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Fiber optically sensorized multi-fingered robotic hand

Leo Jiang, Kevin Low, Joey Costa, Richard J. Black, Yong-Lae Park
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
We present the design, fabrication, and characterization of a fiber optically sensorized robotic hand for multi purpose manipulation tasks.  ...  Eight fiber optic strain sensors were used for rigid bone force sensing, and six fiber optic strain sensors were used for soft skin tactile sensing.  ...  ACKNOWLEDGEMENT The authors would like to thank Lyndon Bridgwater, the NASA technical monitor, for his helpful comments, Preston Ohta (CMU) for his preliminary work on control, and Ronak Patel (IFOS) for  ... 
doi:10.1109/iros.2015.7353606 dblp:conf/iros/JiangLCBP15 fatcat:4htic7cjo5dl7m55tdsq7tvkxe

Force Sensing in Robot-assisted Keyhole Endoscopy: A Systematic Survey [article]

A. H. Hadi Hosseinabadi, S. E. Salcudean
2021 arXiv   pre-print
and evaluate the skill level of novice and expert surgeons.Force and tactile sensing is lost in many Robot-Assisted Surgery (RAS) systems.  ...  The literature search resulted in 110 papers on different force estimation algorithms and sensing technologies, sensor design specifications, and fabrication techniques.  ...  Acknowledgements Amir Hossein Hadi Hosseinabadi would like to NSERC for his Canada Graduate Scholarship-Doctoral scholarship.  ... 
arXiv:2103.11123v1 fatcat:olfeutl7qbc4fhujup2kzgbliu

Soft Robotics: A Review of Recent Developments of Pneumatic Soft Actuators

Walker, Zidek, Harbel, Yoon, Strickland, Kumar, Shin
2020 Actuators  
Multi-material 3D printed and fiber optic soft pneumatic actuators have been developed, which will allow for more accurate positioning and tactile feedback for soft robotic systems.  ...  , modeling, and sensors.  ...  Acknowledgments: The authors would like to thank the Mechanical Engineering Department at Georgia Southern University for their dedication to and support for undergraduate research.  ... 
doi:10.3390/act9010003 fatcat:2vnfjw62ifcovfz7njj2ecinpu

Optical-Waveguide Based Tactile Sensing for Surgical Instruments of Minimally Invasive Surgery

Yue Li, Jian Hu, Danqian Cao, Stephen Wang, Prokar Dasgupta, Hongbin Liu
2022 Frontiers in Robotics and AI  
In this paper, a novel optical waveguide-based sensor was proposed to deal with the above research gap.  ...  and as a result multi-point force detection cannot be realized.  ...  A 3D multi-point tactile sensor was designed, and the layouts of the sensor are shown in Figure 2 .  ... 
doi:10.3389/frobt.2021.773166 pmid:35127835 pmcid:PMC8808597 fatcat:7km2d2yojjglpeiqxj7two3osa

Optical Fiber Gratings in Perspective of Their Applications in Biomedicine [chapter]

Vandana Mishra, Nahar Singh
2012 Biomedicine  
The authors acknowledge Dr Pawan Kapur, Director CSIR-CSIO for his motivation and encouragement.  ...  They thank Mr SC Jain, Mr Umesh Tiwari and Mr GC Poddar from CSIR-CSIO, Chandigarh for their help and cooperation.  ...  FBG based manometry catheter A research group from Australia has demonstrated multi-element catheter using FBG pressure sensor in in-vivo trials in the human oesophagus for diagnosis of gastrointestinal  ... 
doi:10.5772/38429 fatcat:vr5b6m4q6bbwtcq7cqvbsul75u

Vital Sign Monitoring in Car Seats Based on Electrocardiography, Ballistocardiography and Seismocardiography: A Review

Michaela Sidikova, Radek Martinek, Aleksandra Kawala-Sterniuk, Martina Ladrova, Rene Jaros, Lukas Danys, Petr Simonik
2020 Sensors  
In addition, a comprehensive overview of other methods of vital sign monitoring, such as camera-based systems or steering wheel sensors, is also presented in this article.  ...  Furthermore, this work contains a very thorough background study on advanced signal processing methods and their potential application for the purpose of vital sign monitoring in cars, which is prone to  ...  This design was verified in a specific scenario. The FBG sensor was glued onto a subwoofer.  ... 
doi:10.3390/s20195699 pmid:33036313 pmcid:PMC7582509 fatcat:zzbo52fudvc4tm5ynw3giqf2mm

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
Peters, A., +, LRA April 2020 929-936 Fast Model-Based Contact Patch and Pose Estimation for Highly Deformable Dense-Geometry Tactile Sensors.  ...  Salem, A., +, LRA April 2020 2467-2474 Vibration-Based Multi-Axis Force Sensing: Design, Characterization, and Modeling.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and Applications

Matheus S. Xavier, Charbel D. Tawk, Ali Zolfagharian, Joshua Pinskier, David Howard, Taylor Young, Jiewen Lai, Simon M. Harrison, Yuen K. Yong, Mahdi Bodaghi, Andrew J. Fleming
2022 IEEE Access  
Their high dexterity and safety make them ideal for applications such as gripping, locomotion, and biomedical devices, where the environment is highly dynamic and sensitive to physical interaction.  ...  In addition to a historical overview, there is a special emphasis on recent advances such as novel designs, differential simulators, analytical and numerical modeling methods, topology optimization, data-driven  ...  tactile or deformation sensor, (f) smart braid, and (g) inductive tactile sensor.  ... 
doi:10.1109/access.2022.3179589 fatcat:nxdgxuorkjhcnoxwqc47gakone

