Cilia-Inspired Magnetic Flexible Shear Force Sensors for Tactile and Fluid Monitoring.

Recently, there has been a burgeoning interest in flexible shear force sensors capable of precisely detecting both magnitude and direction. Despite considerable efforts, the challenge of achieving accurate direction recognition persists, primarily due to the inherent structural characteristics and sensing mechanisms. Here, we present a shear force sensor constructed by a magnetically induced assembled Ni/PDMS composite membrane, which is magnetized and integrated with a three-axis Hall sensor, facilitating its ability to simultaneously monitor both shear force magnitude (0.7-87 mN) and direction (0-360°). The cilia-inspired shear force magnetic sensor (CISFMS) exhibits admirable attributes, including exceptional flexibility, high sensitivity (0.76 mN-1), an exceedingly low detection limit (1° and 0.7 mN), and remarkable durability (over 10,000 bending cycles). Further, our results demonstrate the capacity of the CISFMS in detecting tactile properties, fluid velocity, and direction, offering substantial potential for future developments in wearable electronics.

Design and Validation of Single-Axis 3D-Printed Force Sensor Based on Three Nested Flexible Rings.

Force measurement is crucial in numerous engineering applications, while traditional force sensors often face problems such as elevated expenses or significant measurement errors. To tackle this issue, we propose an innovative force sensor employing three nested flexible rings fabricated through 3D additive manufacturing, which detects external forces through the displacement variations of flexible rings. An analytical model on the basis of the minimal energy method is developed to elucidate the force-displacement correlation with nonlinearity. Both FEM simulations and experiments verify the sensor's effectiveness. This sensor has the advantages of low expenses and easy manufacture, indicating promising prospects in a range of applications, including robotics, the automotive industry, and iatrical equipment.

Quantifying Patient Capabilities and Setting the Stage for Future Development: Insights from a Sensor-Augmented Simulated Use Study with Pen Injectors.

Background: While formative and summative usability testing is essential to confirm safe and effective product use, it may not be sufficient to comprehensively understand user capabilities and limitations in device interactions. Therefore, this research aims to quantify user handling forces for different device handling steps of pen injectors through sensor-augmented simulated use studies. Research Design and methods: The study involved 46 participants who were divided into two groups: a healthy control group and a group of users with dexterity impairments. All participants were instructed to perform simulated handling steps using non-functional dummy devices equipped with force and torque sensors. Each handling step was performed twice: first at what participants considered a comfortable force level and then at their maximum force. The study then analyzed force data to investigate the impact of user characteristics and device geometry on force exertion during the different handling steps. Results: The study demonstrates differences in the perceived comfortable and maximum force levels between the control and patient groups. These force levels decrease slightly with the user's age and level of dexterity impairment. Furthermore, the forces applied by the users are dependent on the geometry of the device and the holding pattern. Conclusion: The results highlight the significance of sensor-augmented simulated use studies as a tool for providing quantitative insights into users' ability to exert force while handling self-injection devices. These data offer comprehensive insights that inform the definition of performance requirements and specifications for injection device design, thereby supporting the advancement of future self-injection devices.

This study explores how people interact with pen injectors; devices commonly used for self-injections. Traditional usability tests are vital for ensuring safe product use, but they may not fully capture users' capabilities and limitations. To address this gap, the research measures the forces exerted by users during different handling steps of pen injectors through a simulated use study with sensors. Forty-five participants, including a healthy control group and individuals with dexterity impairments, engaged in handling non-functional dummy devices with force and torque sensors. Each participant performed handling steps twice, first at a comfortable force level and then at their maximum force. The study analyzed force data to understand how user characteristics and device geometry affect force exertion. Results revealed differences in force levels between control and patient groups, with applied force levels decreasing slightly with age and dexterity impairment. The study emphasized the impact of device geometry and holding patterns on applied forces. Overall, the findings show the usefulness of sensor-augmented simulated use studies in quantifying users' force exertion, providing insights for designing future self-injection devices.

On-demand fabrication of piezoelectric sensors for in-space structural health monitoring.

