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A Solid-Liquid Composite Flexible Bionic Three-Axis Tactile sensor for Dexterous Hands

IEEE ROBOTICS AND AUTOMATION LETTERS 2024年第9期9卷 7907-7914页

作者： Gong, Zhenhua Gao, Zheng Zhu, Guangpu Zhang, Ting Soochow Univ Coll Mech & Elect Engn Robot & Microsyst Ctr Suzhou 215000 Peoples R China

The sense of touch is fundamental to grasping and manipulating objects. Similarly, the interaction between the robot and the outside world also requires tactile sensors to provide tactile information to ensure that when grasping fragile objects, the object will not be broken because the grasping force is too large, and the object will not slip because the grasping force is too small. The existing tactile sensors still have problems such as complex structure, high production cost, and difficult to integrate into the hands of robots. In this letter, a new modular solid-liquid composite flexible bionic tactile sensor is proposed for the structure and tactile sensing mechanism of bionic human fingertip skin. The proposed tactile sensor can measure three-dimensional forces, most parts can be three-dimensional printed, easy to manufacture, low production cost, and modular design for easy integration into the robot hand. The prototype was calibrated and tested, and it was integrated on the gripper to help grasp objects. The experimental results show that the sensor has a wide measuring range and can detect 15 N normal force and +/- 6 N tangential force, with good repeatability and small hysteresis error. Integrated into the robot hand can further enhance the tactile perception ability.

关键词： Magnetic field measurement Saturation magnetization Force Permanent magnets Tactile sensors Magnetic liquids Force measurement Tactile sensor three-dimensional tactile sensor flexible bionic tactile sensor dexterous hand

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Estimating Gait Speed in the Real World With a Head-Worn Inertial sensor

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IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING 2025年 33卷 858-867页

作者： Tasca, Paolo Salis, Francesca Rosati, Samanta Balestra, Gabriella Mazza, Claudia Cereatti, Andrea Politecn Torino Dept Elect & Telecommun I-10129 Turin Italy Univ Sassari Dept Biomed Sci I-07100 Sassari Italy SynDiags Srl I-10129 Turin Italy INDIVI CH-4051 Basel Switzerland

Head-worn inertial sensors represent a valuable option to characterize gait in real-world conditions, thanks to the integration with glasses and hearing aids. Few methods based on head-worn sensors allow for stride-by-stride gait speed estimation, but none has been developed with data collected in real-world settings. This study aimed at validating a two-steps machine learning method to estimate initial contacts and stride-by-stride speed in real-world gait using a single inertial sensor attached to the temporal region. A convolutional network is used to detect strides. Then, stride-by-stride gait speed is inferred from the detected cycles by a gaussian process regression model. A multi-sensor wearable system was used to label over 100,000 strides recorded from 15 healthy young adults during supervised acquisitions and real-world unsupervised walking. The stride detector achieved high detection rate (F1-score > 92%) and accuracy (mean absolute error < 40 ms). Very strong correlation between target and predicted speed (Spearman coefficient > 0.86) and low mean absolute error (< 0.085 m/s) were observed. The method proved valid for the quantitative evaluation of stride-by-stride gait speed in real-world conditions. These findings lay the technical and analytical groundwork for future clinical validation and application of gait analysis frameworks that integrate inertial sensors with head-worn devices.

关键词： Legged locomotion Estimation Training Inertial sensors Hidden Markov models Magnetic heads Kernel Convolutional neural networks Convolution Wearable sensors Gait speed head-worn IMU machine learning unsupervised walking wearable sensors

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Trends of Biosensing: Plasmonics through Miniaturization and Quantum Sensing

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CRITICAL REVIEWS IN ANALYTICAL CHEMISTRY 2024年第7期54卷 2183-2208页

作者： Simone, Giuseppina Univ Naples Federico II Chem Engn 80 Piazzale Tecchio I-80125 Naples Italy