Conceptual design and multidisciplinary optimization of in-plane morphing wing structures

Daisaku Inoyama, Brian P. Sanders, James J. Joo, Douglas K. Lindner
2006 Smart Structures and Materials 2006: Modeling, Signal Processing, and Control  
In this paper, new technique of sensitivity-decreasing of FBG strain sensor has been brought forward and a new kind of FBG-based crack sensor is developed.  ...  The novel FBG-based crack sensor ( also named large FBG strain sensor) can detect 100000 at maximum, almost 20mm crack at the calibration length of 20 centimeter, and the accuracy can reach 0.002mm.  ...  Therefore, SR-FBGs provide a viable alternative to existing multi-axis sensors. 6167-10, Session 3 Fiber grating sensors for structural health monitoring of aerospace structures E.  ... 
doi:10.1117/12.658686 fatcat:rqnvt2atkjgnvpog5pivwjejzm

Design and Implementation of a Multi-Function Gripper for Grasping General Objects

Long Kang, Jong-Tae Seo, Sang-Hwa Kim, Wan-Ju Kim, Byung-Ju Yi
2019 Applied Sciences  
This paper presents an integrated gripper that combines a linkage-driven underactuated gripper with a suction gripping system for picking up a variety of objects in different working environments.  ...  A suction cup is used to grasp objects in narrow spaces and cluttered environments.  ...  In the future, tactile sensors will be added to the gripper to detect the contact and grasping forces. Moreover, we will use the new three-DOF robotic finger to develop a multi-finger robotic hand.  ... 
doi:10.3390/app9245266 fatcat:3h3k3w4cjngandwaaxginehmye

Advanced Photonic and Electronic Systems WILGA 2017

Ryszard S. Romaniuk
2017 International Journal of Electronics and Telecommunications  
The article is a digest of some chosen works presented during Wilga 2017 symposium. WILGA 2017 works were published in Proc. SPIE vol.10445.  ...  Wilga is a very good digest of Ph.D. works carried out at technical universities in electronics and photonics, as well as information sciences throughout Poland and some neighboring countries.  ...  PHOTONIC COMPONENTS, SENSORS AND SENSOR SYSTEMS Chirped and tapered fibre Bragg grating based Fabry-Perot BGF cavity was designed and fabricated at ISE WUT. This lab specializes in FBGs.  ... 
doi:10.1515/eletel-2017-0060 fatcat:uaiab4wmcjb33ao32d7q4tcucq

2021 Index IEEE Transactions on Instrumentation and Measurement Vol. 70

2021 IEEE Transactions on Instrumentation and Measurement  
The Author Index contains the primary entry for each item, listed under the first author's name.  ...  Article numbers are based on specified topic areas and corresponding codes associated with the publication.  ...  ., +, TIM 2021 1503111 Ultrathin Three-Axis FBG Wrist Force Sensor for Collaborative Robots.  ... 
doi:10.1109/tim.2022.3156705 fatcat:dmqderzenrcopoyipv3v4vh4ry

A haptic interface for computer-integrated endoscopic surgery and training

M. Tavakoli, R. V. Patel, M. Moallem
2006 Virtual Reality  
The haptic user interface is used with a sensorized slave robot to form a master-slave test-bed for studying haptic interaction in a minimally invasive environment.  ...  Different bilateral control methods are compared based on the transparency of the master-slave system in terms of transmitting the critical task-related information to the user in the context of soft-tissue  ...  Force reflection in roll and gripping There is a need to incorporate additional mechanisms for force reflection in the roll and gripping directions.  ... 
doi:10.1007/s10055-005-0017-z fatcat:didudv3r7fe33mvwtscdxstf6u

Program

2020 2020 IEEE International Conference on Consumer Electronics - Taiwan (ICCE-Taiwan)  
This paper proposes a deep-learning-based (DL-based) precoding and feedback method for mitigating the channel interference of multi-users VR/AR environments.  ...  This paper focuses on designing a branch-and-bound strategy for process scheduling in multi-core smartphone.  ...  For a long-distance remote sensing system, a hybrid of Raman amplifier (RA) and erbium-doped fiber amplifier (EDFA) in fiber Bragg grating (FBG) sensor network is proposed.  ... 
doi:10.1109/icce-taiwan49838.2020.9258230 fatcat:g25vw7mzvradxna2grlzp6kgiq

High performance optical force sensing - design, characterization and integration in robotic minimally invasive surgery

Amir Hossein Hadi Hosseinabadi
2021
In this thesis, we researched design developments for multi-axis force sensing at the surgeon and the patient consoles of the da Vinci® classic system.  ...  We propose modifications in the wrist's yaw link of the da Vinci's Master Tool Manipulator (MTM) for integration of a commercial 6-axis force-torque sensor.  ...  The minimum number of physical transducers in a multi-axis F/T sensor is equal to the number of DoFs it measures.  ... 
doi:10.14288/1.0401368 fatcat:n45wlm3mrzcf3pmwa76kmxfza4
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