{"title":"Utilizing Tactile Feedback for Biomimetic Grasping Control in Upper Limb Prostheses.","authors":"Luke Osborn, Nitish V Thakor, Rahul Kaliki","doi":"10.1109/icsens.2013.6688445","DOIUrl":"https://doi.org/10.1109/icsens.2013.6688445","url":null,"abstract":"<p><p>A biomimetic system for enhancing the control and reliability of grasping with prosthetic hands was designed and experimentally evaluated. Barometric pressure sensors as well as a force-sensitive resistor (FSR) were placed on a prosthetic hand to provide valuable tactile feedback. Contact and slip detection grip control algorithms were developed to interpret force signals for enhancing stable grasping. Recent advances in radio-frequency identification (RFID) technology enable the amputee to select between grip control strategies based on the desired object to be grasped. Experimental results indicate that the control algorithms are capable of utilizing real-time force responses to detect object contact as well as slip. By allowing the user to act as a high-level controller with RFID technology, a multi-faceted low-level controller that responds to tactile feedback can be developed for enhancing grasping functionality in prosthetic hands.</p>","PeriodicalId":74503,"journal":{"name":"Proceedings of IEEE Sensors. IEEE International Conference on Sensors","volume":"2013 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/icsens.2013.6688445","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"39018857","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Weijian Shang, Hao Su, Gang Li, Cosme Furlong, Gregory S Fischer
{"title":"A Fabry-Perot Interferometry Based MRI-Compatible Miniature Uniaxial Force Sensor for Percutaneous Needle Placement.","authors":"Weijian Shang, Hao Su, Gang Li, Cosme Furlong, Gregory S Fischer","doi":"10.1109/ICSENS.2013.6688137","DOIUrl":"https://doi.org/10.1109/ICSENS.2013.6688137","url":null,"abstract":"<p><p>Robot-assisted surgical procedures, taking advantage of the high soft tissue contrast and real-time imaging of magnetic resonance imaging (MRI), are developing rapidly. However, it is crucial to maintain tactile force feedback in MRI-guided needle-based procedures. This paper presents a Fabry-Perot interference (FPI) based system of an MRI-compatible fiber optic sensor which has been integrated into a piezoelectrically actuated robot for prostate cancer biopsy and brachytherapy in 3T MRI scanner. The opto-electronic sensing system design was minimized to fit inside an MRI-compatible robot controller enclosure. A flexure mechanism was designed that integrates the FPI sensor fiber for measuring needle insertion force, and finite element analysis was performed for optimizing the correct force-deformation relationship. The compact, low-cost FPI sensing system was integrated into the robot and calibration was conducted. The root mean square (RMS) error of the calibration among the range of 0-10 Newton was 0.318 Newton comparing to the theoretical model which has been proven sufficient for robot control and teleoperation.</p>","PeriodicalId":74503,"journal":{"name":"Proceedings of IEEE Sensors. IEEE International Conference on Sensors","volume":"2013 ","pages":"1-4"},"PeriodicalIF":0.0,"publicationDate":"2013-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/ICSENS.2013.6688137","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"32587860","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Adhesion and Moisture Barrier Characteristics of Roller-Cast Polydimethylsiloxane Encapsulants for Implantable Microsystems.","authors":"Shem B Lachhman, Christian A Zorman, Wen H Ko","doi":"10.1109/ICSENS.2012.6411369","DOIUrl":"https://doi.org/10.1109/ICSENS.2012.6411369","url":null,"abstract":"<p><p>Poly-dimethylsiloxane (PDMS) is a highly attractive polymer to encapsulate implantable micro-electromechanical systems (MEMS) due to its biocompatibility, simplicity in processing, and low Young's Modulus. However, conventional deposition processes introduce defects that prevent the use of PDMS as a long term packaging material. In order to address these issues, we have developed a novel roller-casting process for depositing PDMS. This paper presents the findings of a study to simultaneously investigate the adhesion properties and moisture barrier characteristics of roller-cast, multilayered PDMS encapsulants subjected to testing in saline at 85°C.</p>","PeriodicalId":74503,"journal":{"name":"Proceedings of IEEE Sensors. IEEE International Conference on Sensors","volume":"2012 ","pages":"1-4"},"PeriodicalIF":0.0,"publicationDate":"2012-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/ICSENS.2012.6411369","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"31337470","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}