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Robust, Multimodal Capacitive sensors Using Carbon Nanotube Paper Composites for Human and Robot Finger Tracking in Human-Robot Collaboration

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advanced MATERIALS TECHNOLOGIES 2025年第0期

作者： Kim, Shawn Kim, Dohoon Chung, Jake Cheng, Yu-Jen Li, Tianyi Ahn, Sanggyeun Kim, Heung Soo Chung, Jae-Hyun Univ Washington Dept Mech Engn Seattle WA 98195 USA Robot & Energy Engn Dept Mech Seoul 04620 South Korea Univ Washington Dept Ind Design Seattle WA 98195 USA

Robust multimodal capacitive sensors can significantly enhance human-robot collaboration (HRC) across sectors such as healthcare, daily life support, and manufacturing. Despite this potential, achieving high-precision 3D recognition of fingertip movements using capacitive sensors remains challenging. This study demonstrates multimodal capacitive sensors for proximity, pressure, and permittivity sensing in HRC applications. The goal is to accurately detect subtle fingertip movements, enabling precise control of a robotic arm in 3D space. The circular capacitive sensors, made from a carbon nanotube-paper composite (CPC), generate a high electric field and proximity. These sensors are integrated into two types of controllers: a desktop controller for intuitive and robust control, and a handheld controller for enhanced portability. An algorithm is presented for accurate 3D fingertip tracking under scenarios involving wet- and gloved hands, to ensure a reliable interface in harsh environments. Additionally, the use of multimodal sensors integrated into robot fingers is demonstrated to detect pressure and permittivity changes, allowing the operator to identify objects. Two tasks of moving objects and distinguishing alcohol from water demonstrate the system's effectiveness for industrial applications, such as efficient HRC, hazardous material inspection, and remote work.

关键词： 3D location capacitive sensor carbon nanotube paper composite human-robot collaboration multimodal sensor

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A Lower-Limb Exoskeleton control system based on Brain-Computer interface with Multiple Motor Imagery Segments Decoding 18

A Lower-Limb Exoskeleton Control System based on Brain-Compu...

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18th IEEE International conference on Application of Information and Communication Technologies

作者： Wan, Zitong Yao, Zheyu Zheng, Yining Huang, Mengjie Yang, Rui Xian Jiaotong Liverpool Univ Design Sch Suzhou Peoples R China Xian Jiaotong Liverpool Univ Sch Advanced Technol Suzhou Peoples R China

ISBN: (纸本)9798350387544;9798350387537

With the persistent exploration of brain science, brain-computer interfaces (BCI) have been developed and applied in various fields in recent years. Lower-limb rehabilitation exoskeleton control systems based on BCI achieve better effects than traditional rehabilitation methods. However, control systems based on motor imagery (MI) signals are still difficult to popularize because of low online recognition rate, high latency and unstable control. In this paper, a lower-limb exoskeleton control system based on multiple segments decoding is proposed, which can support the subject to complete the movement of raising unilateral leg tasks. First, the MI decoder is trained by the data collected offline. The online control system wirelessly connects the EEG cap with the lower-limb exoskeleton, transmits the MI signal in real-time for online decoding, and controls the exoskeleton according to the decoded instructions, which a multi-segment decoding strategy is used to improve control accuracy and system robustness. The effectiveness of the proposed system is evaluated in the online experiment, which indicated that the system is efficient for walking rehabilitation training under various scenarios.

关键词： brain-computer interface lower-limb exoskeleton motor imagery rehabilitation real-time control system

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Design and Development of Wearable Knee Rehabilitation system Based on Motor Imagery Brain Computer interface 5th

Design and Development of Wearable Knee Rehabilitation Syste...

