Tribotronics is an original field studying the coupling bet- ween triboelectricity and semiconductors. Contact-electrification field-effect transistors (CE-FETs) have emerged as promising tribotronic devices capable of implementing novel electromechanical devices for human–robot interfacing, sensing platforms, and active flexible electronics in the near future. This letter presents the design, fabrication, and characterization of CE-FETs consisting of a triboel- ectric nanogenerator (TENG)—using zinc oxide and polyethylene terephthalate as tribopositive and tribonegative materials, respecti- vely, coupled to a driven metal–oxide–semiconductor field-effect transistor ( mosfet ). Optimizing the triboelectric properties of selected materials and operating TENG with frequencies ranging between 2 and 10 Hz and electrode distances ranging from 2 to 10 mm, the modulation of the output characteristics of the mosfet via external mechanical forces has been demonstrated.
{"title":"Study of Triboelectric Potential for Tunable Contact-Electrification Field-Effect Transistors","authors":"Michael McKinlay;Mahdieh Shojaei Baghini;Manuel Pelayo Garcia;Bhavani Yalagala;Hadi Heidari;Des Gibson;Carlos Garcia Nuñez","doi":"10.1109/LSENS.2024.3442311","DOIUrl":"https://doi.org/10.1109/LSENS.2024.3442311","url":null,"abstract":"Tribotronics is an original field studying the coupling bet- ween triboelectricity and semiconductors. Contact-electrification field-effect transistors (CE-FETs) have emerged as promising tribotronic devices capable of implementing novel electromechanical devices for human–robot interfacing, sensing platforms, and active flexible electronics in the near future. This letter presents the design, fabrication, and characterization of CE-FETs consisting of a triboel- ectric nanogenerator (TENG)—using zinc oxide and polyethylene terephthalate as tribopositive and tribonegative materials, respecti- vely, coupled to a driven metal–oxide–semiconductor field-effect transistor (\u0000<sc>mosfet</small>\u0000). Optimizing the triboelectric properties of selected materials and operating TENG with frequencies ranging between 2 and 10 Hz and electrode distances ranging from 2 to 10 mm, the modulation of the output characteristics of the \u0000<sc>mosfet</small>\u0000 via external mechanical forces has been demonstrated.","PeriodicalId":13014,"journal":{"name":"IEEE Sensors Letters","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142090731","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Endoscopes with small diameters are widely desired in medical and industrial fields. In this letter, we experimentally demonstrated single-pixel imaging (SPI) using a polarization-maintaining (PM) fiber array with few cores to achieve endoscope size reduction. We designed a PM fiber array with four fibers for the SPI system. The fiber array generated spatial patterns modulated using thermo-optic phase modulation. These patterns were then used to project objects, and the light intensities were detected. Using the pattern information and obtained intensities, we reconstructed the object information. This letter provides the first experimental demonstration of an SPI system incorporating a PM fiber array with four fibers. The results represent an advancement for realizing a compact endoscope based on SPI algorithms. The resolution of the reconstructions obtained using the SPI system can be improved. Thus, the results of this letter can be used as a reference for further developments.
{"title":"Experimental Demonstration of Single-Pixel Imaging Using a Polarization-Maintaining Fiber Array With Four Fibers","authors":"Kanami Ikeda;Kohei Nishizaki;Osanori Koyama;Makoto Yamada","doi":"10.1109/LSENS.2024.3442233","DOIUrl":"https://doi.org/10.1109/LSENS.2024.3442233","url":null,"abstract":"Endoscopes with small diameters are widely desired in medical and industrial fields. In this letter, we experimentally demonstrated single-pixel imaging (SPI) using a polarization-maintaining (PM) fiber array with few cores to achieve endoscope size reduction. We designed a PM fiber array with four fibers for the SPI system. The fiber array generated spatial patterns modulated using thermo-optic phase modulation. These patterns were then used to project objects, and the light intensities were detected. Using the pattern information and obtained intensities, we reconstructed the object information. This letter provides the first experimental demonstration of an SPI system incorporating a PM fiber array with four fibers. The results represent an advancement for realizing a compact endoscope based on SPI algorithms. The resolution of the reconstructions obtained using the SPI system can be improved. Thus, the results of this letter can be used as a reference for further developments.","PeriodicalId":13014,"journal":{"name":"IEEE Sensors Letters","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10634325","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142246369","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}
Pub Date : 2024-08-12DOI: 10.1109/LSENS.2024.3441854
Sergey V. Muravyov;Liudmila I. Khudonogova;Alexander Ya. Pak
The performance loss rate (PLR) of the photovoltaic (PV) system quantifies the change in the system's energy yield over time. To determine the PLR, readings from different sensors obtained for a certain time period are processed to get the linear regression that reflects the changes in system performance measured by relationship between incoming irradiation and energy produced by the PV system. Ordinary least squares (OLS) provide acceptable regression only under homoscedasticity, where analyzed sensory data are normally distributed and have the same variance. In the presence of heteroscedasticity and outliers, OLS needs additional efforts to improve the data. We propose a way for constructing a linear regression for PV system performance raw sensory data by means of the robust interval fusion with preference aggregation method. The proposed approach is insensitive to heteroscedasticity and outliers in data under analysis, which is demonstrated on small size set of synthetic data and on real-life data. The approach also does not require special preliminary sensory data preparation.