Inflatable structures, promising for future deep space exploration missions, are vulnerable to damage from micrometeoroid and orbital debris impacts. Polyvinylidene fluoride-trifluoroethylene (PVDF-trFE) is a flexible, biocompatible, and chemical-resistant material capable of detecting impact forces due to its piezoelectric properties. This study used a state-of-the-art material extrusion system that has been validated for in-space manufacturing, to facilitate fast-prototyping of consistent and uniform PVDF-trFE films. By systematically investigating ink synthesis, printer settings, and post-processing conditions, this research established a comprehensive understanding of the process-structure-property relationship of printed PVDF-trFE. Consequently, this study consistently achieved the printing of PVDF-trFE films with a thickness of around 40 µm, accompanied by an impressive piezoelectric coefficient of up to 25 pC N-1. Additionally, an all-printed dynamic force sensor, featuring a sensitivity of 1.18 V N-1, was produced by mix printing commercial electrically-conductive silver inks with the customized PVDF-trFE inks. This pioneering on-demand fabrication technique for PVDF-trFE films empowers future astronauts to design and manufacture piezoelectric sensors while in space, thereby significantly enhancing the affordability and sustainability of deep space exploration missions.

Scott-Russel Linkage-Based Triboelectric Self-Powered Sensor for Contact Material-Independent Force Sensing and Tactile Recognition.

The rapid growth of Internet of Things (IoT) in recent years has increased demand for various sensors to collect a wide range of data. Among various sensors, the demand for force sensors that can recognize physical phenomena in 3D space has notably increased. Recent research has focused on developing energy harvesting methods for sensors to address their maintenance problems. Triboelectric nanogenerator (TENG) based force sensors are a promising solution for converting external motion into electrical signals. However, conventional TENG-based force sensors that use the signal peak can negatively affect data accuracy. In this study, a Scott-Russell linkage-inspired TENG (SRI-TENG) is developed. The SRI-TENG has completely separate signal generation and measurement sections, and the number of peaks in the electrical output is measured to prevent disturbing output signals. In addition, the lubricant liquid enhances durability, enabling stable force signal measurements for 270 000 cycles. The SRI system demonstrates consistent peak counts and high accuracy across different contacting surfaces, indicating that it can function as a contact material-independent self-powered force sensor. Furthermore, using a deep learning method, it is demonstrated that it can function as a multimodal sensor by realizing the tactile properties of various materials.

Conforming Capacitive Load Cells for Conical Pick Cutters.

In underground coal mining, machine operators put themselves at risk when getting close to the machine or cutting face to observe the process. To improve the safety and efficiency of machine operators, a cutting force sensor is proposed. A linear cutting machine is used to cut two separate coal samples cast in concrete with conical pick cutters to simulate mining with a continuous miner. Linear and neural network regression models are fit using 100 random 70:30 test/train splits. The normal force exceeds 60 kN during the rock-cutting tests, and it is averaged using a low pass filter with a 10 Hertz cutoff frequency. The sensor uses measurements of the resonant frequency of capacitive cells in a steel case to determine cutting forces. When used in the rock-cutting experiments, the sensor conforms to the tooling and the stiffness and sensitivity are increased compared to the initial configuration. The sensor is able to track the normal force on the conical picks with a mean absolute error less than 6 kN and an R2 score greater than 0.60 using linear regression. A small neural network with a second-order polynomial expansion is able to improve this to a mean absolute error of less than 4 kN and an R2 score of around 0.80. Filtering measurements before regression fitting is explored. This type of sensor could allow operators to assess tool wear and material type using objective force measurements while maintaining a greater distance from the cutting interface.

Research on Monitoring Assistive Devices for Rehabilitation of Movement Disorders through Multi-Sensor Analysis Combined with Deep Learning.

