Humans can perceive our complex world through multi-sensory fusion.Under limited visual conditions,people can sense a variety of tactile signals to identify objects accurately and rapidly.However,replicating this uniq...Humans can perceive our complex world through multi-sensory fusion.Under limited visual conditions,people can sense a variety of tactile signals to identify objects accurately and rapidly.However,replicating this unique capability in robots remains a significant challenge.Here,we present a new form of ultralight multifunctional tactile nano-layered carbon aerogel sensor that provides pressure,temperature,material recognition and 3D location capabilities,which is combined with multimodal supervised learning algorithms for object recognition.The sensor exhibits human-like pressure(0.04–100 kPa)and temperature(21.5–66.2℃)detection,millisecond response times(11 ms),a pressure sensitivity of 92.22 kPa^(−1)and triboelectric durability of over 6000 cycles.The devised algorithm has universality and can accommodate a range of application scenarios.The tactile system can identify common foods in a kitchen scene with 94.63%accuracy and explore the topographic and geomorphic features of a Mars scene with 100%accuracy.This sensing approach empowers robots with versatile tactile perception to advance future society toward heightened sensing,recognition and intelligence.展开更多
Over the years, there has been increased research interest in the application of Nitinol as an actuator, due to its shape memory behaviour, simplicity, high power-to-weight ratio, compactness, and extreme high fatigue...Over the years, there has been increased research interest in the application of Nitinol as an actuator, due to its shape memory behaviour, simplicity, high power-to-weight ratio, compactness, and extreme high fatigue resistance to cyclic motion, and noiseless operation. Nitinol has found application in tactile displays which reproduce tactile parameters such as texture and shape, depending on the application. This paper presents the effects of thermal interference between adjacent Nitinol spring actuators in a tactile display. The tactile display is made of a 3 by 3 pin array whose spatial resolution was varied from 4 mm to 6 mm in steps of 1 mm while a current of 1.5 A was used to actuate 8 of the springs, and the centre spring was left unactivated to observe the thermal effects on it due to the heat gradient formed. A Finite Element (FE) model was developed using COMSOL Multiphysics and the results were further verified through experimentation. In both cases, there was visible thermal interference between actuators. The increase in spatial resolution saw a decrease in thermal interference by 12.7%. Using a fan to introduce forced convection, reduced the thermal interference in the simulation by 20% and during experimentation by 11%. The results of this research indicate a spatial resolution of 6 mm reduced the thermal inference to a negligible rate. However, thermal interference could not be eliminated with these two methods.展开更多
From the perspective of the tactile comfort of underwear fabrics, 179 kinds of underwear fabrics were selected to test tactile related performance indices using the fabric touch tester(FTT), and the relationship betwe...From the perspective of the tactile comfort of underwear fabrics, 179 kinds of underwear fabrics were selected to test tactile related performance indices using the fabric touch tester(FTT), and the relationship between physical indicators and tactile sensation of different fiber types of underwear fabrics was studied to establish a digital regression model by a stepwise regression method. The experimental results show that fabric fiber composition, compression characteristics, surface friction coefficient, surface roughness amplitude, bending characteristics, and maximum thermal conductivity significantly affect the level of tactile comfort of underwear fabrics, the composition of underwear fabrics has a significant effect on soft touch, and the clustering method and the grading method can effectively rate the level of tactile comfort of underwear fabrics.展开更多
Flexible tactile sensors have broad applications in human physiological monitoring,robotic operation and human-machine interaction.However,the research of wearable and flexible tactile sensors with high sensitivity,wi...Flexible tactile sensors have broad applications in human physiological monitoring,robotic operation and human-machine interaction.However,the research of wearable and flexible tactile sensors with high sensitivity,wide sensing range and ability to detect three-dimensional(3D)force is still very challenging.Herein,a flexible tactile electronic skin sensor based on carbon nanotubes(CNTs)/polydimethylsiloxane(PDMS)nanocomposites is presented for 3D contact force detection.The 3D forces were acquired from combination of four specially designed cells in a sensing element.Contributed from the double-sided rough porous structure and specific surface morphology of nanocomposites,the piezoresistive sensor possesses high sensitivity of 12.1 kPa?1 within the range of 600 Pa and 0.68 kPa?1 in the regime exceeding 1 kPa for normal pressure,as well as 59.9 N?1 in the scope of<0.05 N and>2.3 N?1 in the region of<0.6 N for tangential force with ultra-low response time of 3.1 ms.In addition,multi-functional detection in human body monitoring was employed with single sensing cell and the sensor array was integrated into a robotic arm for objects grasping control,indicating the capacities in intelligent robot applications.展开更多
