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A Soft Glove with Proprioceptive Sensing and Multi-modal Haptic Feedback for VR and Telerobotic Applications

Journal of Bionic engineering 2025年第2期22卷 684-702页

作者： Debadrata Sarkar Amit Kumar Aman Arora Human Centered Robotics and Cybernetics Group CSIR-Central Mechanical Engineering Research InstituteDurgapur713209West BengalIndia Advanced Design and Analysis Group CSIR-Central Mechanical Engineering Research InstituteDurgapur713209West BengalIndia

This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinaesthetic aspects while prioritizing wearability and natural finger movements. The glove employs custom-designed flexible bend sensors with carbon-impregnated film for in-situ joint angle tracking, simplifying the sensing system and enhancing portability. A multi-modal haptic feedback approach includes an innovative pneumatically actuated tactile feedback technique and a motor-tendon-driven kinaesthetic feedback system, providing exceptional realism in virtual object manipulation. The glove’s kinaesthetic feedback lets users perceive virtual objects’ size, shape, and stiffness characteristics. Psychophysical investigations demonstrate how readily the users acclimate to this hardware and prove each module’s effectiveness and synergistic operation. This soft VR glove represents a minimalist, lightweight, and comprehensive solution for authentic haptic interaction in virtual environments, opening new possibilities for applications in various fields.

关键词： Virtual reality and interfaces Tactile feedback Haptics and haptic interfaces Soft sensors and actuators

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Nanoimprint lithography-assisted block copolymer self-assembly for hyperfine fabrication of magnetic patterns based on L10-FePt nanoparticles

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Science China Chemistry 2025年第5期68卷 2027-2034页

作者： Jie Zhang Yi Chen Guijun Li Zelin Sun Zhengong Meng Wai-Yeung Wong Department of Applied Biology and Chemical Technology and Research Institute for Smart Energy The Hong Kong Polytechnic University The Hong Kong Polytechnic University Shenzhen Research Institute Division of Integrative Systems and Design and Department of Electronic and Computer EngineeringThe Hong Kong University of Science and Technology School of Flexible Electronics (Future Technology) and Institute of Advanced Materials (IAM) Nanjing Tech University

L10-FePt-type bit-patterned media has provided a promising alternative for ultrahigh-density magnetic recording systems in the current digital era, but rapid fabrication of magnetic patterns with hyperfine bit islands is still challenging, especially with the target for miniaturization and scalable production simultaneously. Herein, Fe,Pt-containing block copolymers were utilized as single-source precursors for solution-processable patterning and subsequent generation of the demanding magnetic FePt dots by in situ pyrolysis. High-throughput nanoimprint lithography was initially employed to fabricate the predefined bit cells precisely,and then the intrinsic self-assembly of phase-separated block copolymers further drove the formation of accurate bit *** from the synergistic effect of top-down lithographic approach and bottom-up self-assembly, the customizable patterns could be achieved for large-scale mass production in targeted areas, but high-density isolated dots could also be accurately aligned along the patterned features after subsequent self-assembly. This reliable strategy would provide a good avenue to precisely construct ultrahigh-density magnetic data storage devices.

关键词： organometallic precursor magnetic nanoparticles block copolymer self-assembly nanoimprint lithography

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Fabrication of porous Ga2O3/GaN heterojunction for ultraviolet photodetector application

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Optics Express 2025年第9期33卷 18993-19003页

作者： Jia, Wei Ren, Henglei Li, Tianbao Zhai, Guangmei Dong, Pengqi Jia, Kaida Dong, Hailiang Xu, Bingshe Key Laboratory of Interface Science and Engineering in Advanced Materials Taiyuan University of Technology Taiyuan030024 China Shanxi-zheda Institute of Advanced Materials and Chemical Engineering Taiyuan030000 China The Institute of Architectural Design and Research Taiyuan University of Technology Co. Ltd. Taiyuan030024 China