{"title":"Robust Determination of Performance Loss Rate for Photovoltaic Systems","authors":"Sergey V. Muravyov;Liudmila I. Khudonogova;Alexander Ya. Pak","doi":"10.1109/LSENS.2024.3441854","DOIUrl":"https://doi.org/10.1109/LSENS.2024.3441854","url":null,"abstract":"The performance loss rate (PLR) of the photovoltaic (PV) system quantifies the change in the system's energy yield over time. To determine the PLR, readings from different sensors obtained for a certain time period are processed to get the linear regression that reflects the changes in system performance measured by relationship between incoming irradiation and energy produced by the PV system. Ordinary least squares (OLS) provide acceptable regression only under homoscedasticity, where analyzed sensory data are normally distributed and have the same variance. In the presence of heteroscedasticity and outliers, OLS needs additional efforts to improve the data. We propose a way for constructing a linear regression for PV system performance raw sensory data by means of the robust interval fusion with preference aggregation method. The proposed approach is insensitive to heteroscedasticity and outliers in data under analysis, which is demonstrated on small size set of synthetic data and on real-life data. The approach also does not require special preliminary sensory data preparation.","PeriodicalId":13014,"journal":{"name":"IEEE Sensors Letters","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142041446","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-12DOI: 10.1109/LSENS.2024.3440477
Sebastian Lang;Wolfgang Hilber;Herbert Enser;Tina Mitteramskogler;Bernhard Jakoby
Force sensing plays a significant role from industrial applications to medicine, and active sensors, such as piezoelectric transducers that actively output a signal themselves, are already widely used. Typically, these are individual components that have to be connected to a measurement circuit using wires or solder joints potentially adding multiple processing steps. This work reports on embedding these sensors directly into the stack of a printed circuit board (PCB) to eliminate the need for complicated wiring, further integrate the transducer into the measurement circuit, and enable the measurement of the forces exerted onto the PCB itself. The transducer material was chosen to be polyvinylidene fluoride (PVDF) as it can easily be printed onto various surfaces and has sufficient piezoelectric sensitivity for the measurement of small forces. Poly(vinylidene fluoride–trifluoroethylene) (P(VDF-TrFE)), a copolymer of PVDF, is stencil printed onto commercially fabricated two-layer PCBs. The boards already incorporate the electrodes that are needed for the electrical connection of P(VDF-TrFE) with the remaining circuitry. Two PCBs with the applied P(VDF-TrFE) layers are stacked and bonded using the thermoplastic properties of PVDF to create the finished sensor. Measurements show a mostly linear behavior of these force sensors with a sensitivity of around 10 pC/N. The linear measurement range strongly depends on the P(VDF-TrFE) layer thickness, where 70 µm allow for measurement up to at least 3.5 N. In addition, a limit of detection of approximately 10 mN was observed. This concept shows the possibility of embedding sensors further into the measurement circuitry and enabling a much more compact force-sensing package as well as structural monitoring of electronic circuits.