Skin is the largest organ of the human body and can perceive and respond to complex environmental stimulations.Recently,the development of electronic skin(E-skin)for the mimicry of the human sensory system has drawn g...Skin is the largest organ of the human body and can perceive and respond to complex environmental stimulations.Recently,the development of electronic skin(E-skin)for the mimicry of the human sensory system has drawn great attention due to its potential applications in wearable human health monitoring and care systems,advanced robotics,artificial intelligence,and human-machine interfaces.Tactile sense is one of the most important senses of human skin that has attracted special attention.The ability to obtain unique functions using diverse assembly processible methods has rapidly advanced the use of graphene,the most celebrated two-dimensional material,in electronic tactile sensing devices.With a special emphasis on the works achieved since 2016,this review begins with the assembly and modification of graphene materials and then critically and comprehensively summarizes the most advanced material assembly methods,device construction technologies and signal characterization approaches in pressure and strain detection based on graphene and its derivative materials.This review emphasizes on:(1)the underlying working principles of these types of sensors and the unique roles and advantages of graphene materials;(2)state-of-the-art protocols recently developed for high-performance tactile sensing,including representative examples;and(3)perspectives and current challenges for graphene-based tactile sensors in E-skin applications.A summary of these cutting-edge developments intends to provide readers with a deep understanding of the future design of high-quality tactile sensing devices and paves a path for their future commercial applications in the field of E-skin.展开更多
We present a rapid system for predicting beef tenderness by mimicking the human tactile sense. The detection system includesa FS pressure sensor, a power supply conversion circuit, a signal amplifier and a box in whic...We present a rapid system for predicting beef tenderness by mimicking the human tactile sense. The detection system includesa FS pressure sensor, a power supply conversion circuit, a signal amplifier and a box in which the sample is mounted. Asample of raw Longissimus dorsi (LD) muscle is placed in the measuring box; then a rod connected to the pressure sensor ispressed into the beef sample to a given depth; the reaction force of the beef sample is measured and used to predict the tenderness.Sensory evaluation and Warner-Bratzler Shear Force (WBSF) evaluation of samples from the same LD muscle are usedfor comparison. The new detection system agrees with established procedure 95% of the time, and the time to test a sample isless than 5 minutes.展开更多
Humans can sense, weigh and grasp different objects, deduce their physical properties at the same time, and exert appropriate forces – a challenging task for modern robots. Studying the mechanics of human grasping ob...Humans can sense, weigh and grasp different objects, deduce their physical properties at the same time, and exert appropriate forces – a challenging task for modern robots. Studying the mechanics of human grasping objects will play a supplementary role in visual-based robot object processing. These tools require large-scale tactile data sets with high spatial resolution. However, there is no large human-grasped tactile data set covering the whole hand, because dense coverage of the human hand with tactile sensors is challenging. Hence, the capability of observing and learning from successful daily humanobject interactions is the long-term goal of aiding the development of robots and prosthetics.展开更多
<strong>Introduction:</strong><span><span><span style="font-family:;" "=""><span style="font-family:Verdana;"> The true etiology of pelvic organ p...<strong>Introduction:</strong><span><span><span style="font-family:;" "=""><span style="font-family:Verdana;"> The true etiology of pelvic organ prolapse and urinary incontinence and variations observed among individuals are not entirely understood. Tactile (stress) and ultrasound (anatomy, strain) image fusion may furnish new insights into the female pelvic floor conditions. This study aimed to explore imaging performance and clinical value of vaginal tactile and ultrasound image fusion for characterization of the female pelvic floor. </span><b><span style="font-family:Verdana;">Methods:</span></b><span style="font-family:Verdana;"> A novel probe with 96 tactile and 192 ultrasound transducers was designed. Women scheduled for a urogynecological visit were considered eligible for enrollment to observational study. Intravaginal tactile and ultrasound images were acquired for vaginal wall deformations at probe insertion, elevation, rotation, Valsalva maneuver, voluntary contractions, involuntary relaxation, and reflex pelvic muscle contractions. Biomechanical mapping has included tactile/ultrasound imaging and functional imaging. </span><b><span style="font-family:Verdana;">Results:</span></b><span style="font-family:Verdana;"> Twenty women were successfully studied with the probe. Tactile and ultrasound images for tissues deformation as well as functional images were recorded. Tactile (stress) and ultrasound (strain) images allowed creation of stress-strain maps for the tissues of interest in absolute scale. Functional images allowed identification of active pelvic structures and their biomechanical characterization (anatomical measurements, contractive mobility and strength). Fusion of the modalities has allowed recognition and characterization of levator ani muscles (pubococcygeal, puborectal, iliococcygeal), perineum, urethral and anorectal complexes critical in prolapse and/or incontinence development. </span><b><span style="font-family:Verdana;">Conclusions:</span></b><span style="font-family:Verdana;"> Vaginal tactile and ultrasound image fusion provides unique data for biomechanical characterization of the female pelvic floor. Bringing novel biomechanical characterization for critical soft tissues/structures may provide extended scientific knowledge and improve clinical practice.</span></span></span></span>展开更多