This study aims to integrate a convolutional neural network (CNN) and the Random Forest Model into a rehabilitation assessment device to provide a comprehensive gait analysis in the evaluation of movement disorders to help physicians evaluate rehabilitation progress by distinguishing gait characteristics under different walking modes. Equipped with accelerometers and six-axis force sensors, the device monitors body symmetry and upper limb strength during rehabilitation. Data were collected from normal and abnormal walking groups. A knee joint limiter was applied to subjects to simulate different levels of movement disorders. Features were extracted from the collected data and analyzed using a CNN. The overall performance was scored with Random Forest Model weights. Significant differences in average acceleration values between the moderately abnormal (MA) and severely abnormal (SA) groups (without vehicle assistance) were observed (p < 0.05), whereas no significant differences were found between the MA with vehicle assistance (MA-V) and SA with vehicle assistance (SA-V) groups (p > 0.05). Force sensor data showed good concentration in the normal walking group and more scatter in the SA-V group. The CNN and Random Forest Model accurately recognized gait conditions, achieving average accuracies of 88.4% and 92.3%, respectively, proving that the method mentioned above provides more accurate gait evaluations for patients with movement disorders.

Split Luciferase Molecular Tension Sensors for Bioluminescent Readout of Mechanical Forces in Biological Systems.

The ability of proteins to sense and transmit mechanical forces underlies many biological processes, but characterizing these forces in biological systems remains a challenge. Existing genetically encoded force sensors typically rely on fluorescence or bioluminescence resonance energy transfer (FRET or BRET) to visualize tension. However, these force sensing modules are relatively large, and interpreting measurements requires specialized image analysis and careful control experiments. Here, we report a compact molecular tension sensor that generates a bioluminescent signal in response to tension. This sensor (termed PILATeS) makes use of the split NanoLuc luciferase and consists of the H. sapiens titin I10 domain with the insertion of a 10-15 amino acid tag derived from the C-terminal ß-strand of NanoLuc. Mechanical load across PILATeS mediates exposure of this tag to recruit the complementary split NanoLuc fragment, resulting in force-dependent bioluminescence. We demonstrate the ability of PILATeS to report biologically meaningful forces by visualizing forces at the interface between integrins and extracellular matrix substrates. We further use PILATeS as a genetically encoded sensor of tension experienced by the mechanosensing protein vinculin. We anticipate that PILATeS will provide an accessible means of visualizing molecular-scale forces in biological systems.

Smart Cushions with Machine Learning-Enhanced Force Sensors for Pressure Injury Risk Assessment.

Prolonged sitting can easily result in pressure injury (PI) for certain people who have had strokes or spinal cord injuries. There are not many methods available for tracking contact surface pressure and shear force to evaluate the PI risk. Here, we propose a smart cushion that uses two-dimensional force sensors (2D-FSs) to measure the pressure and shear force in the buttocks. A machine learning algorithm is then used to compute the shear stresses in the gluteal muscles, which helps to determine the PI risk. The 2D-FS consists of a ferroelectret coaxial sensor (FCS) unit placed atop a ferroelectret film sensor (FFS) unit, allowing it to detect both vertical and horizontal forces simultaneously. To characterize and calibrate, two experimental approaches are applied: one involves simultaneously applying two perpendicular forces, and one involves applying a single force. To separate the two forces, the 2D-FS is decoupled using a deep neural network technique. Multiple FCSs are embedded to form a smart cushion, and a genetic algorithm-optimized backpropagation neural network is proposed and trained to predict the shear strain in the buttocks to prevent PI. By tracking the danger of PI, the smart cushion based on 2D-FSs may be further connected with home-based intelligent care platforms to increase patient equality for spinal cord injury patients and lower the expense of nursing or rehabilitation care.

The characterization of cell traction force on nonflat surfaces with different curvature by elastic hydrogel microspheres.

It is of great importance to study the detachment/attachment behaviors of cells (cancer cell, immune cell, and epithelial cell), as they are closely related with tumor metastasis, immunoreaction, and tissue development at variety scales. To characterize the detachment/attachment during the interaction between cells and substrate, some researchers proposed using cell traction force (CTF) as the indicator. To date, various strategies have been developed to measure the CTF. However, these methods only realize the measurements of cell passive forces on flat cases. To quantify the active CTF on nonflat surfaces, which can better mimic the in vivo case, we employed elastic hydrogel microspheres as a force sensor. The microspheres were fabricated by microfluidic chips with controllable size and mechanical properties to mimic substrate. Cells were cultured on microsphere and the CTF led to the deformation of microsphere. By detecting the morphology information, the CTF exerted by attached cells can be calculated by the in-house numerical code. Using these microspheres, the CTF of various cells (including tumor cell, immunological cell, and epithelium cell) were successfully obtained on nonflat surfaces with different curvature radii. The proposed method provides a versatile platform to measure the CTF with high precision and to understand the detachment/attachment behaviors during physiology processes.