{"title":"Embedding PVDF-Based Force Sensors in Stacked Printed Circuit Boards","authors":"Sebastian Lang;Wolfgang Hilber;Herbert Enser;Tina Mitteramskogler;Bernhard Jakoby","doi":"10.1109/LSENS.2024.3440477","DOIUrl":"https://doi.org/10.1109/LSENS.2024.3440477","url":null,"abstract":"Force sensing plays a significant role from industrial applications to medicine, and active sensors, such as piezoelectric transducers that actively output a signal themselves, are already widely used. Typically, these are individual components that have to be connected to a measurement circuit using wires or solder joints potentially adding multiple processing steps. This work reports on embedding these sensors directly into the stack of a printed circuit board (PCB) to eliminate the need for complicated wiring, further integrate the transducer into the measurement circuit, and enable the measurement of the forces exerted onto the PCB itself. The transducer material was chosen to be polyvinylidene fluoride (PVDF) as it can easily be printed onto various surfaces and has sufficient piezoelectric sensitivity for the measurement of small forces. Poly(vinylidene fluoride–trifluoroethylene) (P(VDF-TrFE)), a copolymer of PVDF, is stencil printed onto commercially fabricated two-layer PCBs. The boards already incorporate the electrodes that are needed for the electrical connection of P(VDF-TrFE) with the remaining circuitry. Two PCBs with the applied P(VDF-TrFE) layers are stacked and bonded using the thermoplastic properties of PVDF to create the finished sensor. Measurements show a mostly linear behavior of these force sensors with a sensitivity of around 10 pC/N. The linear measurement range strongly depends on the P(VDF-TrFE) layer thickness, where 70 µm allow for measurement up to at least 3.5 N. In addition, a limit of detection of approximately 10 mN was observed. This concept shows the possibility of embedding sensors further into the measurement circuitry and enabling a much more compact force-sensing package as well as structural monitoring of electronic circuits.","PeriodicalId":13014,"journal":{"name":"IEEE Sensors Letters","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10633787","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142013358","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}
Pub Date : 2024-08-09DOI: 10.1109/LSENS.2024.3441228
Alfred Amiolemen;Grzegorz Fusiek;Pawel Niewczas
This letter presents an improved calibration method for a novel optical current sensor (OCS) based on the integration of photonic and piezoelectric technologies to facilitate the distributed measurement of current within high-voltage direct current (HVDC) networks. The sensor is designed to fit in an HVDC subsea cable splice to provide remote distributed current measurement for enhanced monitoring and protection of HVDC power cable assets. The prototype transducer comprises a nonlinear amplifier with an enhanced dynamic range to reduce the measurement errors that are dominated by the limitations of the sensor interrogation system at low input signal levels. The improved calibration method incorporates segregated piecewise curve fitting into the sensor calibration characteristic. The experimental results demonstrate the significant reduction of the measurement errors showing the potential of the sensor to comply with the accuracy requirements set by the IEC 61869-14 standard for Class 1 direct current transformer (DCCT) devices.
{"title":"Improved Calibration Method of the Photonic Current Sensor for Monitoring HVDC Networks","authors":"Alfred Amiolemen;Grzegorz Fusiek;Pawel Niewczas","doi":"10.1109/LSENS.2024.3441228","DOIUrl":"https://doi.org/10.1109/LSENS.2024.3441228","url":null,"abstract":"This letter presents an improved calibration method for a novel optical current sensor (OCS) based on the integration of photonic and piezoelectric technologies to facilitate the distributed measurement of current within high-voltage direct current (HVDC) networks. The sensor is designed to fit in an HVDC subsea cable splice to provide remote distributed current measurement for enhanced monitoring and protection of HVDC power cable assets. The prototype transducer comprises a nonlinear amplifier with an enhanced dynamic range to reduce the measurement errors that are dominated by the limitations of the sensor interrogation system at low input signal levels. The improved calibration method incorporates segregated piecewise curve fitting into the sensor calibration characteristic. The experimental results demonstrate the significant reduction of the measurement errors showing the potential of the sensor to comply with the accuracy requirements set by the IEC 61869-14 standard for Class 1 direct current transformer (DCCT) devices.","PeriodicalId":13014,"journal":{"name":"IEEE Sensors Letters","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142368497","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-09DOI: 10.1109/LSENS.2024.3441091
Rafael Ecker;Tina Mitteramskogler;Andreas Fuchsluger;Bernhard Jakoby
A surface phenomenon known as the electric double layer effect occurs in a few atomic layers at the fluid–solid interface. By applying an external electric field, this phenomenon is used to generate a fluidic flow, which is called electroosmosis, and the corresponding device electroosmotic pumps (EOPs). In order to immensely increase the fluid–solid contact surface and, consequently, the fluid volume that generates the desired fluidic flow, an EOP employing a glass fiber filter in the main channel is presented in this letter. As a result, our EOP can reach high pressures of up to 400 kPa as well as high flow rates up to the milliliter per minute range. The devised technology enables low-cost EOP fabrication by using a polymethyl methacrylate substrate and mostly thermal-based fabrication processes. In order to address the challenges associated with spurious gas generation due to electrolysis, this EOP uses ion conductive membranes to keep the unwanted electrolysis process outside of the channel. To endure highly aggressive chemical reactions, platinum wires are furthermore employed as electrodes in the EOPs.
