Flexible Tactile Sensors for 3D Force Detection.

As tactile force sensing has become increasingly significant in the field of machine haptics, achieving multidimensional force sensing remains a challenge. We propose a 3D flexible force sensor that consists of an axisymmetric hemispherical protrusion and four equally sized quarter-circle electrodes. By simulating the device using a force and electrical field model, it has been found that the magnitude and direction of the force can be expressed through the voltage relationship of the four electrodes when the magnitude of the shear force remains constant and its direction varies within 0-360°. The experimental results show that a resolution of 15° can be achieved in the range 0-90°. Additionally, we installed the sensor on a robotic hand, enabling it to perceive the magnitude and direction of touch and grasp actions. Based on this, the designed 3D flexible tactile force sensor provides valuable insights for multidimensional force detection and applications.

Recent Development of Mechanical Stimuli Detectable Sensors, Their Future, and Challenges: A Review.

By virtue of their wide applications in transportation, healthcare, smart home, and security, development of sensors detecting mechanical stimuli, which are many force types (pressure, shear, bending, tensile, and flexure) is an attractive research direction for promoting the advancement of science and technology. Sensing capabilities of various force types based on structural design, which combine unique structure and materials, have emerged as a highly promising field due to their various industrial applications in wearable devices, artificial skin, and Internet of Things (IoT). In this review, we focus on various sensors detecting one or two mechanical stimuli and their structure, materials, and applications. In addition, for multiforce sensing, sensing mechanism are discussed regarding responses in external stimuli such as piezoresistive, piezoelectric, and capacitance phenomena. Lastly, the prospects and challenges of sensors for multiforce sensing are discussed and summarized, along with research that has emerged.

[Research on real-time detection system of catheter delivering force in vascular interventional robots].

In existing vascular interventional surgical robots, it is difficult to accurately detect the delivery force of the catheter/guidewire at the slave side. Aiming to solve this problem, a real-time force detection system was designed for vascular interventional surgical (VIS) robots based on catheter push force. Firstly, the transfer process of catheter operating forces in the slave end of the interventional robot was analyzed and modeled, and the design principle of the catheter operating force detection system was obtained. Secondly, based on the principle of stress and strain, a torque sensor was designed and integrated into the internal transmission shaft of the slave end of the interventional robot, and a data acquisition and processing system was established. Thirdly, an ATI high-precision torque sensor was used to build the experimental platform, and the designed sensor was tested and calibrated. Finally, sensor test experiments under ideal static/dynamic conditions and simulated catheter delivery tests based on actual human computed tomography (CT) data and vascular model were carried out. The results showed that the average relative detection error of the designed sensor system was 1.26% under ideal static conditions and 1.38% under ideal dynamic stability conditions. The system can detect on-line catheter operation force at high precision, which is of great significance towards improving patient safety in interventional robotic surgery.

Ultralow Dissipation Patterned Silicon Nanowire Arrays for Scanning Probe Microscopy.

In recent years, self-assembled semiconductor nanowires have been successfully used as ultrasensitive cantilevers in a number of unique scanning probe microscopy (SPM) settings. We describe the fabrication of ultralow dissipation patterned silicon nanowire (SiNW) arrays optimized for scanning probe applications. Our fabrication process produces ultrahigh aspect ratio vertical SiNWs that exhibit exceptional force sensitivity. The highest sensitivity SiNWs have thermomechanical noise-limited force sensitivity of [Formula: see text] at room temperature and [Formula: see text] at 4 K. To facilitate their use in SPM, the SiNWs are patterned within 7 µm from the edge of the substrate, allowing convenient optical access for displacement detection.

Surface Treatment of Carbon Nanotubes Using Modified Tapioca Starch for Improved Force Detection Consistency in Smart Cementitious Materials.

The remarkable mechanical properties and piezo-responses of carbon nanotubes (CNT) makes this group of nanomaterials an ideal candidate for use in smart cementitious materials to monitor forces and the corresponding structural health conditions of civil structures. However, the inconsistency in measurements is the major challenge of CNT-enabled smart cementitious materials to be widely applied for force detection. In this study, the modified tapioca starch co-polymer is introduced to surface treat the CNTs for a better dispersion of CNTs; thus, to reduce the inconsistency of force measurements of the CNTs modified smart cementitious materials. Cement mortar with bare (unmodified) CNTs (direct mixing method) and surfactant surface treated CNTs using sodium dodecyl benzenesulfonate (NaDDBS) were used as the control. The experimental results showed that when compared with samples made from bare CNTs, the samples made by modified tapioca starch co-polymer coated CNTs (CCNTs) showed higher dynamic load induced piezo-responses with significantly improved consistency and less hysteresis in the cementitious materials. When compared with the samples prepared with the surfactant method, the samples made by the developed CCNTs showed slightly increased force detection sensitivity with significantly improved consistency in piezo-response and only minor hysteresis, indicating enhanced dispersion effectiveness. The new CNT surface coating method can be scaled up easily to cater the potential industry needs for future wide application of smart cementitious materials.