Ga2O3/GaN heterojunction has important applications in optoelectronic devices. Understanding optoelectronic performance and interface relationships of the heterojunction is the key to designing optimal devices. Herein, a porous Ga2O3/GaN heterojunction is systematically investigated. Porous GaN is initially fabricated via ultraviolet-assisted electrochemical etching and porous Ga2O3 is subsequently converted from porous GaN by thermal oxidation. Compared with planar Ga2O3/GaN heterojunction, porous Ga2O3/GaN heterojunction has higher crystal quality. Porous Ga2O3/GaN heterojunction exhibits a light/dark current ratio of 10520, a responsivity of 0.108 A/W, an external quantum efficiency of 52.9%, a detectivity of 1.36 × 1012 Jones, and the response time of 0.35 s/0.13 s under 254 nm UV irradiation (0.33 mw/cm2) at 0 V bias. Additionally, the operating mechanism of the device is further explored through energy band structure and carrier-transport process diagrams. This study provides valuable insights and paves the way for developing next-generation optoelectronic devices based on Ga2O3/GaN heterojunction. © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Photodetectors

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SmartLab: Flexible and interoperable manufacturing laboratory system for remote education and research using a mobile manipulator

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Journal of Computational design and engineering 2025年第4期12卷 221-235页

作者： Yun, Won-Jae Hong, Sungjin Lee, Kyu-Wha Kim, Dohyeon Kim, Hyungjung Ahn, Sung-Hoon Department of Mechanical Engineering Seoul National University Seoul08826 Korea Republic of Woodruff School of Mechanical Engineering Georgia Institute of Technology AtlantaGA30332 United States Department of Industrial Engineering Konkuk University Seoul05029 Korea Republic of Institute of Advanced Machines and Design Seoul National University Seoul08826 Korea Republic of

Advancements in information and communications technology and artificial intelligence have led to a new era of remote autonomous operation, enhancing the ability to recognize and manipulate objects in 3D space. Building upon the basic chemical autonomous experimental system, this study integrates mechanical specimens and measurement devices into an interoperable laboratory platform with a mobile manipulator. This study introduces a fully open-source hierarchical computational laboratory automation platform that enables researchers in remote locations to operate experimental devices and obtain results through high-level commands. A novel legacy equipment retrofitting methodology is proposed, in which legacy equipment is classified into three categories with their respective internet-of-things-based communication-enabling methodologies. The effectiveness of the proposed system is demonstrated through a detailed case study involving international remote laboratory education and experiment automation to measure the physical properties of additively manufactured specimens. The demonstration showed the SmartLab's successful conversion of an existing engineering laboratory to a remote and automated laboratory. An intercontinental remote material testing experimental class was successfully performed between Tanzania and Korea providing hands on experience to students. In addition, material property of additively manufactured parts is automatically experimented without human intervention where 90 specimens are automatically manufactured and tested. Results show that by using the SmartLab system, the efficiency of the experimental procedure can be significantly increased by processing specimens 2.5 times more than human researchers per day. The experimental results obtained with SmartLab is well aligned with previous research demonstrating the potential for automated research. © The Author(s) 2025.

关键词： Flexible manufacturing systems

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Mesoporous WO3-Dot-Decorated Flexible Electrodes for the Determination of Industrial Pollutants

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Energy & Environmental Materials 2025年第2期8卷 277-287页

作者： Aneesh Koyappayil Hyunho Seok Gwan Hyun Choi Sachin Chavan Sangho Yeon Sihoon Son Anna Go Jinhyoung Lee Keon-Woo Kim Dongho Lee Hyun-Bin Choi Hyeong-U Kim Jin Kon Kim Taesung Kim Min-Ho Lee School of Integrative Engineering Chung-Ang University SKKU Advanced Institute of Nanotechnology (SAINT) Sungkyunkwan University Materials Architecturing Research Center Korea Institute of Science and Technology (KIST) School of Mechanical Engineering Sungkyunkwan University National Creative Research Initiative Center for Hybrid Nano Materials by High-level Architectural Design of Block Copolymer Pohang University of Science and Technology (POSTECH) Department of Semiconductor Convergence Engineering Sungkyunkwan University Semicondcutor Manufacturing Research Center Korea Institute of Machinery and Materials (KIMM) Department of Nano-Mechatronics University of Science and Technology (UST)

