as position markers is advantageous because there is no need to power them via wired or wireless power transmission.…”

Section: Introductionmentioning

confidence: 99%

Low-Latency Tracking of Multiple Permanent Magnets

2019

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Magnetic target tracking is a low-cost, portable, and passive method for tracking materials wherein magnets are physically attached or embedded without the need for line of sight. Traditional magnet tracking techniques use optimization algorithms to determine the positions and orientations of permanent magnets from magnetic field measurements. However, such techniques are constrained by high latencies, primarily due to the numerical calculation of the gradient. In this study, we derive the analytic gradient for multiple-magnet tracking and show a dramatic reduction in tracking latency. We design a physical system comprising an array of magnetometers and one or more spherical magnets. To validate the performance of our tracking algorithm, we compare the magnet tracking estimates with state-of-the-art motion capture measurements for each of four distinct magnet sizes. We find comparable position and orientation errors to state-of-the-art magnet tracking, but demonstrate increased maximum bandwidths of 336%, 525%, 635%, and 773% for the simultaneous tracking of 1, 2, 3, and 4 magnets, respectively. We further show that it is possible to extend the analytic gradient to account for disturbance fields, and we demonstrate the simultaneous tracking of 1 to 4 magnets with disturbance compensation. These findings extend the use of magnetic target tracking to high-speed, real-time applications requiring the tracking of one or more targets without the constraint of a fixed magnetometer array. This advancement enables applications such as low-latency augmented and virtual reality interaction, volitional or reflexive control of prostheses and exoskeletons, and simplified multi-degree-of-freedom magnetic levitation.

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Section: Introductionmentioning

confidence: 99%

Low-Latency Tracking of Multiple Permanent Magnets

2019

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“…One possible future solution for air-operation is to increase the damping by redesigning material and geometry of the soft arms. Another possible solution is to introduce feedback control with a soft position, orientation, or bend sensors [40], [41], [42], [20], [43]. Soft actuation techniques can also be effectively combined with complementary sensing techniques to measure shear [44], force [45], and temperature [46], [47].…”

Section: Discussionmentioning

confidence: 99%

Compliant Electromagnetic Actuator Architecture for Soft Robotics

Kohls

Dias

Mensah

et al. 2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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Soft materials and compliant actuation concepts have generated new design and control approaches in areas from robotics to wearable devices. Despite the potential of soft robotic systems, most designs currently use hard pumps, valves, and electromagnetic actuators. In this work, we take a step towards fully soft robots by developing a new compliant electromagnetic actuator architecture using galliumindium liquid metal conductors, as well as compliant permanent magnetic and compliant iron composites. Properties of the new materials are first characterized and then co-fabricated to create an exemplary biologically-inspired soft actuator with pulsing or grasping motions, similar to Xenia soft corals. As current is applied to the liquid metal coil, the compliant permanent magnetic tips on passive silicone arms are attracted or repelled. The dynamics of the robotic actuator are characterized using stochastic system identification techniques and then operated at the resonant frequency of 7 Hz to generate high-stroke (>6 mm) motions.

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“…When vibrations are measured in different points of an object, they characterize the object itself [9]. Firstly, regarding rotation machines: Independently of the physical nature of these machines, they have bearings that undergo mechanical stress.…”

Section: Typical Use Of Vibrations In Techncial Diagnisticsmentioning

confidence: 99%

Customized Vibration Generator for State of Health Monitoring of Prosthetic Implants and Pseudo-Bionic Machine–Human Feedbacks

et al. 2019

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Modern industrial, household and other equipment include sophisticated power mechanisms and complicated control solutions that require tighter human–machine–human interactions to form the structures known as cyber–physical–human systems. Their significant parts are human–machine command links and machine–human feedbacks. Such systems are found in medicine, e.g., in orthopedics, where they are important for the operation and functional abilities of orthopedic devices—wheelchair, prosthesis, rehabilitation units, etc. The mentioned feedbacks may be implemented based on the haptic perceptions that requires vibration actuators. In orthopedics, such actuators can be used also for diagnostic purposes. This research brings forward the idea of the use of 3D printing in conjunction with high quality permanent magnets. This allows for the achievement of better efficiency, smaller size, and the developing of actuators individually for particular circumstances. The obtained simulation, experimental data, and data about 3D manufacturing generally confirm the above hypothesis. In particular, the stiffness coefficient of the actuator’s membrane and attached mass, which can be changed easily during 3D printing, affects the frequency of maximal power output. Secondly, the 3D manufacturing process is quick, tunable and rather cheap. Finally, an elaboration of the design of the actuator that allows for the real-time modification of stiffness and mass in a program way is planned for future works.

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Remote Distributed Vibration Sensing Through Opaque Media Using Permanent Magnets

Cited by 7 publications

References 33 publications

Low-Latency Tracking of Multiple Permanent Magnets

Low-Latency Tracking of Multiple Permanent Magnets

Compliant Electromagnetic Actuator Architecture for Soft Robotics

Customized Vibration Generator for State of Health Monitoring of Prosthetic Implants and Pseudo-Bionic Machine–Human Feedbacks

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