Traditional triboelectric tactile sensors based on solid–solid interface have illustrated promising application prospects through optimization approach.However,the poor sensitivity and reliability caused by hard cont...Traditional triboelectric tactile sensors based on solid–solid interface have illustrated promising application prospects through optimization approach.However,the poor sensitivity and reliability caused by hard contact-electrification still poses challenges for the practical applications.In this work,a liquid–solid interface ferrofluid-based triboelectric tactile sensor(FTTS)with ultrahigh sensitivity is proposed.Relying on the fluidity and magnetism of ferrofluid,the topography of microstructure can be flexibly adjusted by directly employing ferrofluid as triboelectric material and controlling the position of outward magnet.To date,an ultrahigh sensitivity of 21.48 k Pa;for the triboelectric sensors can be achieved due to the high spike microstructure,low Young’s modulus of ferrofluid and efficient solid–liquid interface contact-electrification.The detection limit of FTTS of 1.25 Pa with a wide detection range to 390 k Pa was also obtained.In addition,the oleophobic property between ferrofluid and poly-tetra-fluoro-ethylene triboelectric layer can greatly reduce the wear and tear,resulting in the great improvement of stability.Finally,a strategy for personalized password lock with high security level has been demonstrated,illustrating a great perspective for practical application in smart home,artificial intelligence,Internet of things,etc.展开更多
This paper analyses the seometry features of target object, prasents anactive searching principle and tactics based on information fusion of force and tac-tile, discusses the way of searching the object by usiap wrist...This paper analyses the seometry features of target object, prasents anactive searching principle and tactics based on information fusion of force and tac-tile, discusses the way of searching the object by usiap wrist force sensor and tac-tile sensor join展开更多
Influence of surface topography on the tactile friction of medical compression textiles was studied in this paper. The friction behavior was investigated for three kinds of medical textiles with various structures and...Influence of surface topography on the tactile friction of medical compression textiles was studied in this paper. The friction behavior was investigated for three kinds of medical textiles with various structures and compositions by using a textile friction analyzer under dry condition. In order to simulate the contacts of textiles/human finger, a mechanical skin model with similar texture to the skin and applied normal load oflN were selected. Meanwhile, the 3D surface topography of textiles was measured using a digital microscope. The topographical data were analyzed concerning height distribution and material ratio, and the real contact area was estimated as a function of penetration depth. Results showed that the investigated textiles revealed a significant variation on the friction coefficients, which were （ 0.41 ± 0.01 ） （ polyamide, jersey 2 × 2 ）, （0.56 ± 0. 01） （cotton, jersey 2×2） and （0. 47 ± 0. 01） （polyamide, jersey 1 × 1 ）, respectively. The textile with higher friction coefficient was found to own a relative compact and homogenous surface and larger contact area, vice versa.展开更多
The lack of understanding of the psychometric properties on the basic texture features forming tactile texture sense hinders the development of haptic rendering technology of textiles. The differential threshold and W...The lack of understanding of the psychometric properties on the basic texture features forming tactile texture sense hinders the development of haptic rendering technology of textiles. The differential threshold and Weber fraction were investigated for a deep understanding of how surface texture features of fabrics affect the perceived roughness sensation by the constant stimulus method and the paired comparison method. The results showed that the differential threshold for the mean deviation of surface profile was0. 86 μm,and that the differential threshold of texture spatial period(TSP) was 2. 48 mm. And also,the difference thresholds and Weber fraction were affected by the reference stimulus intensity. As there is a significant interaction between four extracted texture feature indexes,any of the indexes alone cannot represent roughness sensation of fabrics.展开更多
This paper reports the design and fabrication of a MEMS-based ZnO piezoelectric tactile sensor,which can be integrated on to the endoscopic grasper used in minimally invasive surgery (MIS).The sensor includes a silico...This paper reports the design and fabrication of a MEMS-based ZnO piezoelectric tactile sensor,which can be integrated on to the endoscopic grasper used in minimally invasive surgery (MIS).The sensor includes a silicon substrate, platinum bottom electrode,platinum top electrode,and a ZnO piezoelectric thin film,which is sandwiched between the two-electrode layers.The sensitivity of the micro-force sensor is analyzed in theory and the sensor exhibits high sensitivity about 7pc/uN.The application of this tactile sensor to MIS will allow the surgeon feeling the touch force between the endoscopic grasper and tissue in real-time,and manipulating the tissue safely.展开更多
The common method classifying tactile qualities of fabrics is indirectly based on their difference of purely mechanical and physical properties. When human skin slides across fabric surfaces, the friction interaction ...The common method classifying tactile qualities of fabrics is indirectly based on their difference of purely mechanical and physical properties. When human skin slides across fabric surfaces, the friction interaction between fabrics and skin will occur and trigger the cutaneouS tactile receptors, which are responsible for perceived tactile sensation. By the extracted features from friction- induced vibration signals, this paper presents an anthropomorphic classification method classifying tactile qualities of fabrics. The friction-induced vibration signals are recorded by a three-axis accelerator sensor, and the entice testing procedure is conducted in an anthropomorphic way to obtain vibration signals. The fast Fourier transform （FFT） is applied to analyzing the recoded signals, and then the classification features are extracted from the FFT data by the neurophysiological properties of tactile receptors. The extracted features are used to classify fabric samples by the softness sensation and the roughness sensation, respectively, and the classification performance is checked by a comparison with those in a sensory evaluation procedure. The results showed that the anthropomorphic objective classification method was precise and efficient to clarify tactile qualities of woven fabrics.展开更多