This study demonstrates the fabrication of mesoporous tungsten trioxide（WO3）-decorated flexible polyimide（PI） electrodes for the highly sensitive detection of catechol（CC） and hydroquinone（HQ）,two environmental ***-inorganic composite dots are formed on flexible PI electrodes using evaporation-induced self-assembly（EISA） and electrospray *** EISA process is induced by a temperature gradient during electrospray,and the heated substrate partially decomposes the organic parts etched by O2plasma,creating mesoporous *** pulse voltammetry and cyclic voltammetry demonstrate a linear correlation between analyte concentration and the electrochemical *** studies support the spontaneous adsorption of CC and HQ molecules on model *** proposed sensor shows high sensitivity,a wide linear range,and a low detection limit for both individual and simultaneous determination of CC and *** sample analysis on river water confirms practical *** WO3-decorated PI electrode presents an efficient and reliable approach for detecting these pollutants,contributing to environmental safety measures.

关键词： catechol flexible sensor hydroquinone mesoporous WO3 simultaneous determination

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Kinematic analysis of volunteers in a highly reclined rigid seat in limited load frontal sled tests

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Traffic Injury Prevention 2025年 1-8页

作者： Wang, Qiang Liu, Yu Fei, Jing Wang, Peifeng Wu, Xiaofan Zhang, Linwei Jin, Yao Bai, Zhonghao Country State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle Hunan University Hunan Changsha China China Automotive Engineering Research Institute Co. Ltd Chongqing China College of Engineering and Design Hunan Normal University Hunan Changsha China

Objective: The goal of the study was to investigate the kinematic response patterns of human volunteers in highly reclined postures with a safe limited load. Methods: The sled testing environment consisted of an adjustable rigid seat and an integrated 3-point seat belt, using a pulse with a nominal peak deceleration of 3.5 g. Preliminary tests with anthropomorphic test devices and simulations with human body model were performed to verify the safety of the testing environment. Various sensors were set up to record static data and kinematic responses from three 50th percentile male volunteers. A total of 36 tests were carried out under 4 seat configurations, including standard posture, semi-reclined posture, reclined posture, and zero-gravity posture (a modern term for a highly reclined vehicle seat design mimicking a comfortable recliner with leg support). All procedures were approved by the relevant ethics committees. Results: The results indicated that as the reclining degree increased, the initial position of the hip moved backward and downward. The maximum displacement in the Z-axis of the head and neck increased, as well as the forward excursion of the upper torso and hip also significantly increased, while the shoulder and lap belts forces decreased. Conclusions: This illustrates that the integrated 3-point seat belt fails to effectively restrain the torso and hip of the occupants in highly reclined postures, particularly in the zero-gravity posture. These responses mirror those of a real human body in the early stage of a collision, providing insights into the potential injury risks for reclined occupants in crash. © 2025 Taylor & Francis Group, LLC.

关键词： human volunteer integrated seat belt Kinematics reclined seat sled test

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Combined anisotropic and cyclic constitutive model for laser powder bed fusion fabricated aluminum alloy

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Chinese Journal of Aeronautics 2025年第1期38卷 165-184页

作者： Fei-Fan LI Jihong ZHU Weihong ZHANG Shifeng WEN Jingwen SONG Jun MA Gang FANG State IJR Center of Aerospace Design and Additive Manufacturing School of Mechanical EngineeringNorthwestern Polytechnical UniversityXi’an 710072China Research&Development Institute of Northwestern Polytechnical University in Shenzhen Shenzhen 518063China School of Materials Science and Engineering Northwestern Polytechnical UniversityXi'an 710072China Department of Mechanical and Industrial Engineering Norwegian University of Science and TechnologyTrondheim 7491Norway State Key Laboratory of Tribology in Advanced Equipment Department of Mechanical EngineeringTsinghua UniversityBeijing 100084China