Tactile Robotic Skin with Pressure Direction Detection.

Tactile sensing is the current challenge in robotics and object manipulation by machines. The robot's agile interaction with the environment requires pressure sensors to detect not only location and value, but also touch direction. The paper presents a new, two-layer construction of artificial robotic skin, which allows measuring the location, value, and direction of pressure from external force. The main advantages of the proposed solution are its low cost of implementation based on two FSR (Force Sensitive Resistor) matrices and real-time operation thanks to direction detection using fast matching algorithms. The main contribution is the idea of detecting the pressure direction by determining the shift between the pressure maps of the skin's upper and lower layers. The pressure map of each layer is treated as an image and registered using a phase correlation (POC-Phase Only Correlation) method. The use of the developed device can be very wide. For example, in the field of cooperative robots, it can lead to the improvement of human machine interfaces and increased security of human-machine cooperation. The proposed construction can help meet the increasing requirements for robots in cooperation with humans, but also enable agile manipulation of objects from their surroundings.

A Piezoresistive Tactile Sensor for a Large Area Employing Neural Network.

Electronic skin is an important means through which robots can obtain external information. A novel flexible tactile sensor capable of simultaneously detecting the contact position and force was proposed in this paper. The tactile sensor had a three-layer structure. The upper layer was a specially designed conductive film based on indium-tin oxide polyethylene terephthalate (ITO-PET), which could be used for detecting contact position. The intermediate layer was a piezoresistive film used as the force-sensitive element. The lower layer was made of fully conductive material such as aluminum foil and was used only for signal output. In order to solve the inconsistencies and nonlinearity of the piezoresistive properties for large areas, a Radial Basis Function (RBF) neural network was used. This includes input, hidden, and output layers. The input layer has three nodes representing position coordinates, X, Y, and resistor, R. The output layer has one node representing force, F. A sensor sample was fabricated and experiments of contact position and force detection were performed on the sample. The results showed that the principal function of the tactile sensor was feasible. The sensor sample exhibited good consistency and linearity. The tactile sensor has only five lead wires and can provide the information support necessary for safe human-computer interactions.

The T-Blep: A Soft Optical Sensor for Stiffness and Contact Force Measurement.

This paper presents the Tactile Blep (T-Blep), an optical soft sensor that can measure the stiffness and force of different materials. The sensor consists of an inflatable membrane with an optical elements inside. The T-Blep can switch between stiffness detection and force detection modes, by changing the pattern followed by internal pressure of the membrane. Simulations reveal that a 1 mm-thick membrane enables differentiation of extra-soft, soft, and rigid targets. Furthermore, the sensitivity and FSO of the force estimation can be adjusted by varying the internal pressure. Force detection experiments exhibit a sixfold increase in detectable force range as internal pressure varies from 10 kPa to 40 kPa, with a force peak of 5.43 N and sensitivity up to 331 mV/N. A piecewise force reconstruction method provides accurate results even in challenging conditions (R2>0.994). Stiffness detection experiments reveal distinguishable patterns of pressure and voltage during indentation, resulting in a classification accuracy of 97%.

How has carbon storage changed in the Yili-Tianshan region over the past three decades and into the future? What has driven it to change?