The tactile P300 brain-computer interface( BCI) is related to the somatosensory perception and response of the human brain,and is different from visual or audio BCIs. Recently,several studies focused on the tactile st...The tactile P300 brain-computer interface( BCI) is related to the somatosensory perception and response of the human brain,and is different from visual or audio BCIs. Recently,several studies focused on the tactile stimuli delivered to different parts of the human body. Most of these stimuli were symmetrically bilateral.Only a fewstudies explored the influence of tactile stimuli laterality.In the current study,we extensively tested the performance of a vibrotactile BCI system using ipsilateral stimuli and bilateral stimuli.Two vibrotactile P300-based paradigms were tested. The target stimuli were located on the left and right forearms for the left forearm and right forearm( LFRF) paradigm,and on the left forearm and calf for the left forearm and left calf( LFLC)paradigm. Ten healthy subjects participated in this study. Our experiments and analysis showed that the bilateral paradigm( LFRF) elicited larger P300 amplitude and achieved significantly higher classification accuracy than the ipsilateral paradigm( LFLC). However, both paradigms achieved classification accuracies higher than 70% after the completion of several trials on average,which was usually regarded as the minimum accuracy level required for BCI system to be deemed useful.展开更多
Mimicking tactile perception is critical to the development of advanced interactive neuromorphic platforms.Inspired by cutaneous perceptual functions,a bionic tactile perceptual platform is proposed.PDMS-based tactile...Mimicking tactile perception is critical to the development of advanced interactive neuromorphic platforms.Inspired by cutaneous perceptual functions,a bionic tactile perceptual platform is proposed.PDMS-based tactile sensors act as bionic skin touch receptors.Flexible indium tin oxide neuromorphic transistors fabricated with a single-step mask pro-cessing act as artificial synapses.Thus,the tactile perceptual platform possesses the ability of information processing.Interestingly,the flexible tactile perception platform can find applications in information encryption and decryption.With adoption of cipher,signal transmitted by the perception platform is encrypted.Thus,the security of information transmis-sion is effectively improved.The flexible tactile perceptual platform would have potentials in cognitive wearable devices,advanced human-machine interaction system,and intelligent bionic robots.展开更多
Vibrational characteristics in small horizontal axis wind turbine system are presented in this study with a system concept called tactile response and substructuring.The main focus is on managing the dynamic propertie...Vibrational characteristics in small horizontal axis wind turbine system are presented in this study with a system concept called tactile response and substructuring.The main focus is on managing the dynamic properties like vibration,noise,and harshness that occur during the operational mode.Tactile response is defined as the response of subsystem which is induced when a human body touches a vibrating system.Sub structuring is a computational method used to reduce the dynamic behavior of a large complex system with a smaller number of degrees of freedom without disturbing the mesh size of the model.Sub structuring has the ability to combine numerical results along with the experimental results.Combination of substructuring and tactile response is applied in this study.Mode shapes of the system are analyzed and results obtained are correlated within this study to provide better optimization of the results.Wind turbine excited with wind energy depends on wind speed.Torsional vibration has a significant role in determining dynamic properties.Torsional vibration is caused as a result of the rotation of the turbine blade and depends on wind speed.The study gives importance to investigating the ability to simulate the numerical method and tactile response to predict and improve dynamic properties.展开更多
In recent years,tactile ground surface indicators have been vigorously constructed in all cities and towns in China,and the length of tactile ground surface indicators has been regarded as one of the standards for mea...In recent years,tactile ground surface indicators have been vigorously constructed in all cities and towns in China,and the length of tactile ground surface indicators has been regarded as one of the standards for measuring urban civilization construction.However,there are many problems in the actual use of tactile ground surface indicators,and the construction of a large number of tactile ground surface indicators has not had a positive impact on the travel of the visually impaired.With the sidewalk of Ninghai Road in Nanjing,Jiangsu,China as the object of study,this study constructed an evaluation system of tactile ground surface indicators installed on the sidewalk beside a road and determined its weight,evaluated the tactile ground surface indicators installed on sidewalks beside Ninghai Road from the perspective of the visually impaired,using fuzzy comprehensive evaluation,and obtained the satisfaction of each indicator and analyzed the reasons of the indicator results.This set of evaluation system can provide basic ideas for the targeted evaluation of tactile ground surface indicators installed on the sidewalk beside a road based on different urban districts,different urban road grades,and different urban environmental conditions.展开更多
基金the National Natural Science Foundation of China(Grant No.52072041)the Beijing Natural Science Foundation(Grant No.JQ21007)+2 种基金the University of Chinese Academy of Sciences(Grant No.Y8540XX2D2)the Robotics Rhino-Bird Focused Research Project(No.2020-01-002)the Tencent Robotics X Laboratory.
