Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 71 for “"force sensing"”.
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A nonlinearly compliant transmission element for force sensing and control
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2000.
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Vision-based Proprioceptive and Force Sensing for Soft Robotic Actuator
… that additionally predicts the horizontal tip force acting on the actuator and demonstrate its ability to generalize to previously unseen forces. Overall, our methods present a reliable vision-based approach for designing sensorized soft robots built from electrically-actuated, architected …
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State estimation for manipulation with compliance control and force sensing
… contact states and metric states. A low-level force and impedance controller is developed on a PR2 robot. Higher-dimensional generalizations, planning, and empirical results are the subject of future work.
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Ultrasensitive Force Sensing with Nanospheres in an Optical Standing Wave Trap
… progress developing a state-of-the-art neutral force sensor using an optically levitated nano-sphere. Trapping 300 nm diameter fused silica spheres using a dual beam optical standing wave trap, we have experimentally reported a force sensitivity of 1.63 0:37aN=Hz1=2. Also we have measured the …
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Material modeling and sensor characterization for optimizing footpad force sensing array
… athletes with critical data for training. The force sensing footpad, originally developed for use on the MIT Cheetah robot, integrates lightweight pressure sensors and a urethane rubber, Smooth-On's Vytaflex@ 20, to sense force in both the normal and shear directions. In previous work, …
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Composite force sensing foot utilizing volumetric displacement of a hyperelastic polymer
… an original principle of volumetric displacement sensing. It is intended for use in detecting ground contact forces in a running quadrupedal robot. The footpad is man- ufactured as a monolithic, composite structure composed of multi-graded polymers which are reinforced by glass fiber to increase …
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Design, development, and dynamic characterization of multi-axis force sensing composite footpad
Accurate ground reaction force measurements are important for the development, implementation, and control of high speed legged locomotion robots. From previous research studies, a composite force sensing footpad has been developed, tested, and characterized statically at the MIT Biomimetics Lab. …
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Tissue Diagnosis Probe Based on Stiffness Measurement Using Vision and Force Sensing Modalities
… probe based on the measurement of stiffness and force during mechanical tool-tissue interactions. The probe using force and vision sensing modalities was created to be used for tissue diagnosis in medical applications, especially for robot-assisted minimallyinvasive surgery (MIS) to provide the …
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Development of a novel micropipette aspiration-based force sensing technique to measure single cell sliding friction
… the cells’ curvature. The presence of tangential force component (or the sliding friction) and the recruitments of auxiliary stress-dependent ligands at the adhesion site mean conventional cell detachment model is not adequate to explain the rupture mechanics of a sliding cell. Thus, we propose an …
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Design and fabrication of force sensing robotic foot utilizing the volumetric displacement of a hyperelastic polymer
… an original principle of volumetric displacement sensing. It is intended for use in detecting ground reaction forces in a running quadrupedal robot. The footpad is manufactured as a monolithic, composite structure composed of multi-graded polymers reinforced by glass fiber to increase durability …
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The design of a Hall Effect force sensing flexure on the front leg of a robotic cheetah
… it is important to be able to characterize the forces felt on the moving joints. To achieve this, we designed an easy to implement force sensor that used Hall Effect sensors mounted on a flexure to measure force. The flexure was designed to be compliant in two directions, along the ground normal …
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Use of Compliant Interbody Force Sensing Grafts to Compare Load Sharing Properties of Unidirectional and Bidirectional Multilevel Dynamic Translational Anterior Cervical Plates
… plate, and a rigid static plate. Compliant force sensing grafts were placed in the discectomized regions prior to plate application that permitted up to 2mm of deformation during compressive loading. The ATLANTIS<sup>®</sup> Translational cervical plating system (Medtronic Spinal and …
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The Force Floor: Design and Development of a Low-Cost 3D Force Sensing Area Which Utilises Machine Learning to Estimate 3D GRF and CoP from Single-Axis Loadcells
Along with motion capture tools, ground reaction force (GRF) sensors form the crux of objective biomechanical analysis. Advances in computer vision have significantly lowered the costs associated with 3D motion capture, but the same cannot be said of 3-axis force plates – the gold standard for GRF …
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Design principles of multi-axis, large magnitude force sensors based on stress fields for use in human and robotic locomotion
… with the external environment. However, existing sensing methods are inadequate to address the many unique demands of legged locomotion (i.e. fragile structures, incapable of handling large impact forces and noise caused by inertial loads during stride). This research is a study of how best to …
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A Multi-functional Touch Panel for Multi-Dimensional Sensing in Interactive Displays
… sensed using graphene capacitive elements, while force sensing in the z-direction is by a piezoelectric PVDF/graphene sandwich. By employing different frequency bands for the capacitive- and force-induced electrical signals, the two stimuli are detected simultaneously, achieving three-dimensional …
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Design and implementation of a six-degree of freedom robotic platform for measuring the forces of flying objects
… six-degree of freedom platform that measures the forces of flying animal robotics. The platform had to have an embedded force sensing mechanism and should be able to move in response to forces detected and measured. The platform had to measure the forces in six different orthogonal axes. The …
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Monitoring breathing with smart fabrics
Wearable sensing technologies offer promising solutions for non-intrusive monitoring in healthcare, fitness, and assistive applications. This thesis investigates respiration monitoring using off-the-shelf, commercially available stretchable conductive fabric as the sensing element, eliminating the …
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A needle-tip embedded fibre optical force sensor for tissue identification
… a temperature-compensated fibre optical tip force sensor based on the Fabry-Perot Interference (FPI) principle is developed and embedded into the tip of surgical needles. This was designed for tissue identification which it fulfilled via analysing the tip force of the needle during insertion. …
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Probing single-molecule dynamics of molecular motors and gene editing proteins
… this, we design an in vitro assay, that we call force gliding assay. With this assay, dynamics of multiple kinesins (from 2-8) and its effect on cargo velocity can be simultaneously tracked when these kinesins transport a common cargo. Furthermore, we show that kinesins dynamically interact to …
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