Predicting future land use changes and assessing carbon storage remain challenging. Nowadays, how nature and socioeconomics drive changes in carbon storage is a hot topic in research. In this study, through the projection of land use type and the integration of the PLUS, Integrated Valuation of Ecosystem Services and Trade-offs (InVEST), and Geodetector models, we constructed a framework for assessing carbon storage in different land use scenarios. Utilizing this framework, it is possible to project land use change and estimate carbon storage based on different development scenarios. We applied the framework to the Yili Tianshan region and identified the main driving forces for carbon storage change. Further, we estimated the carbon storage in the Yili Tianshan region in 2035 under four scenarios (RE, NE, EP, and CLP). The results showed the following: 1) Between 1990 and 2020, there was an increase in the forest area and water bodies in the Yili-Tianshan region, mainly from bare land. 2) As shown on the time scale, carbon storage increases in the Yili-Tianshan region with a W-shaped fluctuation by converting grasslands and bare land into forests. On a spatial scale, the carbon storage was lower in the center and higher on both sides in the Yili-Tianshan region. 3) In 2035- RE, 2035-ND, and 2035-EP scenarios, the carbon storage was increased by 4.30 Tg, 6.67 Tg, and 12.08 Tg; in the 2035-CLP scenario, it was decreased by 14.63 Tg. The Yili-Tianshan region experienced a notable rise in carbon storage under the 2035-EP scenario compared to the other three scenarios. 4) Soil type played a significant role in the spatial differentiation of carbon storage in Yili-Tianshan (q value 0.5958), followed by population density (0.5394). The changes in carbon storage in the Yili-Tianshan region are the result of synergistic effects of multiple factors, in which the soil type∩soil erosion intensity are the most important. This research could provide a reference method for improving regional carbon storage.

A BTO/PVDF/PDMS Piezoelectric Tangential and Normal Force Sensor Inspired by a Wind Chime.

There is a growing demand for flexible pressure sensors in environmental monitoring and human-robot interaction robotics. A flexible and susceptible sensor can discriminate multidirectional pressure, thus effectively detecting signals of small environmental changes and providing solutions for personalized medicine. This paper proposes a multidimensional force detection sensor inspired by a wind chime structure with a three-dimensional force structure to detect and analyze normal and shear forces in real time. The force-sensing structure of the sensor consists of an upper and lower membrane on a polydimethylsiloxane substrate and four surrounding cylinders. A piezoelectric hemisphere is made of BTO/PVDF/PDMS composite material. The sensor columns in the wind chime structure surround the piezoelectric layer in the middle. When pressure is applied externally, the sensor columns are connected to the piezoelectric layer with a light touch. The piezoelectric hemisphere generates a voltage signal. Due to the particular structure of the sensor, it can accurately capture multidimensional forces and identify the direction of the external force by analyzing the position of the sensor and the output voltage amplitude. The development of such sensors shows excellent potential for self-powered wearable sensors, human-computer interaction, electronic skin, and soft robotics applications.

Yoctonewton force detection based on optically levitated oscillator.

Optically levitated oscillators in high vacuum have excellent environmental isolation and low mass compared with conventional solid-state sensors, which makes them suitable for ultrasensitive force detection. The force resolution usually scales with the measurement bandwidth, which represents the ultimate detection capability of the system under ideal conditions if sufficient time is provided for measurement. However, considering the stability of a real system, a method based on the Allan variance is more reliable to evaluate the actual force detection performance. In this study, a levitated optomechanical system with a force detection sensitivity of 6.33 ± 1.62 zN/Hz1/2 was demonstrated. And for the first time, the Allan variance was introduced to evaluate the system stability due to the force sensitivity fluctuations. The force detection resolution of 166.40 ± 55.48 yN was reached at the optimal measurement time of 2751 s. The system demonstrated in this work has the best force detection performance in both sensitivity and resolution that have been reported so far for optically levitated particles. The reported high-sensitivity force detection system is an excellent candidate for the exploration of new physics such as fifth force searching, high-frequency gravitational waves detection, dark matter research and so on.

Printed Composite Film with Microporous/Micropyramid Hybrid Conductive Architecture for Multifunctional Flexible Force Sensors.

Porous structures and micropatterning surfaces play a crucial role in the development of highly sensitive force sensors. However, achieving these two conductive architectures typically requires the synthesis of complex materials and expensive manufacturing processes. In this study, we introduce a novel conductive composite film featuring a microporous/micropyramid hybrid conductive architecture, which is achieved through a straightforward process of materials mixing and one-step screen printing. By utilizing a deep eutectic solvent in the ink component, micropores are induced in the printed composite, while the mesh of the screen mask acts as a template, resulting in a micropyramid film surface. We have successfully realized highly sensitive flexible force sensors (0.15 kPa-1) with multifunctional capabilities for perceiving normal force and shear force.

Fabrication of three-dimensional orthodontic force detecting brackets and preliminary clinical test for tooth movement simulation.