文摘Humans can perceive our complex world through multi-sensory fusion.Under limited visual conditions,people can sense a variety of tactile signals to identify objects accurately and rapidly.However,replicating this unique capability in robots remains a significant challenge.Here,we present a new form of ultralight multifunctional tactile nano-layered carbon aerogel sensor that provides pressure,temperature,material recognition and 3D location capabilities,which is combined with multimodal supervised learning algorithms for object recognition.The sensor exhibits human-like pressure(0.04–100 kPa)and temperature(21.5–66.2℃)detection,millisecond response times(11 ms),a pressure sensitivity of 92.22 kPa^(−1)and triboelectric durability of over 6000 cycles.The devised algorithm has universality and can accommodate a range of application scenarios.The tactile system can identify common foods in a kitchen scene with 94.63%accuracy and explore the topographic and geomorphic features of a Mars scene with 100%accuracy.This sensing approach empowers robots with versatile tactile perception to advance future society toward heightened sensing,recognition and intelligence.
文摘Over the years, there has been increased research interest in the application of Nitinol as an actuator, due to its shape memory behaviour, simplicity, high power-to-weight ratio, compactness, and extreme high fatigue resistance to cyclic motion, and noiseless operation. Nitinol has found application in tactile displays which reproduce tactile parameters such as texture and shape, depending on the application. This paper presents the effects of thermal interference between adjacent Nitinol spring actuators in a tactile display. The tactile display is made of a 3 by 3 pin array whose spatial resolution was varied from 4 mm to 6 mm in steps of 1 mm while a current of 1.5 A was used to actuate 8 of the springs, and the centre spring was left unactivated to observe the thermal effects on it due to the heat gradient formed. A Finite Element (FE) model was developed using COMSOL Multiphysics and the results were further verified through experimentation. In both cases, there was visible thermal interference between actuators. The increase in spatial resolution saw a decrease in thermal interference by 12.7%. Using a fan to introduce forced convection, reduced the thermal interference in the simulation by 20% and during experimentation by 11%. The results of this research indicate a spatial resolution of 6 mm reduced the thermal inference to a negligible rate. However, thermal interference could not be eliminated with these two methods.
基金2021 Graduate Research Innovation Project of BIFT,China (No.X2021-020)。
文摘From the perspective of the tactile comfort of underwear fabrics, 179 kinds of underwear fabrics were selected to test tactile related performance indices using the fabric touch tester(FTT), and the relationship between physical indicators and tactile sensation of different fiber types of underwear fabrics was studied to establish a digital regression model by a stepwise regression method. The experimental results show that fabric fiber composition, compression characteristics, surface friction coefficient, surface roughness amplitude, bending characteristics, and maximum thermal conductivity significantly affect the level of tactile comfort of underwear fabrics, the composition of underwear fabrics has a significant effect on soft touch, and the clustering method and the grading method can effectively rate the level of tactile comfort of underwear fabrics.
基金funding from National Natural Science Foundation of China(NSFC Nos.61774157,81771388,61874121,and 61874012)Beijing Natural Science Foundation(No.4182075)the Capital Science and Technology Conditions Platform Project(Project ID:Z181100009518014).
文摘Flexible tactile sensors have broad applications in human physiological monitoring,robotic operation and human-machine interaction.However,the research of wearable and flexible tactile sensors with high sensitivity,wide sensing range and ability to detect three-dimensional(3D)force is still very challenging.Herein,a flexible tactile electronic skin sensor based on carbon nanotubes(CNTs)/polydimethylsiloxane(PDMS)nanocomposites is presented for 3D contact force detection.The 3D forces were acquired from combination of four specially designed cells in a sensing element.Contributed from the double-sided rough porous structure and specific surface morphology of nanocomposites,the piezoresistive sensor possesses high sensitivity of 12.1 kPa?1 within the range of 600 Pa and 0.68 kPa?1 in the regime exceeding 1 kPa for normal pressure,as well as 59.9 N?1 in the scope of<0.05 N and>2.3 N?1 in the region of<0.6 N for tangential force with ultra-low response time of 3.1 ms.In addition,multi-functional detection in human body monitoring was employed with single sensing cell and the sensor array was integrated into a robotic arm for objects grasping control,indicating the capacities in intelligent robot applications.