Despite being extremely old concepts, plasmonics and surface plasmon resonance-based biosensors have been increasingly popular in the recent two decades due to the growing interest in nanooptics and are now of relevant significance in regards to applications associated with human health. Plasmonics integration into point-of-care devices for health surveillance has enabled significant levels of sensitivity and limit of detection to be achieved and has encouraged the expansion of the fields of study and market niches devoted to the creation of quick and incredibly sensitive label-free detection. The trend reflects in wearable plasmonic sensor development as well as point-of-care applications for widespread applications, demonstrating the potential impact of the new generation of plasmonic biosensors on human well-being through the concepts of personalized medicine and global health. In this context, the aim here is to discuss the potential, limitations, and opportunities for improvement that have arisen as a result of the integration of plasmonics into microsystems and lab-on-chip over the past five years. Recent applications of plasmonic biosensors in microsystems and sensor performance are analyzed. The final analysis focuses on the integration of microfluidics and lab-on-a-chip with quantum plasmonics technology prospecting it as a promising solution for chemical and biological sensing. Here it is underlined how the research in the field of quantum plasmonic sensing for biological applications has flourished over the past decade with the aim to overcome the limits given by quantum fluctuations and noise. The significant advances in nanophotonics, plasmonics and microsystems used to create increasingly effective biosensors would continue to benefit this field if harnessed properly.

关键词： Bioanalytical molecular spectroscopy microsystems plasmonic sensors sensors

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GaN Transistors' Radiated Switching Noise Source Evidenced by Hall sensor Experiments Toward integration

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IEEE ACCESS 2024年 12卷 13783-13794页

作者： Marsic, Vlad Faramehr, Soroush Fleming, Joe Bhagat, Rohit Igic, Petar Coventry Univ Inst Clean Growth & Future Mobil Ctr Adv Low Carbon Prop Syst Coventry CV1 5FB England

Wide bandgap Gallium Nitride (GaN) technology promises to deliver the next generation of power transistors capable of high energy density and compact design integration however, without active monitoring high failing rates are recorded due to its instability to design parameter variations. Moreover, the electromagnetic (EM) radiofrequency (RF) emissions due to GaN power switching require extra design resources. Considering the extensive research area dedicated to galvanic isolated magnetic sensors for GaN wafer monolithic integration with usage in power monitoring, this study investigates the conditions that a Hall sensor is required to meet when operating in close proximity of a GaN transistor. Through considerable experimental testing, it was determined that the sensor requires a magnetic field starting from +/- 1 mT when interfaced with a microcontroller. Additionally, since the GaN transistor's EM RF switching noise was one of the most monitored parameters during the experiments, it was discovered that it is proportional to the transistor's current transfer area whereas its magnitude is due to electrical current required by the load. As a result of these findings, the EM radiated switching noise may apply to all electrical switches and provide a significant advantage when designing for EM compatibility (EMC).

关键词： Transistors Gallium nitride Monitoring Magnetic field measurement Radio frequency Saturation magnetization Magnetometers EMC/EMI GaN transistor hall sensor magnetic field RF emissions

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Asynchronous Data Fusion With Randomly Delayed Measurements for Lane-Level Vehicle Tracking in Tunnel Environment

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 2025年

作者： Mao, Guoqiang Fu, Tianxuan Ren, Xiaojiang Wang, Keyin Zhang, Zhaozhong Wu, Zhong Xu, Dahai Southeast Univ Sch Transportat Nanjing 211189 Peoples R China Xidian Univ Smart Transportat Inst Xian 710071 Peoples R China Xidian Univ Sch Telecommun Engn Xian 710071 Peoples R China Xidian Univ Guangzhou Res Inst Xian 710071 Peoples R China Nanchang Hangkong Univ Sch Informat Engn Nanchang 330000 Peoples R China Jiangxi Fangxing Technol Co Ltd Nanchang 330009 Peoples R China

sensor fusion plays an increasingly important role in real-time traffic perception using roadside sensing devices because the use of single type of sensors often fail to deliver satisfactory performance in certain harsh environment. This paper investigates asynchronous data fusion for lane-level vehicle tracking with randomly delayed measurements and inaccurate detections from millimeter wave (MMW) radars and magnetic sensors in tunnels, where vehicle tracking with single type of sensors can not meet the requirements of reliable and accurate lane-level tracking due to inaccurate radar detections at far distances, noisy radar detections in tunnel environment, and missed or false vehicle detections by magnetic sensors. A multisensor data association algorithm is first designed to assign the measurements of MMW radar and magnetic sensors to a particular vehicle. A multi-lane estimation model is then developed, which employs Bayesian weight mixture filtering to fuse MMW radar and magnetic sensor measurements and to estimate the lane in which a vehicle is located. Finally, the proposed algorithm is implemented in a real environment -the Xianfengding Tunnel located in Jiangxi Province, China. Experiments are conducted to validate the accuracy of the proposed method using real data. The proposed method and the collected data are further integrated to establish a real-time digital twin system aimed at supporting advanced traffic management. The fusion results and the real radar measurement dataset of the tunnel are made available at https://***/futianxuan/data.