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5th International conference on Neural Computing for advanced Applications (NCAA)

作者： Deng, Ruirui Zheng, Xu Wang, Yanping Wang, Kaifa Gao, Nuo Shandong Jianzhu Univ Sch Informat & Elect Engn Jinan 250101 Peoples R China

ISBN: (纸本)9789819770007;9789819770014

In view of the existing problems in rehabilitation training in China and the great potential of rehabilitation training robots based on Motor Imagery Brain Computer interface, this paper designs and develops a wearable knee rehabilitation training system based on Motor Imagery Brain Computer interface from the perspective of portability and low cost. The proposed knee rehabilitation training system can extract the patient's active rehabilitation intention through EEG signal, and complete the active and passive rehabilitation training of the knee joint through the knee exoskeleton, which can effectively overcome the problems of the traditional rehabilitation training system, such as high training cost, limited number of professional rehabilitation therapist, and low willingness of the patient's active training. A series of offline and online experiments verify the feasibility and effectiveness of the proposed rehabilitation system. The development and application of this system is expected to provide a rehabilitation system with autonomous control, active rehabilitation and convenient wearing for patients with knee joint dysfunction, and effectively alleviate the problems existing in the current motor function rehabilitation training.

关键词： Motor Imagery Brain-computer interface Wearable knee rehabilitation system electroencephalogram Introduction

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Design and Implementation of Health Monitoring for Steel struncture building Based on WSN 6

Design and Implementation of Health Monitoring for Steel str...

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6th IEEE advanced Information Management, Communicates, Electronic and Automation control conference, IMCEC 2024

作者： Zhang, Guoping Gao, Shan Ma, Minghe He, Zhicheng Fu, Xueqing Gansu Second Constuction Group Co. Ltd. Lanzhou China

ISBN: (纸本)9798350316520

This paper presents a health monitoring system for steel structure buildings that combines embedded technology and wireless sensor networks (WSN). The system collects data on settlement, vibration acceleration, wind load, inclination angle, stress, and strain of the building using sensor nodes. The collected data is transmitted to the gateway through Lora wireless communication technology and then forwarded to the upper computer. The monitoring of building structure is realized, and the time synchronization scheme of the monitoring system is analyzed. The experimental results show that the monitoring system can work normally and stably in both laboratory environment and actual working environment. © 2024 IEEE.

关键词： sensor nodes

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Sewer Blockage sensor Placement Optimitzation and Prioritization Using AI, advanced Data Analytics, and AGOL Dashboards 97

Sewer Blockage Sensor Placement Optimitzation and Prioritiza...

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97th Annual Water Environment Federation Technical Exhibition and conference, WEFTEC 2024

作者： Wilson, Joel Djehdian, Lucas Tennakoon, Kithsiri WCS Engineering KingscliffNSW Australia WCS Engineering ChicagoIL United States Urban Utilities BrisbaneQLD Australia

Urban Utilities, WCS Engineering and Optimatics pioneered an innovative sensor deployment optimization and prioritization decision-support platform to help prevent dry weather overflows resulting from pipe blockages. Harnessing Artificial Intelligence (AI) infrastructure, cloud computing and custom Python optimization scripts, a sensor deployment roadmap based on comprehensive data was generated from thousands of model simulations to optimize sensor placement, maximizing high-risk pipe coverage with minimum sensor units. ArcGIS Online dashboarding simplified complex data into an easy-to-use interface, which, paired with deployed sensors’ early warning system, enables Urban Utilities’ staff to make optimized sensor placement decisions and quickly respond to emergency situations. © 2024 Water Environment Federation.

关键词： Strategic planning

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Development of static automatic calibration system for eddy current sensor based on grating feedback 5

Development of static automatic calibration system for eddy ...