{"title":"Microfluidic High-Power Electroosmotic Pumps Based on Glass Fiber Filters","authors":"Rafael Ecker;Tina Mitteramskogler;Andreas Fuchsluger;Bernhard Jakoby","doi":"10.1109/LSENS.2024.3441091","DOIUrl":"https://doi.org/10.1109/LSENS.2024.3441091","url":null,"abstract":"A surface phenomenon known as the electric double layer effect occurs in a few atomic layers at the fluid–solid interface. By applying an external electric field, this phenomenon is used to generate a fluidic flow, which is called electroosmosis, and the corresponding device electroosmotic pumps (EOPs). In order to immensely increase the fluid–solid contact surface and, consequently, the fluid volume that generates the desired fluidic flow, an EOP employing a glass fiber filter in the main channel is presented in this letter. As a result, our EOP can reach high pressures of up to 400 kPa as well as high flow rates up to the milliliter per minute range. The devised technology enables low-cost EOP fabrication by using a polymethyl methacrylate substrate and mostly thermal-based fabrication processes. In order to address the challenges associated with spurious gas generation due to electrolysis, this EOP uses ion conductive membranes to keep the unwanted electrolysis process outside of the channel. To endure highly aggressive chemical reactions, platinum wires are furthermore employed as electrodes in the EOPs.","PeriodicalId":13014,"journal":{"name":"IEEE Sensors Letters","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10632577","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142021594","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}
Pub Date : 2024-08-09DOI: 10.1109/LSENS.2024.3441104
Koki Kanzaki;Koya Sato
This letter presents a spatial regression framework that does not rely on absolute positions, such as those obtained from the Global Navigation Satellite System. Typical spatial analysis methods, which depend on precise sensor location data, can result in increased sensor costs and reduced accuracy in challenging environments, such as indoor or underwater settings. Our framework circumvents the need for positioning functions at the sensors by estimating the locational relationships among sensors on relative coordinates based on the probability distribution of the sensor locations and spatial correlations of the sensed data. The server then performs spatial analysis on the relative coordinate system using a regression method, such as Gaussian process regression (GPR) or inverse distance weighting. We validate our approach with two open datasets: a meteorological dataset from the Japanese Meteorological Agency and Intel Lab Data. In both datasets, our results demonstrate that the proposed method can realize spatial regression analysis with less than 10% accuracy degradation in terms of median root mean squared error compared to GPR on absolute coordinates.
{"title":"A Location-Blind Spatial Regression Framework for IoT Monitoring Systems Based on Location Distribution and Spatial Correlation","authors":"Koki Kanzaki;Koya Sato","doi":"10.1109/LSENS.2024.3441104","DOIUrl":"https://doi.org/10.1109/LSENS.2024.3441104","url":null,"abstract":"This letter presents a spatial regression framework that does not rely on absolute positions, such as those obtained from the Global Navigation Satellite System. Typical spatial analysis methods, which depend on precise sensor location data, can result in increased sensor costs and reduced accuracy in challenging environments, such as indoor or underwater settings. Our framework circumvents the need for positioning functions at the sensors by estimating the locational relationships among sensors on relative coordinates based on the probability distribution of the sensor locations and spatial correlations of the sensed data. The server then performs spatial analysis on the relative coordinate system using a regression method, such as Gaussian process regression (GPR) or inverse distance weighting. We validate our approach with two open datasets: a meteorological dataset from the Japanese Meteorological Agency and Intel Lab Data. In both datasets, our results demonstrate that the proposed method can realize spatial regression analysis with less than 10% accuracy degradation in terms of median root mean squared error compared to GPR on absolute coordinates.","PeriodicalId":13014,"journal":{"name":"IEEE Sensors Letters","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10632575","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142090951","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}
Miniaturized complementary metal-oxide semiconductor (CMOS) hyperspectral cameras utilizing Fabry–Perot interferometers (FPIs) have emerged as a low-cost solution providing fast-acquisition miniaturized sensors well suited for both in-field analysis and remote sensing. However, FPIs generate harmonics around each wavelength of interest, hindering the accuracy and reliability of spectral information. This letter proposes a novel scene-dependent spectral correction and calibration method for miniaturized CMOS hyperspectral cameras using the FPI technology. Unlike the manufacturer's scene-independent spectral correction matrix, our approach utilizes deconvolution with Tikhonov regularization weighted by the entropy of the Fabry–Perot harmonics to remove the generated artifacts and restore the original spectra. It adapts to the scene's unique characteristics, reducing harmonics and improving hyperspectral data quality. The experiments on synthetic data and real images acquired by an FPI sensor demonstrate the superiority of our method in removing harmonic distortions and achieving improved accuracy in spectral calibration.