Inductive Paper-Based Flexible Contact Force Sensor Utilizing Natural Micro-Nanostructures of Paper: Simplicity, Economy, and Eco-Friendliness.

Inductive contact force sensors, known for their high precision and anti-interference capabilities, hold significant potential applications in fields such as wearable and medical monitoring devices. Most of the current research on inductive contact force sensors employed novel nanomaterials as sensitive elements to enhance their sensitivity and other performance characteristics. However, sensors developed through such methods typically involve complex preparation processes, high costs, and difficulty in biodegradation, which limit their further development. This article introduces a new flexible inductive contact force sensor using paper as a sensitive element. Paper inherently possesses micro- and nanostructures on its surface and interior, enabling it to sensitively convert changes in contact force into changes in displacement, making it suitable for use as the sensor's sensitive element. Additionally, the advantages of paper also include its great flexibility, low cost, wide availability, and biodegradability. Performance testing on this flexible sensor showed good repeatability, hysteresis, sensitivity, and consistency. When used in experiments for monitoring human motion and respiration, this sensor also exhibited great detection performance. The proposed inductive paper-based flexible contact force sensor, with its simple structure, easy manufacturing process, cost-effectiveness, eco-friendliness, and good sensing performance, provides new insights into research for contact force sensors.

Piezoelectric Behaviour in Biodegradable Carrageenan and Iron (III) Oxide Based Sensor.

This paper is dedicated to the research of phenomena noticed during tests of biodegradable carrageenan-based force and pressure sensors. Peculiar voltage characteristics were noticed during the impact tests. Therefore, the sensors' responses to impact were researched more thoroughly, defining time-dependent sensor output signals from calibrated energy impact. The research was performed using experimental methods when a free-falling steel ball impacted the sensor material to create relatively definable impact energy. The sensor's output signal, which is analogue voltage, was registered using an oscilloscope and transmitted to the PC for further analysis. The obtained results showed a very interesting outcome, where the sensor, which was intended to be piezoresistive, demonstrated a combination of behaviour typical for galvanic cells and piezoelectric material. It provides a stable DC output that is sensitive to the applied statical pressure, and in case of a sudden impact, like a hit, it demonstrates piezoelectric behaviour with some particular effects, which are described in the paper as proton transfer in the sensor-sensitive material. Such phenomena and sensor design are a matter of further development and research.

Double Percolation of Poly(lactic acid)/Low-Density Polyethylene/Carbon Nanotube (PLA/LDPE/CNT) Composites for Force-Sensor Application: Impact of Preferential Localization and Mixing Sequence.

This study explores the enhancement of electrical conductivity in polymer composites by incorporating carbon nanotubes (CNTs) into a co-continuous poly(lactic acid)/low-density polyethylene (PLA/LDPE) blend, creating a double percolation structure. Theoretical thermodynamic predictions indicate that CNTs preferentially localize in the LDPE phase. The percolation threshold of CNTs in the PLA/LDPE/CNT composites was 0.208 vol% (5.56 wt%), an 80% reduction compared to the LDPE/CNT composite, due to the double percolation structure. This thermodynamic migration of CNTs from PLA to LDPE significantly enhanced conductivity, achieving a 13.8-fold increase at a 7.5 wt% CNT loading compared to the LDPE/CNT composite. The localization of CNTs was driven by thermodynamic, kinetic, and rheological factors, with viscosity differences between PLA and LDPE causing dense CNT aggregation in LDPE. Initial contact of CNTs with PLA reduced aggregation, allowing PLA to infiltrate CNT aggregates during melt-mixing, which influenced the final morphology and electrical conductivity. These findings provide new insights into the fabrication of conductive polymer composites for force sensor applications.

Development and Initial Evaluation of a Cost-Effective Force Sensor for Ureteroscopic Application.