基金supported by the National Key Research and Development Program of China(2017YFB0405400)National Natural Science Foundation of China(51732007)+1 种基金Major Innovation Projects in Shandong Province(2018YFJH0503)Natural Science Foundation of Shandong Province(ZR2018BEM010).
文摘Skin is the largest organ of the human body and can perceive and respond to complex environmental stimulations.Recently,the development of electronic skin(E-skin)for the mimicry of the human sensory system has drawn great attention due to its potential applications in wearable human health monitoring and care systems,advanced robotics,artificial intelligence,and human-machine interfaces.Tactile sense is one of the most important senses of human skin that has attracted special attention.The ability to obtain unique functions using diverse assembly processible methods has rapidly advanced the use of graphene,the most celebrated two-dimensional material,in electronic tactile sensing devices.With a special emphasis on the works achieved since 2016,this review begins with the assembly and modification of graphene materials and then critically and comprehensively summarizes the most advanced material assembly methods,device construction technologies and signal characterization approaches in pressure and strain detection based on graphene and its derivative materials.This review emphasizes on:(1)the underlying working principles of these types of sensors and the unique roles and advantages of graphene materials;(2)state-of-the-art protocols recently developed for high-performance tactile sensing,including representative examples;and(3)perspectives and current challenges for graphene-based tactile sensors in E-skin applications.A summary of these cutting-edge developments intends to provide readers with a deep understanding of the future design of high-quality tactile sensing devices and paves a path for their future commercial applications in the field of E-skin.
基金supported by the Key Project of Science and Technology Foundations of Jilin Province of China (Grant No.20060217)the Research Foundation for the Talents by the People's Government of Jilin Province
文摘We present a rapid system for predicting beef tenderness by mimicking the human tactile sense. The detection system includesa FS pressure sensor, a power supply conversion circuit, a signal amplifier and a box in which the sample is mounted. Asample of raw Longissimus dorsi (LD) muscle is placed in the measuring box; then a rod connected to the pressure sensor ispressed into the beef sample to a given depth; the reaction force of the beef sample is measured and used to predict the tenderness.Sensory evaluation and Warner-Bratzler Shear Force (WBSF) evaluation of samples from the same LD muscle are usedfor comparison. The new detection system agrees with established procedure 95% of the time, and the time to test a sample isless than 5 minutes.
文摘Humans can sense, weigh and grasp different objects, deduce their physical properties at the same time, and exert appropriate forces – a challenging task for modern robots. Studying the mechanics of human grasping objects will play a supplementary role in visual-based robot object processing. These tools require large-scale tactile data sets with high spatial resolution. However, there is no large human-grasped tactile data set covering the whole hand, because dense coverage of the human hand with tactile sensors is challenging. Hence, the capability of observing and learning from successful daily humanobject interactions is the long-term goal of aiding the development of robots and prosthetics.
文摘<strong>Introduction:</strong><span><span><span style="font-family:;" "=""><span style="font-family:Verdana;"> The true etiology of pelvic organ prolapse and urinary incontinence and variations observed among individuals are not entirely understood. Tactile (stress) and ultrasound (anatomy, strain) image fusion may furnish new insights into the female pelvic floor conditions. This study aimed to explore imaging performance and clinical value of vaginal tactile and ultrasound image fusion for characterization of the female pelvic floor. </span><b><span style="font-family:Verdana;">Methods:</span></b><span style="font-family:Verdana;"> A novel probe with 96 tactile and 192 ultrasound transducers was designed. Women scheduled for a urogynecological visit were considered eligible for enrollment to observational study. Intravaginal tactile and ultrasound images were acquired for vaginal wall deformations at probe insertion, elevation, rotation, Valsalva maneuver, voluntary contractions, involuntary relaxation, and reflex pelvic muscle contractions. Biomechanical mapping has included tactile/ultrasound imaging and functional imaging. </span><b><span style="font-family:Verdana;">Results:</span></b><span style="font-family:Verdana;"> Twenty women were successfully studied with the probe. Tactile and ultrasound images for tissues deformation as well as functional images were recorded. Tactile (stress) and ultrasound (strain) images allowed creation of stress-strain maps for the tissues of interest in absolute scale. Functional images allowed identification of active pelvic structures and their biomechanical characterization (anatomical measurements, contractive mobility and strength). Fusion of the modalities has allowed recognition and characterization of levator ani muscles (pubococcygeal, puborectal, iliococcygeal), perineum, urethral and anorectal complexes critical in prolapse and/or incontinence development. </span><b><span style="font-family:Verdana;">Conclusions:</span></b><span style="font-family:Verdana;"> Vaginal tactile and ultrasound image fusion provides unique data for biomechanical characterization of the female pelvic floor. Bringing novel biomechanical characterization for critical soft tissues/structures may provide extended scientific knowledge and improve clinical practice.</span></span></span></span>
