{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/78211"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/78211","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Composite force sensing foot utilizing volumetric displacement of a hyperelastic polymer","abstract":"In this thesis, I will describe the fabrication and characterization of a footpad based on 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 durability and traction. The volumetric displacement sensing principle utilizes a hyperelastic gel-like pad with embedded magnets that are tracked with Hall-effect sensors. Normal and shear forces can be detected as contact with the ground which causes the gel-like pad to deform into rigid wells. This is all done without the need to expose the sensor. A one-time training process using an artificial neural network was used to relate the normal and shear forces with the volumetric displacement sensor output. The sensor was shown to pre- dict normal forces in the Z-axis up to 80N with a root mean squared error of 6.04% as well as the onset of shear in the X and Y-axis. This demonstrates a proof-of-concept for a more robust footpad sensor suitable for use in all outdoor conditions.","abstract_html":"In this thesis, I will describe the fabrication and characterization of a footpad based on 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 durability and traction. The volumetric displacement sensing principle utilizes a hyperelastic gel-like pad with embedded magnets that are tracked with Hall-effect sensors. Normal and shear forces can be detected as contact with the ground which causes the gel-like pad to deform into rigid wells. This is all done without the need to expose the sensor. A one-time training process using an artificial neural network was used to relate the normal and shear forces with the volumetric displacement sensor output. The sensor was shown to pre- dict normal forces in the Z-axis up to 80N with a root mean squared error of 6.04% as well as the onset of shear in the X and Y-axis. This demonstrates a proof-of-concept for a more robust footpad sensor suitable for use in all outdoor conditions.","abstract_has_math":false,"creators":["Chuah, Meng Yee (Meng Yee Michael)"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Mechanical Engineering.","school":null,"contributors":[],"advisors":["Sangbae Kim."],"committee_chairs":[],"committee_members":[],"year":2012,"date_issued":"2012","date_published":"2012","updated_at":"2026-07-22T22:20:59Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. 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This is all done without the need to expose the sensor. A one-time training process using an artificial neural network was used to relate the normal and shear forces with the volumetric displacement sensor output. The sensor was shown to pre- dict normal forces in the Z-axis up to 80N with a root mean squared error of 6.04% as well as the onset of shear in the X and Y-axis. This demonstrates a proof-of-concept for a more robust footpad sensor suitable for use in all outdoor conditions."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["S.M."]},{"key":"dc:title","label":"Title","values":["Composite force sensing foot utilizing volumetric displacement of a hyperelastic polymer"]}]}],"canonical_facts":{"dc:contributor.advisor":["Sangbae Kim."],"dc:contributor.department":["Massachusetts Institute of Technology. Dept. of Mechanical Engineering."],"dc:contributor.other":["Massachusetts Institute of Technology. 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