This study presents new methods to effectively model the anisotropic yielding and hardening behavior of laser powder bed fusion fabricated aluminum alloy under both monotonic and cyclic loading *** proposed model combines the yield surface-interpolation method to accurately describe the anisotropic hardening rates in various directions,with the Chaboche kinematic hardening rule to precisely reflect the cyclic *** numerical implementation of the combined anisotropic and cyclic constitutive model,a fully implicit stress integration algorithm based on return mapping method is ***,the multiple parameters associated with the model are categorized and identified in an uncoupled *** isotropic and cyclic hardening parameters are determined by an inverse method,and the stability of the optimization outcomes is validated by applying different starting points for the ***,the back-stress effect on the identification of anisotropic parameters associated with the stress invariant-based Hill48 yield function is considered for the first *** consideration leads to an improved prediction accuracy compared to the identification of anisotropic parameters without considering back-stress *** combined anisotropic and cyclic constitutive model,along with the calibrated parameters,are proven capable of accurately reproducing the intricate deformation behavior of laser powder bed fusion fabricated AlSi10Mg.

关键词： Constitutive models Anisotropy Kinematic hardening Laser powder bed fusion Aluminum alloys

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Ground-Optimized 4D Radar-Inertial Odometry via Continuous Velocity Integration using Gaussian Process

arXiv

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arXiv 2025年

作者： Yang, Wooseong Jang, Hyesu Kim, Ayoung The Dept. of Mechanical Engineering SNU Seoul Korea Republic of The Institute of Advanced Machines and Design SNU Seoul Korea Republic of

Radar ensures robust sensing capabilities in adverse weather conditions, yet challenges remain due to its high inherent noise level. Existing radar odometry has overcome these challenges with strategies such as filtering spurious points, exploiting Doppler velocity, or integrating with inertial measurements. This paper presents two novel improvements beyond the existing radar-inertial odometry: ground-optimized noise filtering and continuous velocity preintegration. Despite the widespread use of ground planes in LiDAR odometry, imprecise ground point distributions of radar measurements cause naive plane fitting to fail. Unlike plane fitting in LiDAR, we introduce a zone-based uncertainty-aware ground modeling specifically designed for radar. Secondly, we note that radar velocity measurements can be better combined with IMU for a more accurate preintegration in radar-inertial odometry. Existing methods often ignore temporal discrepancies between radar and IMU by simplifying the complexities of asynchronous data streams with discretized propagation models. Tackling this issue, we leverage GP and formulate a continuous preintegration method for tightly integrating 3-DOF linear velocity with IMU, facilitating full 6-DOF motion directly from the raw measurements. Our approach demonstrates remarkable performance (less than 1% vertical drift) in public datasets with meticulous conditions, illustrating substantial improvement in elevation accuracy. The code will be released as open source for the community: https://***/wooseongY/Go-RIO. © 2025, CC BY-NC-ND.

关键词： Velocity measurement

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Flame-Retardant MXene/Aramid Nanofiber/PEG Composite Film for Wearable Fire Cyclic Warning and Protection

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ACS Applied Nano Materials 2025年第20期8卷 10568-10582页

作者： Guo, Menghan Wang, Yifan Wang, Wenqing Li, Fuyang Ye, Gang Yan, Yifan Qi, Pengfei Luo, Kexin Wang, Rui Materials Design & Engineering Department Beijing Institute of Fashion Technology Beijing 100029 China Collaborative Innovation Center of Advanced Nuclear Energy Technology Institute of Nuclear and New Energy Technology Tsinghua University Beijing 100084 China Beijing Key Laboratory of Clothing Materials R&D and Assessment Beijing Engineering Research Center of Textile Nanofiber Beijing Institute of Fashion Technology Beijing 100029 China

