Enabling Force Sensing During Ground Locomotion: A Bio-Inspired, Multi-Axis, Composite Force Sensor Using Discrete Pressure Mapping

Chuah, Meng Yee; Kim, Sangbae

doi:10.1109/jsen.2014.2299805

Cited by 57 publications

(27 citation statements)

References 43 publications

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“…The original purpose of a barometric pressure sensor is to measure atmospheric pressure changes. Its application can, however, be repurposed to detect forces by embedding the sensor elements in an elastomer [15]. By doing so, the elastomer forms a robust and compliant surface for contact and serves to transfer pressure changes within the layers of the elastomer to the pressure transducer.…”

Section: A Implementation Of Sensor Solutionmentioning

confidence: 99%

A Combined Photoplethysmography and Force Sensor Prototype for Improved Pulse Waveform Analysis

et al. 2019

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Pulse detection has in recent years received extensive attention in physiological health monitoring, and continuous blood pressure estimation models based on pulse waveform analysis have shown great promises. Two widely used technologies for noninvasive detection of the pulse waveform are photoplethysmography and tonometry. Although the signals from PPG and tonometry are rooted in different physiological mechanisms, the technologies are typically used separately. The simplistic approach of estimating cardiovascular responses based on single sensor sources is discorrelated with the complexity of the human body. To acknowledge this, we have developed a low-cost, low-power sensor prototype combining PPG and force-sensing capabilities. The proposed solution is able to accurately detect the pulse waveform, both optically and tactually, in addition to estimating the sensor interface pressure. We hypothesize that the combined solution can be used to ameliorate one or more of the challenges associated with the separate technologies in physiological monitoring, and thus potentially give continuous pulse waveform based blood pressure estimation models valuable additional inputs, ultimately leading to increased estimation accuracies and measurement confidence.

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Section: A Implementation Of Sensor Solutionmentioning

confidence: 99%

A Combined Photoplethysmography and Force Sensor Prototype for Improved Pulse Waveform Analysis

et al. 2019

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“…The position and velocity of each leg is measured using encoders attached to each motor. Each foot has a contact sensor made of a pressure sensor embedded into soft rubber-a design motivated by [38]-and an IMU is attached to the body of the robot 1 .…”

Section: A the Super Mini Cheetah Robotmentioning

confidence: 99%

Robot locomotion on hard and soft ground: Measuring stability and ground properties in-situ

Bosworth

Whitney²,

Kim

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Dynamic behavior of legged robots is strongly affected by ground impedance. Empirical observation of robot hardware is needed because ground impedance and foot-ground interaction is challenging to predict in simulation. This paper presents experimental data of the MIT Super Mini Cheetah robot hopping on hard and soft ground. We show that controllers tuned for each surface perform better for each specific surface type, assessing performance using measurements of 1.) stability of the robot in response to self-disturbances applied by the robot onto itself and 2.) the peak accelerations of the robot that occur during ground impact, which should be minimized to reduce mechanical stress. To aid in controller selection on different ground types, we show that the robot can measure ground stiffness and friction in-situ by measuring its own interaction with the ground. To motivate future work in variable-terrain control and in-situ ground measurement, we show preliminary results of running gaits that transition between hard and soft ground.

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“…Among these, piezoresistive pressure sensors [1][2][3][4][5] have scope for use in practical applications for sensing the human body [6][7][8][9][10][11][12], such as all kinds of haptic sensing of the human body [13][14][15][16][17] including haptic sensing of fingers and palms [18][19][20].…”

Section: Introductionmentioning

confidence: 99%

Finger and Palm Dynamic Pressure Monitoring for Basketball Shooting

Hung¹,

Chen

Lin³

et al. 2017

Journal of Sensors

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This study verified general inferences on the finger and palm pressure distribution of a basketball player in the moment before that player shoots a basketball through a scientific qualitative testing method. We mounted the sensor on the hands of college basketball players and monitored the dynamic pressure of each player's hand while the player threw a basketball. The dynamic pressure distribution of the fingers and palm of a basketball player throwing a ball can be verified. According to the experimental results, college basketball players typically use the index finger to control the direction and power of force in the moment before shooting a basketball. This study successfully used a scientific qualitative test method to monitor the dynamic pressure of the fingers and palms of basketball players and verified the general inference that a typical basketball player mainly uses the index finger to control the direction and power of force in the moment before throwing a ball. In the future, this study, measuring the dynamic pressure distribution of the fingers and palm, can be applied to simulate hand manipulation in many biomedical and robotic applications.

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Enabling Force Sensing During Ground Locomotion: A Bio-Inspired, Multi-Axis, Composite Force Sensor Using Discrete Pressure Mapping

Cited by 57 publications

References 43 publications

A Combined Photoplethysmography and Force Sensor Prototype for Improved Pulse Waveform Analysis

A Combined Photoplethysmography and Force Sensor Prototype for Improved Pulse Waveform Analysis

Robot locomotion on hard and soft ground: Measuring stability and ground properties in-situ

Finger and Palm Dynamic Pressure Monitoring for Basketball Shooting

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