基金Open access funding provided by Shanghai Jiao Tong University。
文摘Traditional triboelectric tactile sensors based on solid–solid interface have illustrated promising application prospects through optimization approach.However,the poor sensitivity and reliability caused by hard contact-electrification still poses challenges for the practical applications.In this work,a liquid–solid interface ferrofluid-based triboelectric tactile sensor(FTTS)with ultrahigh sensitivity is proposed.Relying on the fluidity and magnetism of ferrofluid,the topography of microstructure can be flexibly adjusted by directly employing ferrofluid as triboelectric material and controlling the position of outward magnet.To date,an ultrahigh sensitivity of 21.48 k Pa;for the triboelectric sensors can be achieved due to the high spike microstructure,low Young’s modulus of ferrofluid and efficient solid–liquid interface contact-electrification.The detection limit of FTTS of 1.25 Pa with a wide detection range to 390 k Pa was also obtained.In addition,the oleophobic property between ferrofluid and poly-tetra-fluoro-ethylene triboelectric layer can greatly reduce the wear and tear,resulting in the great improvement of stability.Finally,a strategy for personalized password lock with high security level has been demonstrated,illustrating a great perspective for practical application in smart home,artificial intelligence,Internet of things,etc.
文摘This paper analyses the seometry features of target object, prasents anactive searching principle and tactics based on information fusion of force and tac-tile, discusses the way of searching the object by usiap wrist force sensor and tac-tile sensor join
基金National Natural Science Foundations of China，Natural Science Foundation of Shanghai,China，the Fundamental Research Funds for the Central Universities,China
文摘Influence of surface topography on the tactile friction of medical compression textiles was studied in this paper. The friction behavior was investigated for three kinds of medical textiles with various structures and compositions by using a textile friction analyzer under dry condition. In order to simulate the contacts of textiles/human finger, a mechanical skin model with similar texture to the skin and applied normal load oflN were selected. Meanwhile, the 3D surface topography of textiles was measured using a digital microscope. The topographical data were analyzed concerning height distribution and material ratio, and the real contact area was estimated as a function of penetration depth. Results showed that the investigated textiles revealed a significant variation on the friction coefficients, which were （ 0.41 ± 0.01 ） （ polyamide, jersey 2 × 2 ）, （0.56 ± 0. 01） （cotton, jersey 2×2） and （0. 47 ± 0. 01） （polyamide, jersey 1 × 1 ）, respectively. The textile with higher friction coefficient was found to own a relative compact and homogenous surface and larger contact area, vice versa.
基金National Natural Science Foundations of China(No.51175076,No.11232005)Shanghai Natural Science Fund,China(No.12ZR1400500)Fundamental Research Funds for the Central Universities of China
文摘The lack of understanding of the psychometric properties on the basic texture features forming tactile texture sense hinders the development of haptic rendering technology of textiles. The differential threshold and Weber fraction were investigated for a deep understanding of how surface texture features of fabrics affect the perceived roughness sensation by the constant stimulus method and the paired comparison method. The results showed that the differential threshold for the mean deviation of surface profile was0. 86 μm,and that the differential threshold of texture spatial period(TSP) was 2. 48 mm. And also,the difference thresholds and Weber fraction were affected by the reference stimulus intensity. As there is a significant interaction between four extracted texture feature indexes,any of the indexes alone cannot represent roughness sensation of fabrics.
基金supported by National Natural Science Foundation of China(No.90207003)
文摘This paper reports the design and fabrication of a MEMS-based ZnO piezoelectric tactile sensor,which can be integrated on to the endoscopic grasper used in minimally invasive surgery (MIS).The sensor includes a silicon substrate, platinum bottom electrode,platinum top electrode,and a ZnO piezoelectric thin film,which is sandwiched between the two-electrode layers.The sensitivity of the micro-force sensor is analyzed in theory and the sensor exhibits high sensitivity about 7pc/uN.The application of this tactile sensor to MIS will allow the surgeon feeling the touch force between the endoscopic grasper and tissue in real-time,and manipulating the tissue safely.