Thermal sensing materials capable of monitoring critical fire risks of combustible materials with a rapid response show great potential in early fire warning. However, the thermoelectric materials used in current fire-warning systems usually have low mechanical strength and poor flexibility, limiting their application in harsh environments and in wearable devices. In this work, a class of multilaminated MXene/aramid nanofiber (ANF)/poly(ethylene glycol) (PEG) composite film (MAP) was developed by a vacuum-induced self-assembly method. Because of the compatibility of the hybrid building units with reinforced interconnections, the MAP films exhibit excellent mechanical properties in terms of tensile strength (139.9 MPa), toughness (20.7 MJ/m³), strain (23.1%), modulus (6.1 GPa), and durability (fold times: 39,991). Moreover, the MAP films showed superior fire retardancy with the LOI value of 35%, exhibiting rapid self-extinguishing capability. Significantly, taking advantage of the thermoelectric effect and continuous conductive paths of MXene nanosheets, rapid cyclic contact/noncontact fire warning (<1 s) was achieved. Integrating the MAP film into the IoT system enabled remote real-time fire monitoring and feedback with a rapid response. In addition, the MAP film can be employed as an early fire-warning coating on textiles, further expanding its wearable fire alarm scope. This work provides a perspective for designing robust wearable early fire detection sensors and fire protection applications. © 2025 American Chemical Society.

关键词： aramid nanofibers fire early warning MXene thermoelectric sensing vacuum-induced self-assembly

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Unraveling the reaction mechanism of high reversible capacity CuP_(2)/C anode with native oxidation PO_(x) component for sodium-ion batteries

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Chinese Chemical Letters 2025年第1期36卷 574-578页

作者： Huixin Chen Chen Zhao Hongjun Yue Guiming Zhong Xiang Han Liang Yin Ding Chen State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082China CAS key Laboratory of Design and Assembly of Functional Nanostructures and Fujian Provincial Key Laboratory of NanomaterialsFujian Institute of Research on the Structure of MatterChinese Academy of SciencesFuzhou 350002China College of Materials Science and Engineering Co-Innovation Center of Efficient Processing and Utilization of Forest ResourcesNanjing Forestry UniversityNanjing 210037China Laboratory of Advanced Spectro-electrochemistry and Li-ion Batteries Dalian Institute of Chemical PhysicsChinese Academy of SciencesDalian 116023China Institute of Physics Chinese Academy of SciencesBeijing 100190China Xiamen Key Laboratory of Rare Earth Photoelectric Functional Materials Xiamen Institute of Rare Earth MaterialsHaixi institutesChinese Academy of SciencesXiamen 361021China

Phosphorus-based anode is a promising anode for sodium-ion batteries(SIBs)due to its high specific capacity,however,suffers from poor electronic conductivity and unfavorable electrochemical *** metals such as copper(Cu)into phosphorus has been demonstrated to not only improve the electronic conductivity but also accommodate the volume change during cycling,yet the underline sodiation mechanism is not ***,take a copper phosphide and reduced graphene oxide(CuP_(2)/C)composite as an example,which delivers a high reversible capacity of>900 mAh/***,it is revealed that the native oxidation PO_(x)components of the CuP_(2)/C composite show higher electrochemical reversibility than the bulk Cu P_(2),based on a quantitative analysis of high-resolution solid-state^(31)P NMR,ex-situ XPS and synchrotron X-ray diffraction characterization *** sodiation products Na_(3)PO_(4) and Na_(4)P_(2)O_(7) derived from PO_(x) could react with Na-P alloys and regenerate to PO_(x) during charge process,which probably accounts for the high reversible capacity of the Cu P_(2)/C *** findings also illustrate that the phosphorus transforms into nanocrystalline Na_(3)P and Na_(x)P alloys,which laterally shows crystallization-amorphization evolution process during cycling.

关键词： CuP_(2)/C composite POx component Reaction mechanism Solid-state NMR Sodium-ion batteries

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