This study aimed to develop an ultraminiature pressure sensor array to measure the force exerted on teeth. Orthodontic force plays an important role in effective, rapid, and safe tooth movement. However, owing to the lack of an adequate tool to measure the orthodontic force in vivo, it remains challenging to determine the best orthodontic loading in clinical and basic research. In this study, a three-dimensional (3D) orthodontic force detection system based on piezoresistive absolute pressure sensors was designed. The 3D force sensing array was constructed using five pressure sensors on a single chip. The size of the sensor array was only 4.1 × 2.6 mm, which can be placed within the bracket base area. Based on the barometric calibration, conversion formulas for the output voltage and pressure of the five channels were constructed. Subsequently, a 3D linear mechanical simulation model of the voltage and stress distribution was established using 312 tests of the applied force in 13 operating modes. Finally, the output voltage was first converted to pressure and then to the resultant force. The 3D force-detection chip was then tested to verify the accuracy of force measurement on the teeth. Based on the test results, the average output force error was only 0.0025 N (0.7169%) (p = 0.958), and the average spatial positioning error was only 0.058 mm (p = 0.872) on the X-axis and 0.050 mm (p = 0.837) on the Y-axis. The simulation results were highly consistent with the actual force applied (intraclass correlation efficient (ICC): 0.997-1.000; p < 0.001). Furthermore, through in vivo measurements and a finite element analysis, the movement trends generated when the measured orthodontic forces that acted on the teeth were simulated. The results revealed that the device can accurately measure the orthodontic force, representing the first clinical test of an orthodontic-force monitoring system. Our study provides a hardware basis for clinical research on efficient, safe, and optimal orthodontic forces, and has considerable potential for application in monitoring the biomechanics of tooth movement.

Texture of extruded breakfast cereals: Effects of adding milk on the texture properties and on the correlations between instrumental and sensory analyses.

The effect of adding milk on the structure and texture properties of six commercial extruded breakfast cereals was evaluated using instrumental (mechanical and acoustic) and sensory analyses, as well as the correlations between such measurements. Adding milk reduced the force and acoustic properties of the breakfast cereals and affected sensory acceptance, improving or damaging the texture attribute acceptance depending on the product. Regarding sensory and instrumental correlations, the guillotine Blade Set probe stood out for correlations between instrumental and sensory (both descriptive and acceptance) results, followed by the Kramer probe that provided correlations with sensory acceptance. All correlations were positive except for the intensity of adhesiveness, which means that the intensity of adhesiveness was the most critical attribute for the acceptance of breakfast cereals when milk is added. In conclusion, adding milk impacted the texture properties of breakfast cereals and the definition of the best probe to be used depends on the sensory characteristic to be evaluated and, also, on whether milk is added or not.

Projections of land use change and habitat quality assessment by coupling climate change and development patterns.

Exploring future land use changes and assessing the habitat quality remains a challenging topic for watershed ecological sustainability. However, most studies ignore the effects of coupled climate change and development patterns. In this study, a framework for assessing habitat quality under the influence of future land use change is constructed based on exploring the driving forces of land use change factors and integrating the system dynamics (SD) model, future land use simulation (FLUS) model and InVest model. The framework enables the projection of land use change and the assessment of habitat quality in the context of future climate change and different development strategies. Applying the framework to the Weihe River Basin, the main driving forces of land-use change in the Weihe River Basin were identified based on geographical detectors, and habitat quality assessment was realized for the Weihe River Basin under the coupled scenarios of three typical shared socioeconomic pathways and future development patterns (SSP126-EP, SSP245-ND, SSP585-EG). The results show that 1) population, precipitation, and temperature are the major driving factors for land use change. 2) The coupling model of SD and FLUS can effectively simulate the future trend of land use change, the relative error is within 2 %, and the overall accuracy is 93.58 %. 3) Significant differences in habitat quality as a result of modifications in land use patterns in different contexts. Affected by ecological protection, the habitat quality in SSP126-EP was significantly better than that in SSP245-ND and SSP585-EG. This research can provide references for future watershed ecological management decisions.

New Flexible Tactile Sensor Based on Electrical Impedance Tomography.

In order to obtain external information and ensure the security of human-computer interaction, a double sensitive layer structured tactile sensor was proposed in this paper. Based on the EIT (Electrical Impedance Tomography) method, the sensor converts the information from external collisions or contact into local conductivity changes, and realizes the detection of one or more contact points. These changes can be processed into an image containing positional and force information. The experiments were conducted on the actual sensor sample. The OpenCV toolkit was used to process the positional information of contact points. The distributional regularities of errors in positional detection were analyzed, and the accuracy of the positional detection was evaluated. The effectiveness, sensitivity, and contact area of the force detection were analyzed based on the result of the EIT calculations. Furthermore, multi-object tests of pressure were conducted. The results of the experiment indicated that the proposed sensor performed well in detecting the position and force of contact. It is suitable for human-robot interaction.