Purpose: Retrograde intrarenal surgery is the gold-standard treatment for most kidney stones. During ureteroscopy, ureteral access sheath insertion at forces greater than 8.0 Newtons (N) risks high-grade ureteral injury. To monitor force, our institution utilizes a unique, Bluetooth-equipped device (i.e., the University of California-Irvine Force Sensor). Given the unique nature of the force sensor, we sought to develop an inexpensive and accessible force sensor based on Boyle's law and the specific amount of force required to compress an occluded 1.0 mL syringe. Materials and Methods: We evaluated three brands of 1.0 mL syringes. After setting the plunger at 1.0 mL, the syringe was occluded, and the syringe plunger was compressed. The syringe volume was recorded when the applied force on the plunger reached 4.0 N, 6.0 N, and 8.0 N. Multiple trials were performed to assess reliability and reproducibility. A method for applying this clinically was also developed. Results: The precise force thresholds identified for a 1.0 mL Luer-Lok™ Syringe (Becton Dickinson, Franklin Lakes, NJ) were 0.30 mL for 4.00 N, 0.20 mL for 6.00 N, and 0.15 mL for 8.00 N. The 1.0 mL Tuberculin Syringe and 1.0 mL Luer Slip Syringe were less precise, but compression from 1.0 to 0.40 mL, 0.25 mL, and 0.20 mL corresponded to force sensor readings that did not exceed 4.00 N, 6.00 N, and 8.00 N, respectively. Conclusions: Based on volume changes, 4.00 N, 6.00 N, and 8.00 N of force can be reliably and reproducibly achieved using an occluded 1.0 mL syringe.

Highly Sensitive Force Sensor Based on High-Q Asymmetric V-Shaped CaF2 Resonator.

Whispering gallery mode (WGM) resonators have high-quality factors and can be used in high-sensitivity sensors due to the narrow line width that allows for the detection of small external changes. In this paper, a force-sensing system based on a high-Q asymmetric V-shaped CaF2 resonator is proposed. Based on the dispersion coupling mechanism, the deformation of the resonator is achieved by loading force, and the resonant frequency is changed to determine the measurement. By adjusting the structural parameters of the asymmetric V-shaped resonator, the deformation of the resonator under force loading is improved. The experimental results show that the sensitivity of the V-shaped tip is 18.84 V/N, which determines the force-sensing resolution of 8.49 µN. This work provides a solution for force-sensing measurements based on a WGM resonator.

Measurement of Forces Acting on Single T-Cell Receptors.

Molecular forces are increasingly recognized as an important parameter to understand cellular signaling processes. In the recent years, evidence accumulated that also T-cells exert tensile forces via their T-cell receptor during the antigen recognition process. To measure such intercellular pulling forces, one can make use of the elastic properties of spider silk peptides, which act similar to Hookean springs: increased strain corresponds to increased stress applied to the peptide. Combined with Förster resonance energy transfer (FRET) to read out the strain, such peptides represent powerful and versatile nanoscopic force sensing tools. In this paper, we provide a detailed protocol how to synthesize a molecular force sensor for application in T-cell antigen recognition and hands-on guidelines on experiments and analysis of obtained single molecule FRET data.

Grooving and Absorption on Substrates to Reduce the Bulk Acoustic Wave for Surface Acoustic Wave Micro-Force Sensors.

Improving measurement accuracy is the core issue with surface acoustic wave (SAW) micro-force sensors. An electrode transducer can stimulate not only the SAW but also the bulk acoustic wave (BAW). A portion of the BAW can be picked up by the receiving transducer, leading to an unwanted or spurious signal. This can harm the device's frequency response characteristics, thereby potentially reducing the precision of the micro-force sensor's measurements. This paper examines the influence of anisotropy on wave propagation, and it also performs a phase-matching analysis between interdigital transducers (IDTs) and bulk waves. Two solutions are shown to reduce the influence of BAW for SAW micro sensors, which are arranged with acoustic absorbers at the ends of the substrate and in grooving in the piezoelectric substrate. Three different types of sensors were manufactured, and the test results showed that the sidelobes of the SAW micro-force sensor could be effectively inhibited (3.32 dB), thereby enhancing the sensitivity and performance of sensor detection. The SAW micro-force sensor manufactured using the new process was tested and the following results were obtained: the center frequency was 59.83 MHz, the fractional bandwidth was 1.33%, the range was 0-1000 mN, the linearity was 1.02%, the hysteresis was 0.59%, the repeatability was 1.11%, and the accuracy was 1.34%.