{"title":"Fabry–Perot Spectral Deconvolution With Entropy-Weighted Penalization","authors":"Kinan Abbas;Pierre Chatelain;Matthieu Puigt;Gilles Delmaire;Gilles Roussel","doi":"10.1109/LSENS.2024.3439209","DOIUrl":"https://doi.org/10.1109/LSENS.2024.3439209","url":null,"abstract":"Miniaturized complementary metal-oxide semiconductor (CMOS) hyperspectral cameras utilizing Fabry–Perot interferometers (FPIs) have emerged as a low-cost solution providing fast-acquisition miniaturized sensors well suited for both in-field analysis and remote sensing. However, FPIs generate harmonics around each wavelength of interest, hindering the accuracy and reliability of spectral information. This letter proposes a novel scene-dependent spectral correction and calibration method for miniaturized CMOS hyperspectral cameras using the FPI technology. Unlike the manufacturer's scene-independent spectral correction matrix, our approach utilizes deconvolution with Tikhonov regularization weighted by the entropy of the Fabry–Perot harmonics to remove the generated artifacts and restore the original spectra. It adapts to the scene's unique characteristics, reducing harmonics and improving hyperspectral data quality. The experiments on synthetic data and real images acquired by an FPI sensor demonstrate the superiority of our method in removing harmonic distortions and achieving improved accuracy in spectral calibration.","PeriodicalId":13014,"journal":{"name":"IEEE Sensors Letters","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141973516","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-07DOI: 10.1109/LSENS.2024.3440195
Jose Eduardo Aguilar-Segovia;Maxime Manzano;Sylvain Guégan;Ronan Le Breton;Alice Farhi-Rivasseau;Sylvain Lefebvre;Marie Babel
Measuring interaction forces between robots and humans is a major challenge in physical human–robot interactions. Nowadays, conventional force/torque sensors suffer from bulkiness, high cost, and stiffness, which limit their use in soft robotics. Thus, we introduce a novel torque sensor manufactured with material extrusion technology. Our approach relies on capacitive structures, which are at the same time the deformable and sensing parts of the sensor, making it very compact. These structures are made in one single print, simplifying the manufacturing process compared to traditional torque sensors. The sensor characteristics can be modulated thanks to material extrusion technology. We conduct experiments in a dedicated test bench to characterize the proposed torque sensor. From the characterization results, we implement a torque estimator based on the deformation angle estimate calculated from capacitance changes. The proposed torque sensor is able to measure torques within a $pm$ 2.5 N $cdot$ m range with a maximum error of 6% up to a deformation angle velocity of $text {35}^{circ }/text{s}$ . It is also able to measure its deformation angle with a maximum error of $text {0.4}^{circ }$ . The accuracy of our sensor makes it suitable to ensure fine control in physical human–robot interaction applications.