关键词： Magnetic sensors Radar Radar tracking Accuracy Estimation Radar measurements Radar detection Data integration Weight measurement Laser radar Asynchronous data fusion roadside sensor MMW radar magnetic sensor lane-level vehicle tracking

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Challenges in design and validation of MEMS based Smart sensor systems

Challenges in design and validation of MEMS based Smart Sens...

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Symposium on Design, Test, integration and Packaging of MEMS/MOEMS (DTIP)

作者： Mayer, Dirk Lehmann, Martin Beyer, Volkhard Schneider, Andre Schneider, Peter Fraunhofer IIS EAS Dresden Germany TUD Dresden Univ Technol Dresden Germany

ISBN: (纸本)9798350378276;9798350378269

The emergence of MEMS and decreasing costs for microelectronics and wireless communication enable new fields of use for sensors. For instance, instead of temporal instrumentation with high performance accelerometers for condition monitoring of a machine, a permanent installation of low-cost sensors, or even a widespread sensor network, becomes feasible. Consequently, the development and validation process for such sensors has to integrate more requirements derived from the target application. This means, rather than qualifying a sensor as a high-precision measurement device for many potential use cases, the design goal is a sensor system that fits a limited number of use cases and provides sufficient precision. Also, in the case of smart sensors, which incorporate signal analysis or even artificial intelligence, validation of hardware and software must be integrated. This is particularly challenging, when adaptative or learning algorithms are implemented into the sensor system. The paper gives an overview of trends in industrial MEMS applications, the respective testing and validation strategies. Proposals for improved procedures are discussed, using current work on sensor developments.

关键词： MEMS Internet of Things Condition Monitoring Validation Testing Smart sensors

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Force sensor for Versatile Single-Step sensor integration in 3D-Printed Parts

Force Sensor for Versatile Single-Step Sensor Integration in...

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2024 IEEE sensors Conference

作者： Herbst, Felix Sundaralingam, Esan Latsch, Bastian Suppelt, Sven Seiler, Julian Altmann, Alexander Anton Kupnik, Mario Tech Univ Darmstadt Measurement & Sensor Technol Grp Darmstadt Germany

ISBN: (纸本)9798350363524;9798350363517

Fused filament fabrication enables low-cost and highly adaptable production for industrial applications and the consumer market. sensor integration requires individual development and production steps, increasing cost and limiting accessibility. 3D-printed sensors offer a low-cost alternative. Available approaches either adapt conventional sensors for additive manufacturing or offer individual solutions for every application. We present a universal force sensor that is directly integrated and encapsulated during the printing process. The design consists of two measurement grids based on the piezoresistive effect, in a half-bridge configuration. Only commercially available conductive filament is used. The sensor geometry includes electrical connections and contact interfaces, thus, enabling a full encapsulation inside the target body. The function is examined by measurements on various test bodies, exhibiting a small linearity error of 3.6% and the ability to compensate temperature influences. We demonstrate the capabilities in a customized robotic gripper, where the sensor is able to detect whether the grasping operation was successful through contact force measurements. Our approach offers a straightforward solution for integrating force sensing capabilities into 3D-printed parts by simplifying the design process to a drag-and-drop operation in any design software.

关键词： 3D printing additive manufacturing sensor integration fused filament fabrication (FFF) conductive filament piezoresistive force sensor

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A 3-D-Printed Wearable sensor Based on Fiber Bragg Gratings for Shoulder Motion Monitoring

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IEEE sensors JOURNAL 2024年第10期24卷 16145-16152页

作者： Dimo, Alfredo Longo, U. G. Schena, Emiliano Presti, D. Lo Fdn Policlin Univ Campus Biomed I-00128 Rome Italy Univ Campus Biomed Roma Unit Measurements & Biomed Instrumentat I-00128 Rome Italy