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2024 5th International conference on advanced Materials and Intelligent Manufacturing, ICAMIM 2024

作者： Ma, Jiang Xu, Xiang Yang, Chengbo Liu, Yang Wang, Qingping Wang, Wenhao Han, Jinjiang Zhang, Ling Co. Ltd. Yunnan Yuxi653100 China

During long-term use, eddy current sensors may experience significant errors or even inaccuracies in their indication values due to aging or the influence of objective environments. Therefore, it is necessary to regularly perform dynamic or static calibration based on the performance of the eddy current sensor to promptly identify and address any issues with the sensor. Currently, most eddy current sensors used in the industry are calibrated manually or semi-automatically, resulting in low calibration efficiency and accuracy. In response to the demand of the metrology department to improve the static calibration efficiency of eddy current sensors, a combination of stepper motors and grating feedback is used to measure the position of eddy current sensors during the calibration process. An integrated automatic calibration control system for the dynamic and static characteristics of eddy current sensors is studied. The design of the calibration system includes the design of the actuator and the design of the control system. Firstly, the overall structure of the control system software is designed. The control system mainly completes the control of the stepper motor and the measurement of sensor displacement, as well as the design of the data acquisition module and data storage module. Through experimental verification, the displacement control error of the static calibration device for eddy current sensors is less than 3 μm, and the accuracy meets the design requirements of 5 μm. The displacement measurement error is less than 3 μm, and the accuracy meets the design requirements of 3 μm. The voltage measurement accuracy reaches 0.1%, and the design meets the requirements of the design indicators. 2025 Published under licence by IOP Publishing Ltd.

关键词： Stepping motors

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Multi-channel Neural Signal Recording system for an Implantable Brain-Computer interface 46

Multi-channel Neural Signal Recording System for an Implanta...

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46th Annual International conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2024

作者： Li, Qingya Zhang, Zhiwei Shi, Mingxia Tao, Xiaoyan Institute of Automation Chinese Academy of Sciences Beijing100190 China Cas Center for Excellence in Brain Science and Intelligence Technology Shanghai200031 China

ISBN: (纸本)9798350371499

Simultaneous recordings of neural activity at massive scope, in the long term, and under bio-safety conditions, could provide crucial information, which helps in better understanding the operation mechanism of the brain and promotes the clinical application evolution for the brain-computer interface. For this purpose, a multi-channel neural signal recording system is presented, which can record up to 2048-channel neural signals by multiple connections of a customized collection system. The system consists of a sensor array module, a central controller module, and an upper computer module. Using the modular design method, the sensor array module can be contrived by changing the number of channels. The single-channel data acquisition module has a sampling resolution of 16 bits, and a sampling rate of 30 KSamples/s. The central controller module can establish a connection between the sensor array module and the upper computer module, and control their operations. The upper computer module can display the data results. The system verifies the performance of the multi-channel data acquisition through the analog neural signal. © 2024 IEEE.

关键词： Brain computer interface

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Enhancing Aluminum Casting Efficiency through Real-Time Optical Fiber sensor Monitoring at the Metal-Mold interface 3

Enhancing Aluminum Casting Efficiency through Real-Time Opti...

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conference on Optical Waveguide and Laser sensors III

作者： Zhang, Bohong Hungund, Abhishek Prakash O'Malley, Ronald J. Bartlett, Laura Mumtaz, Farhan Gerald, Rex E., II Huang, Jie Missouri Univ Sci & Technol Dept Elect & Comp Engn Rolla MO 65409 USA Missouri Univ Sci & Technol Dept Mat Sci & Engn Rolla MO 65409 USA