{"title":"Multi-Material Torque Sensor Embedding One-Shot 3D-Printed Deformable Capacitive Structures","authors":"Jose Eduardo Aguilar-Segovia;Maxime Manzano;Sylvain Guégan;Ronan Le Breton;Alice Farhi-Rivasseau;Sylvain Lefebvre;Marie Babel","doi":"10.1109/LSENS.2024.3440195","DOIUrl":"https://doi.org/10.1109/LSENS.2024.3440195","url":null,"abstract":"Measuring interaction forces between robots and humans is a major challenge in physical human–robot interactions. Nowadays, conventional force/torque sensors suffer from bulkiness, high cost, and stiffness, which limit their use in soft robotics. Thus, we introduce a novel torque sensor manufactured with material extrusion technology. Our approach relies on capacitive structures, which are at the same time the deformable and sensing parts of the sensor, making it very compact. These structures are made in one single print, simplifying the manufacturing process compared to traditional torque sensors. The sensor characteristics can be modulated thanks to material extrusion technology. We conduct experiments in a dedicated test bench to characterize the proposed torque sensor. From the characterization results, we implement a torque estimator based on the deformation angle estimate calculated from capacitance changes. The proposed torque sensor is able to measure torques within a \u0000<inline-formula><tex-math>$pm$</tex-math></inline-formula>\u00002.5 N\u0000<inline-formula><tex-math>$cdot$</tex-math></inline-formula>\u0000m range with a maximum error of 6% up to a deformation angle velocity of \u0000<inline-formula><tex-math>$text {35}^{circ }/text{s}$</tex-math></inline-formula>\u0000. It is also able to measure its deformation angle with a maximum error of \u0000<inline-formula><tex-math>$text {0.4}^{circ }$</tex-math></inline-formula>\u0000. The accuracy of our sensor makes it suitable to ensure fine control in physical human–robot interaction applications.","PeriodicalId":13014,"journal":{"name":"IEEE Sensors Letters","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142021593","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this letter, we report the development of a viscometer by utilizing a vision-based sensing method. The experimental arrangement includes a cylindrical transparent container with a capillary tube at its bottom and a white cardboard with a vertical black line positioned behind the container. As the liquid sample flows through the capillary tube, the original black line reappears above the meniscus increasing its length, while the refracted line below the meniscus shortens. A camera in association with a Raspberry Pi is used to measure the flow time (FT) from the changing length of a vertical line above the meniscus, which estimates the viscosity from Poiseuille's equation of liquid flow. The system is utilized for viscosity measurements at temperature of 20 °C and 30 °C. Experimental results demonstrate well agreement with standard viscosity values of the test samples. The proposed system offers several merits, including simple in design, low cost, noninvasive operation, automatic flow time measurement, and improved response time facilitated by real-time processing. It is suitable for measuring the viscosity of transparent Newtonian liquids.
在这封信中，我们报告了利用基于视觉的传感方法开发粘度计的情况。实验装置包括一个圆柱形透明容器，容器底部有一根毛细管，容器后面有一块白色纸板，纸板上有一条垂直黑线。当液体样品流经毛细管时，原来的黑线会重新出现在半月板上方，并增加其长度，而半月板下方的折射线则会缩短。摄像头与树莓派（Raspberry Pi）结合使用，可根据半月板上方垂直线长度的变化测量流动时间（FT），从而根据普瓦休伊液体流动方程估算出粘度。该系统用于测量 20 °C 和 30 °C 温度下的粘度。实验结果表明与测试样品的标准粘度值十分吻合。所提出的系统具有多个优点，包括设计简单、成本低、非侵入式操作、自动测量流动时间以及通过实时处理提高响应速度。它适用于测量透明牛顿液体的粘度。
{"title":"A Novel Vision-Based Approach for Estimating Viscosity and Concentration of Transparent Liquids","authors":"Nityananda Hazarika;Rakesh Goswami;Ram Kishore Roy;Hidam Kumarjit Singh;Tulshi Bezboruah","doi":"10.1109/LSENS.2024.3439745","DOIUrl":"https://doi.org/10.1109/LSENS.2024.3439745","url":null,"abstract":"In this letter, we report the development of a viscometer by utilizing a vision-based sensing method. The experimental arrangement includes a cylindrical transparent container with a capillary tube at its bottom and a white cardboard with a vertical black line positioned behind the container. As the liquid sample flows through the capillary tube, the original black line reappears above the meniscus increasing its length, while the refracted line below the meniscus shortens. A camera in association with a Raspberry Pi is used to measure the flow time (FT) from the changing length of a vertical line above the meniscus, which estimates the viscosity from Poiseuille's equation of liquid flow. The system is utilized for viscosity measurements at temperature of 20 °C and 30 °C. Experimental results demonstrate well agreement with standard viscosity values of the test samples. The proposed system offers several merits, including simple in design, low cost, noninvasive operation, automatic flow time measurement, and improved response time facilitated by real-time processing. It is suitable for measuring the viscosity of transparent Newtonian liquids.","PeriodicalId":13014,"journal":{"name":"IEEE Sensors Letters","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141993987","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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