Rotator cuff (RC) injury is a common pathology that involves the tearing and weakening of the muscles and tendons that make up RC. Rehabilitation after surgery is crucial for recovery and restoring range of motion (ROM). Currently, the assessment of a patient's improvement relies on subjective evaluations by physicians. To objectively evaluate the patient recovery, motion capture (MOCAP) systems can be used in this scenario. However, MOCAP requires extremely structured environments and specialists. To overcome this issue, the combined use of flexible sensors with 3-D printing techniques has been proposed. This solution will allow developing highly performant wearables with a reduced encumbrance, easy to use, and compliant with the human skin. In this study, we exploited the advantages of fiber Bragg gratings (FBGs) combined with those of 3-D printing to propose a transformative approach in the field of wearables for shoulder monitoring. First, the 3-D-printed sensor was designed and fabricated using thermoplastic polyurethane as printing filament to make the system flexible. One of the main novelties relies on the direct integration of the anchorage mechanism (two extensible elements) during printing. To the best of our knowledge, this is one of the first works in which this approach is proposed. Then, the sensor was metrologically assessed to investigate its sensitivity to strain and temperature and the hysteresis error. Finally, a preliminary assessment on a healthy volunteer was proposed to assess the system capability of monitoring shoulder flexion-extension movements with different ROMs and movement rates in the sagittal plane showing promising results.

关键词： sensors Fiber gratings Wearable sensors Surgery sensor phenomena and characterization Monitoring Three-dimensional displays 3-D printing fiber Bragg gratings (FBGs) rotator cuff (RC) injury shoulder motion monitoring wearable systems

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Design, Fabrication, and Validation of a Flexible Tactile sensor for a Hand Prosthesis

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IEEE sensors Journal 2024年第6期24卷 7222-7233页

作者： Nguyen, Dai-Dong Xie, Wu-Qi Su, Shun-Feng Kuo, Chung-Hsien National Taiwan University of Science and Technology Department of Electrical Engineering Taipei106 Taiwan National Taiwan University Department of Mechanical Engineering Taipei106 Taiwan

This article presents the development, fabrication, and validation of a flexible tactile sensor designed for integration into a hand prosthesis. The proposed sensor design encompasses two distinct prototypes: a fingertip tactile sensor and a palm tactile sensor. Employing a dual-layer structure composed of liquid metal (LM) and elastic fibers, these sensors exhibit enhanced sensing capabilities in multiple axes while retaining the capability to deform. The fabrication process includes mold preparation and silicon formulation, body sensor fabrication, Galinstan injection, wire assembly, and creation of a shaped cover for enclosing the tactile palm sensor. A dedicated signal processing circuit is implemented to accommodate the typically small-magnitude and noisy output signals that are characteristic of resistor-based sensors. To enable this signal processing, a filter and programmable gain amplifier-analog-to-digital converter (ADC) are used for signal conditioning. Finally, experimental data are collected through a computer-microcontroller communication link and displayed through a user interface (UI). The results of the sensor validation experiment demonstrate that the finger tactile sensor can provide 1.557, 0.944, and 1.412 mV/N of Fx, Fy, and Fz, respectively, with low-drifting error (0.0265, 0.0145, and 0.0198 mV) and multiaxis sensing capacity, aligning effectively with the operational requisites of a hand prosthetic robot. © 2001-2012 IEEE.

关键词： Liquid metals

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Flexible Sweat sensors: From Films to Textiles

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ACS sensors 2023年第2期8卷 465-481页

作者： Luo, Dan Sun, Haibo Li, Qianqian Niu, Xin He, Yin Liu, Hao Tiangong Univ Sch Text Sci & Engn Tianjin 300387 Peoples R China Tiangong Univ Inst Smart Wearable Elect Text Tianjin 300387 Peoples R China

Flexible sweat sensors have found widespread potential applications for long-term wear and tracking and real-time monitoring of human health. However, the main substrate currently used in common flexible sweat sensors is thin film, which has disadvantages such as poor air permeability and the need for additional wearables. In this Review, the recent progress of sweat sensors has been systematically summarized by the types of monitoring methods of sweat sensors. In addition, this Review introduces and compares the performance of sweat sensors based on thin film and textile substrates such as fiber/yarn. Finally, opportunities and suggestions for the development of flexible sweat sensors are presented by summarizing the integration methods of sensors and human body monitoring sites.

关键词： flexible sensor film-based textile-based wearable sensor noninvasive health monitoring sweat electrochemical sensor optical sensor

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