Bone collision detection method for robot assisted fracture reduction based on force curve slope.

BACKGROUND AND OBJECTIVE: The application of robot technology in fracture reduction ensures the minimal invasiveness and accurate operation process. Most of the existing robot assisted fracture reduction systems don't have the function of bone collision detection, which is very important for system safety. In view of the deficiencies in the research of this field, a broken bone collision detection method based on the slope ratio of force curve was proposed in this paper, which could realize the real-time detection. METHODS: In order to analyze the factors influencing the slope of force curve, a collision mechanical model based on three-element viscoelastic model was established. The effects of four factors on the slope ratio of the force curve were studied based on the mechanical model. The proposed collision detection model was analyzed in detail. By drawing slope ratio curves under various experimental conditions, the universality of the collision detection model was proved; by comparative simulation, the differences between the slope ratio curves before and after optimization were analyzed. The factors that affect the performance of the detection model were also analyzed. RESULTS: The results of collision experiments show that the increase of moving speed of distal bone and soft tissue mass reduces the slope ratio, while the increase of collision angle increases the slope ratio. In the verification experiment, the minimum main peak of KRopt curve is 14.16 and the maximum is 220.7, the maximum interference value before the peak is 6.1. When the detection threshold is 10, the model can detect the collision state of the broken bone. It is also proved that after optimization, the model can effectively filter out invalid waveforms and reduce the occurrence of false detections. When a=5 and b=40, the detection model has sufficient stability and a low detection time delay. CONCLUSION: This research developed a broken bone collision detection method based on the slope ratio of the force curve. After optimization, the method has good adaptability under a variety of experimental conditions. The collision of broken bones can be judged by setting an appropriate detection threshold. The application of this method in the robot fracture reduction system will improve the safety of the system.

Microscale 3D imaging by magnetic resonance force microscopy using full-volume Fourier- and Hadamard-encoding.

Three-dimensional spatially resolved full-volume imaging by magnetic resonance force microscopy at room temperature is described. Spatial resolution in z-dimension is achieved by using the magnetic-field gradient of a ferromagnetic particle that is also used for the force detection of the magnetic resonance. The gradient of the radiofrequency pulses generated by two separate wire-bonded microcoils is used for spatial resolution in x- and y-dimension. To enhance the sensitivity of our measurement Hadamard- and Fourier-encoding schemes are applied due to their multiplex effect. Measurements were taken on a patterned (NH4)2SO4 crystal sample. From the calculated magnetic field distributions, a 3D image was reconstructed with a voxel volume of about 5 µm3 (1.2 µm × 3.0 µm × 1.4 µm in x-, y- and z-dimension).

Detection of liquids by magnetic resonance force microscopy in the gradient-on-cantilever geometry.

We demonstrate the detection of picoliter amounts of water and triethylenetetramine by a magnetic-resonance-force-microscopy (MRFM) setup operated in the gradient-on-cantilever geometry at room temperature. A magnetic field gradient is produced by a ferromagnetic SmCo particle glued to the tip of a micromechanical resonator (cantilever). The liquids are enclosed in a micro-capillary to protect them from the high vacuum environment needed for sensitive detection. We describe simple spectroscopic experiments as proton T1 - relaxation, Rabi nutation curves and Hahn-echo measurements.

Research on Internal Force Detection Method of Steel Bar in Elastic and Yielding Stage Based on Metal Magnetic Memory.

Based on the metal magnetic memory effect, this paper proposed a new non-destructive testing method for the internal tensile force detection of steel bars by analyzing the self-magnetic flux leakage (SMFL) signals. The variation of the SMFL signal of the steel bar with the tensile force indicates that the curve of the SMFL signal has a significant extreme point when the tensile force reaches about 65% of the yield tension, of which the first derivative curve has extreme points in the elastic and yielding stages, respectively. To study the variation of SMFL signal with the axial position of the steel bar under different tensile forces, a parameter reflecting the fluctuation of the SMFL signal along the steel bar is proposed. The linear relationship between this parameter and the tensile force can be used to quantitatively calculate the tensile force of steel bar. The method in this paper provides significant application prospects for the internal force detection of steel bar in the actual engineering.