Design and Characterization of Three-Axis High-Range Inductive Tactile Force Sensor Utilizing Magnetorheological Elastomer for Robotic Surgical Applications

Saleem, Muhammad Mubasher; Bukhari, Syed Ali Raza; Tiwana, Mohsin I.; Shakoor, Rana I.; Cheung, Rebecca

doi:10.1109/jsen.2022.3222930

Cited by 8 publications

(1 citation statement)

References 31 publications

(44 reference statements)

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“…Therefore, the inductance change curve of a planar-shifted indentation with constant depth of h can be determined by identifying the peak value (or resonance) of the induction change from the measurement electronics which is the inductance-to-digital converter operating in single channel mode which ensures an adjustment of the frequency to maintain resonance in the sense of the inductance change. Khalid et al [88] proposed a three-axis inductive tactile sensor using MRE which is applicable to the surgical robotic systems. Figure 15 presents the schematic configuration of the sensor and working principle.…”

Section: Mre and Mrp Sensorsmentioning

confidence: 99%

Sensors and Sensing Devices Utilizing Electrorheological Fluids and Magnetorheological Materials – a Review

Park,

Choi

2024

Preprint

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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 fluid (MRF), magnetorheological elastomer (MRE) and magnetorheological plastomer (MRP). To easily understand the history of sensing research using the 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 on the sensing configuration, working principle and specifications such as accuracy and sensitivity. Some sensors adopted in this article include force sensor, tactile device, strain sensor, wearable bending sensor, magnetometer, display device and flux measurement sensor. After briefly describing what have been reviewed in a conclusion, several challenging future works, which should be done for practical applications as sensors or sensing devices, are remarked in terms of new technologies such as artificial intelligence neural network in which several parameters affecting the sensor signals can be precisely tuned or controlled. It is sure that this review article is very helpful to make creative sensors using not only the proposed smart materials but also several different types of smart materials including shape memory alloys and active polymers.

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Section: Mre and Mrp Sensorsmentioning

confidence: 99%

Sensors and Sensing Devices Utilizing Electrorheological Fluids and Magnetorheological Materials – a Review

Park,

Choi

2024

Preprint

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High‐Load Capable Soft Tactile Sensors: Incorporating Magnetorheological Elastomer for Accurate Contact Detection and Classification of Asymmetric Mechanical Components

Lim,

Yoon

2024

Advanced Intelligent Systems

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Soft tactile sensors are soft and sufficiently flexible for attachment to a robot's gripper to enhance human‐like sensory capabilities. However, existing tactile sensors exhibit large size and a limited force measurement range. This article presents a novel design of a new soft tactile sensor for a robotic gripper, incorporating a sandwich‐like multilayered structure, together with a deep learning (DL) model, which overcomes the limitations of traditional sensors. The structure consists of three distinct layers: a 15 wt% iron magnetorheological elastomer, a flexible printable circuit board layer equipped with three‐dimensional Hall sensors (TLE493D; Infineon), and permanent magnets. Additionally, a multilayer perceptron network that can classify the loading state is adopted for the DL model. This new tactile sensor is capable of performing three distinct functions simultaneously: measurement of normal forces up to 3.73 kgf, identification of the precise location of force occurrence by subdivision into intervals of 2.5 mm, and differentiation between a wide (≈8 mm) and narrow (≈2 mm) contacted surface area. This newly developed soft tactile sensor has considerable potential for improvement in the performance of robotic grippers through its high accuracy, resolution, and large measurement range, as demonstrated by experimentation with the sensor attached to a real gripper.

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A wearable three-axis force sensor based on deep learning technology for plantar measurement

Zhang,

Yang,

Duan

et al. 2024

Chemical Engineering Journal

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Design and Characterization of Three-Axis High-Range Inductive Tactile Force Sensor Utilizing Magnetorheological Elastomer for Robotic Surgical Applications

Cited by 8 publications

References 31 publications

Sensors and Sensing Devices Utilizing Electrorheological Fluids and Magnetorheological Materials – a Review

Sensors and Sensing Devices Utilizing Electrorheological Fluids and Magnetorheological Materials – a Review

High‐Load Capable Soft Tactile Sensors: Incorporating Magnetorheological Elastomer for Accurate Contact Detection and Classification of Asymmetric Mechanical Components

A wearable three-axis force sensor based on deep learning technology for plantar measurement

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