ISBN: (纸本)9781510674073;9781510674066

This study focuses on the critical aspect of interfacial heat transfer during the solidification process in metal casting, aiming to optimize these manufacturing processes. Fiber-optic sensors were employed to provide continuous real-time monitoring of mold gaps and temperature profiles during the solidification of A356 aluminum in a permanent mold-casting environment. A specially designed mold system, constructed from unheated, uncoated tool steel, facilitated the seamless integration of these advanced fiber-optic sensors. One key technique used was the Extrinsic Fabry-Perot interferometric (EFPI) sensor, which uniquely utilized molten metal as the second reflection interface for measuring mold gaps. This method yielded impressively accurate results, with a maximum error of just 2 mu m compared to physical measurements. Additionally, using the Rayleigh backscattering (RBS) technique, a stainless steel-encased fiber provided real-time temperature measurements with an impressive spatial resolution of 0.65 mm. The study demonstrates that combining high-resolution temperature profiles with gap evolution measurements significantly enhances our understanding of heat transfer dynamics at the mold-metal interface, proving particularly beneficial for optimizing complex-shaped castings and continuous casting processes. Furthermore, the capability to monitor the shape of the casting in real-time as it exits a continuous casting mold introduces a novel tool for quality control and process safety improvement by early detection of conditions that might lead to slab cracking and breakouts, ultimately enhancing overall process efficiency and reliability.

关键词： Extrinsic Fabry-Perot Interferometer Rayleigh Backscattering Optical Frequency-Domain Reflectometry Optical Fiber sensors Gap Measurement Distributed Temperature Measurement Aluminum Casting Molten Metal

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A Suspended, 3D Morphing sensory system for Robots to Feel and Protect

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advanced MATERIALS 2024年第29期36卷 2470232-2470232页

作者： Zhou, Wei Yu, Yi Xiao, Peng Deng, Feng Zhang, Yi Chen, Tao Chinese Acad Sci Ningbo Inst Mat Technol & Engn Key Lab Adv Marine Mat Ningbo 315201 Peoples R China Univ Chinese Acad Sci Sch Chem Sci 19A Yuquan Rd Beijing 100049 Peoples R China Hangzhou Normal Univ Coll Mat Chem & Chem Engn Key Lab Organosilicon Chem & Mat Technol Minist Educ Hangzhou 311121 Zhejiang Peoples R China

Artificial sensory systems with synergistic touch and pain perception hold substantial promise for environment interaction and human-robot communication. However, the realization of biological skin-like functional integration of sensors with sensitive touch and pain perception still remains a challenge. Here, a concept is proposed of suspended electronic skins enabling 3D deformation-mechanical contact interactions for achieving synergetic ultrasensitive touch and adjustable pain perception. The suspended sensory system can sensitively capture tiny touch stimuli as low as 0.02 Pa and actively perceive pain response with reliable 5200 cycles via 3D deformation and mechanical contact mechanism, respectively. Based on the touch-pain effect, a visualized feedback demo with miniaturized sensor arrays on artificial fingers is rationally designed to give a pain perception mapping on sharp surfaces. Furthermore, the capability is shown of the suspended electronic skin serving as a safe human-robot communication interface from active and passive view through a feedback control system, demonstrating potential in bionic electronics and intelligent robotics. Suspended electronic skins that enable structural integration of high-sensitive touch and dynamic pain perception are rationally designed through 3D deformation-mechanical contact mechanism, which show potentials in friendly human-robot interaction for active feel and protect. image

关键词： 3D deformation friendly human-robot interface mechanical contact suspended e-skin tactile and pain perception

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A RISC-V Based SoC with Configurable CPK sensor interface for ECU on Motorcycle 12

A RISC-V Based SoC with Configurable CPK Sensor Interface fo...

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12th IEEE Global conference on Consumer Electronics, GCCE 2023

作者： Zhong, Xinchao Sham, Chiu-Wing The University of Auckland School of Computer Science Auckland New Zealand

ISBN: (纸本)9798350340181

A RISC-V based SoC (system on chip) with a configurable crankshaft position sensor (CPK) interface for an engine control unit (ECU) on a motorcycle is presented. The proposed SoC is the first SoC with RISC-V core for a motorcycle ECU, integrating a dedicated configurable engine crank position sensor interface to facilitate accurate and low-latency fuel injection and ignition control for the internal combustion engine on a motorcycle, while greatly reducing the computational capability demand for the MCU inside the ECU. © 2023 IEEE.

关键词： system-on-chip

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