Research on Decoupling Model of Six-Component Force Sensor Based on Artificial Neural Network and Polynomial Regression.

A two-stage decoupling model based on an artificial neural network with polynomial regression is proposed for the six-component force sensor load decoupling problem in the case of multidimensional mixed loading. The six-dimensional load categorization stage model constructed in the first stage combines 63 load category label sets with a deep BP neural network. The six-dimensional load regression stage model was constructed by combining polynomial regression with a BP neural network in the second stage. Meanwhile, the six-component force sensor with a fiber Bragg grating (FBG) sensor as the sensitive element was designed, and the elastomer simulation and calibration experimental dataset was established to realize the validation of the two-stage decoupling model. The results based on the simulation data show that the accuracy of the classification stage is 93.65%. The MAPE for the force channel in the regression stage is 6.29%, and 3.24% for the moment channel. The results based on experimental data show that the accuracy of the classification stage is 87.80%. The MAPE for the force channel in the regression phase is 5.63%, and 4.82% for the moment channel.

Flexible Force Sensor Based on a PVA/AgNWs Nanocomposite and Cellulose Acetate.

Nanocomposites are materials of special interest for the development of flexible electronic, optical, and mechanical devices in applications such as transparent conductive electrodes and flexible electronic sensors. These materials take advantage of the electrical, chemical, and mechanical properties of a polymeric matrix, especially in force sensors, as well as the properties of a conductive filler such as silver nanowires (AgNWs). In this work, the fabrication of a force sensor using AgNWs synthesized via the polyol chemical technique is presented. The nanowires were deposited via drop-casting in polyvinyl alcohol (PVA) to form the active (electrode) and resistive (nanocomposite) sensor films, with both films separated by a cellulose acetate substrate. The dimensions of the resulting sensor are 35 mm × 40 mm × 0.1 mm. The sensor shows an applied force ranging from 0 to 3.92 N, with a sensitivity of 0.039 N. The sensor stand-off resistance, exceeding 50 MΩ, indicates a good ability to detect changes in applied force without an external force. Additionally, studies revealed a response time of 10 ms, stabilization of 9 s, and a degree of hysteresis of 1.9%. The voltage response of the sensor under flexion at an angle of 85° was measured, demonstrating its functionality over a prolonged period. The fabricated sensor can be used in applications that require measuring pressure on irregular surfaces or systems with limited space, such as for estimating movement in robot joints.

Sensors and Sensing Devices Utilizing Electrorheological Fluids and Magnetorheological Materials-A Review.

This paper comprehensively reviews sensors and sensing devices developed or/and proposed so far utilizing two smart materials: electrorheological fluids (ERFs) and magnetorheological materials (MRMs) whose rheological characteristics such as stiffness and damping can be controlled by external stimuli; an electrical voltage for ERFs and a magnetic field for MRMs, respectively. In this review article, the MRMs are classified into magnetorheological fluids (MRF), magnetorheological elastomers (MRE) and magnetorheological plastomers (MRP). To easily understand the history of sensing research using these two smart materials, the order of this review article is organized in a chronological manner of ERF sensors, MRF sensors, MRE sensors and MRP sensors. Among many sensors fabricated from each smart material, one or two sensors or sensing devices are adopted to discuss the sensing configuration, working principle and specifications such as accuracy and sensitivity. Some sensors adopted in this article include force sensors, tactile devices, strain sensors, wearable bending sensors, magnetometers, display devices and flux measurement sensors. After briefly describing what has been reviewed in a conclusion, several challenging future works, which should be undertaken for the practical applications of sensors or/and sensing devices, are discussed in terms of response time and new technologies integrating with artificial intelligence neural networks in which several parameters affecting the sensor signals can be precisely and optimally tuned. It is sure that this review article is very helpful to potential readers who are interested in creative sensors using not only the proposed smart materials but also different types of smart materials such as shape memory alloys and active polymers.