Design Modeling Fabrication And Testing Of A Membrane Piezoelectric Tactile Sensor With Four Sensing Elements
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Design, Modeling, Fabrication and Testing of a Membrane Piezoelectric Tactile Sensor with Four Sensing Elements
The fundamental requirement of a competent tactile sensor for manipulating an object is to determine the magnitude and the position of an applied force on it. In addition, it is important to determine orientation of the object in relation to the tactile sensor. In order to achieve these goals, most investigators have attempted to design a tactile sensor using an array of sensing elements arranged in matrix form. There are several problems associated with this type of tactile sensors. These problems include cross-talk between sensing elements, fragility, and complexity. This thesis reports on the design, modeling, fabrication and testing of a membrane tactile sensing system with only four sensing elements. By using membrane stress combined with triangulation approach, it is shown that it is possible to overcome the above problems. The prototype sensor consists of a single film of 25 micron thick Polyvinylidene Fluoride (PVDF) film, which is held between two 12 mm-thick flat Plexiglass plates, each with a 90 mm-diameter center hole. Four square sensing elements, each 3 min side, were fabricated around the center of the membrane. The fabrication of the sensing elements is performed using photolithographic and etching techniques. By applying force with a probe of various shapes and sizes at various points away from the sensing elements, and using a geometric mapping process, the sensor is calibrated. As the result of calibration various isocharge contours were drawn. Using both finite element and experimental analysis, it is shown that it is possible to determine the position, orientation and the magnitude of the applied load though various flat shaped probes, by using only four sensing elements. The experimental and the finite element results are compared. It is shown that there is a good correlation between the finite element predictions and experimental data.
Surgical Robotics
Author: Jacob Rosen
language: en
Publisher: Springer Science & Business Media
Release Date: 2011-01-15
Surgical robotics is a rapidly evolving field. With roots in academic research, surgical robotic systems are now clinically used across a wide spectrum of surgical procedures. Surgical Robotics: Systems Applications and Visions provides a comprehensive view of the field both from the research and clinical perspectives. This volume takes a look at surgical robotics from four different perspectives, addressing vision, systems, engineering development and clinical applications of these technologies. The book also: -Discusses specific surgical applications of robotics that have already been deployed in operating rooms -Covers specific engineering breakthroughs that have occurred in surgical robotics -Details surgical robotic applications in specific disciplines of surgery including orthopedics, urology, cardiac surgery, neurosurgery, ophthalmology, pediatric surgery and general surgery Surgical Robotics: Systems Applications and Visions is an ideal volume for researchers and engineers working in biomedical engineering.
Comprehensive Materials Processing
Comprehensive Materials Processing, Thirteen Volume Set provides students and professionals with a one-stop resource consolidating and enhancing the literature of the materials processing and manufacturing universe. It provides authoritative analysis of all processes, technologies, and techniques for converting industrial materials from a raw state into finished parts or products. Assisting scientists and engineers in the selection, design, and use of materials, whether in the lab or in industry, it matches the adaptive complexity of emergent materials and processing technologies. Extensive traditional article-level academic discussion of core theories and applications is supplemented by applied case studies and advanced multimedia features. Coverage encompasses the general categories of solidification, powder, deposition, and deformation processing, and includes discussion on plant and tool design, analysis and characterization of processing techniques, high-temperatures studies, and the influence of process scale on component characteristics and behavior. Authored and reviewed by world-class academic and industrial specialists in each subject field Practical tools such as integrated case studies, user-defined process schemata, and multimedia modeling and functionality Maximizes research efficiency by collating the most important and established information in one place with integrated applets linking to relevant outside sources