基金National Natural Science Foundations of China，Natural Science Foundation of Shanghai,China，the Fundamental Research Funds for the Central Universities,China
文摘The common method classifying tactile qualities of fabrics is indirectly based on their difference of purely mechanical and physical properties. When human skin slides across fabric surfaces, the friction interaction between fabrics and skin will occur and trigger the cutaneouS tactile receptors, which are responsible for perceived tactile sensation. By the extracted features from friction- induced vibration signals, this paper presents an anthropomorphic classification method classifying tactile qualities of fabrics. The friction-induced vibration signals are recorded by a three-axis accelerator sensor, and the entice testing procedure is conducted in an anthropomorphic way to obtain vibration signals. The fast Fourier transform （FFT） is applied to analyzing the recoded signals, and then the classification features are extracted from the FFT data by the neurophysiological properties of tactile receptors. The extracted features are used to classify fabric samples by the softness sensation and the roughness sensation, respectively, and the classification performance is checked by a comparison with those in a sensory evaluation procedure. The results showed that the anthropomorphic objective classification method was precise and efficient to clarify tactile qualities of woven fabrics.
基金National Key Research and Development Program,China(No.2017YFB13003002)National Natural Science Foundation of China(Nos.61573142,61773164,91420302)Programme of Introducing Talents of Discipline to Universities(the 111 Project)(No.B17017)
文摘The tactile P300 brain-computer interface( BCI) is related to the somatosensory perception and response of the human brain,and is different from visual or audio BCIs. Recently,several studies focused on the tactile stimuli delivered to different parts of the human body. Most of these stimuli were symmetrically bilateral.Only a fewstudies explored the influence of tactile stimuli laterality.In the current study,we extensively tested the performance of a vibrotactile BCI system using ipsilateral stimuli and bilateral stimuli.Two vibrotactile P300-based paradigms were tested. The target stimuli were located on the left and right forearms for the left forearm and right forearm( LFRF) paradigm,and on the left forearm and calf for the left forearm and left calf( LFLC)paradigm. Ten healthy subjects participated in this study. Our experiments and analysis showed that the bilateral paradigm( LFRF) elicited larger P300 amplitude and achieved significantly higher classification accuracy than the ipsilateral paradigm( LFLC). However, both paradigms achieved classification accuracies higher than 70% after the completion of several trials on average,which was usually regarded as the minimum accuracy level required for BCI system to be deemed useful.
基金Project supported by the National Natural Science Foundation of China(Grant No.51972316)Ningbo Key Scientific and Technological Project(Grant No.2021Z116).
文摘Mimicking tactile perception is critical to the development of advanced interactive neuromorphic platforms.Inspired by cutaneous perceptual functions,a bionic tactile perceptual platform is proposed.PDMS-based tactile sensors act as bionic skin touch receptors.Flexible indium tin oxide neuromorphic transistors fabricated with a single-step mask pro-cessing act as artificial synapses.Thus,the tactile perceptual platform possesses the ability of information processing.Interestingly,the flexible tactile perception platform can find applications in information encryption and decryption.With adoption of cipher,signal transmitted by the perception platform is encrypted.Thus,the security of information transmis-sion is effectively improved.The flexible tactile perceptual platform would have potentials in cognitive wearable devices,advanced human-machine interaction system,and intelligent bionic robots.
文摘Vibrational characteristics in small horizontal axis wind turbine system are presented in this study with a system concept called tactile response and substructuring.The main focus is on managing the dynamic properties like vibration,noise,and harshness that occur during the operational mode.Tactile response is defined as the response of subsystem which is induced when a human body touches a vibrating system.Sub structuring is a computational method used to reduce the dynamic behavior of a large complex system with a smaller number of degrees of freedom without disturbing the mesh size of the model.Sub structuring has the ability to combine numerical results along with the experimental results.Combination of substructuring and tactile response is applied in this study.Mode shapes of the system are analyzed and results obtained are correlated within this study to provide better optimization of the results.Wind turbine excited with wind energy depends on wind speed.Torsional vibration has a significant role in determining dynamic properties.Torsional vibration is caused as a result of the rotation of the turbine blade and depends on wind speed.The study gives importance to investigating the ability to simulate the numerical method and tactile response to predict and improve dynamic properties.
基金Sponsored by the National Key R&D Program of China(2018YFC0704903)
文摘In recent years,tactile ground surface indicators have been vigorously constructed in all cities and towns in China,and the length of tactile ground surface indicators has been regarded as one of the standards for measuring urban civilization construction.However,there are many problems in the actual use of tactile ground surface indicators,and the construction of a large number of tactile ground surface indicators has not had a positive impact on the travel of the visually impaired.With the sidewalk of Ninghai Road in Nanjing,Jiangsu,China as the object of study,this study constructed an evaluation system of tactile ground surface indicators installed on the sidewalk beside a road and determined its weight,evaluated the tactile ground surface indicators installed on sidewalks beside Ninghai Road from the perspective of the visually impaired,using fuzzy comprehensive evaluation,and obtained the satisfaction of each indicator and analyzed the reasons of the indicator results.This set of evaluation system can provide basic ideas for the targeted evaluation of tactile ground surface indicators installed on the sidewalk beside a road based on different urban districts,different urban road grades,and different urban environmental conditions.
