Search Results (420)

Contact-force perception is a critical component of safe robotic grasping. With the rapid advances in embodied intelligence technology, humanoid robots have enhanced their multimodal perception capabilities. Conventional force sensors face limitations, such as complex spatial arrangements, installation challenges at multiple nodes, and potential interference with robotic flexibility. Consequently, these conventional sensors are unsuitable for biomimetic robot requirements in object perception, natural interaction, and agile movement. Therefore, this study proposes a sensorless external force detection method that integrates SuperPoint-Scale Invariant Feature Transform (SIFT) feature extraction with finite element analysis to address force perception challenges. A visual analysis method based on the SuperPoint-SIFT feature fusion algorithm was implemented to reconstruct a three-dimensional displacement field of the target object. Subsequently, the displacement field was mapped to the contact force distribution using finite element modeling. Experimental results demonstrate a mean force estimation error of 7.60% (isotropic) and 8.15% (anisotropic), with RMSE < 8%, validated by flexible pressure sensors. To enhance the model’s reliability, a dual-channel video comparison framework was developed. By analyzing the consistency of the deformation patterns and mechanical responses between the actual compression and finite element simulation video keyframes, the proposed approach provides a novel solution for real-time force perception in robotic interactions. The proposed solution is suitable for applications such as precision assembly and medical robotics, where sensorless force feedback is crucial. Full article

Agriculture is facing increasing challenges due to labor shortages, rising productivity demands, and the need to operate in unstructured environments. Robotics, particularly soft robotics, offers promising solutions for automating delicate tasks such as fruit harvesting. While numerous soft grippers have been proposed, most focus on grasping and lack the capability to detach fruits with rigid peduncles, which require cutting. This paper presents a novel modular hexagonal soft gripper that integrates soft pneumatic actuators, embedded mechano-optical force sensors for real-time contact monitoring, and a self-centering iris-type cutting mechanism. The entire system is 3D-printed, enabling low-cost fabrication and rapid customization. Experimental validation demonstrates successful harvesting of bell peppers and identifies cutting limitations in tougher crops such as aubergine, primarily due to material constraints in the actuation system. This dual-capability design contributes to the development of multifunctional robotic harvesters capable of adapting to a wide range of fruit types with minimal requirements for perception and mechanical reconfiguration. Full article

Introduced in the present study is a novel method for measuring soil density during standard tillage operations. The methodology involves the use of a strain gauge to measure the surface tensions of the plough body stem, reflecting the resistance force in the soil, through which the calculation of the density becomes feasible. The sensor is conveniently mounted above the contact area with the soil, allowing for easy replacement as required. Due to the small forces of surface deformation in the metal, a weight sensor with a capacity of 300 grams is used. The measurement process is continuous, and all plough bodies can be equipped with sensors. The results obtained demonstrate a high level of accuracy, with a Multiple R = 0.95 and R Square = 0.90 compared to tests conducted with a standard penetrometer, confirming the effectiveness and appropriateness of the proposed method. Full article

Surfactants are used in various washing applications with potential negative environmental and health impacts. The ion-pair 1,3-dioctadecyl-1H-1,2,3-triazol-3-ium-tetraphenylborate (DODTA–TPB) was used to fabricate the potentiometric sensor for the quantification of anionic surfactants. The computational analysis of the DODTA⁺–TPB⁻ adduct reveals a dynamic, thermodynamically favorable interaction driven primarily by hydrophobic C–H∙∙∙π contacts and the flexibility of the C-18 chains, rather than electrostatic or π–π stacking forces. These findings, supported by the MM-PBSA, RDF, and structural analyses, align with broader trends in molecular recognition and provide a foundation for designing advanced ion-pair-based sensors. The sensor showed advanced analytical properties to anionic surfactants with low interfering effects of selected anions. The response of the SDS was investigated in the range from 8.1 × 10⁻⁸ M to 1.0 × 10⁻² M, with a slope of −59.2 mV and a limit of detection (LOD) of 3.1 × 10⁻⁷ M; and DBS was in the range of 8.1 × 10⁻⁸ M to 2.5 × 10⁻³ M with a slope of −57.5 mV and an LOD of 5.9 × 10⁻⁷ M. The sensor was tested on potential interfering ions. Potentiometric titrations of technical-grade anionic surfactants had high recovery rates from 100.2 to 100.4%. The recovery test for spiked samples of surface waters was from 94.2 to 96.5%. The sensor was tested on commercial samples containing anionic surfactants, and the results were compared and showed a good agreement with the two-phase titration method. Full article

Electrochemical sensors have been developed based on polyethylene terephthalate track-etched membranes (PET TeMs) modified by photograft copolymerization of N-vinylformamide (N-VFA) and trimethylolpropane trimethacrylate (TMPTMA). The modification, structure and properties of the modified PET TeMs were thoroughly characterized using scanning electron microscopy (SEM) and atomic force microscopy (AFM), thermogravimetric analysis (TGA), Fourier-transform infrared (FTIR) spectroscopy, gas permeability measurements and contact angle analysis. Optimal membrane modification was achieved using C = 10% (N-VFA), 60 min of UV irradiation and a UV lamp distance of 10 cm. Furthermore, the modified membranes were implemented in a two-electrode configuration for the determination of Eu³⁺, Gd³⁺, La³⁺ and Ce³⁺ ions via square-wave anodic stripping voltammetry (SW-ASV). The sensors exhibited a linear detection range from 10⁻⁷ M to 10⁻³ M, with limits of detection of 1.0 × 10⁻⁶ M (Eu³⁺), 6.0 × 10⁻⁶ M (Gd³⁺), 2.0 × 10⁻⁴ M (La³⁺) and 2.5 × 10⁻⁵ M (Ce³⁺). The results demonstrated a significant enhancement in electrochemical response due to the grafted PET TeMs-g-N-PVFA-TMPTMA structure, and the sensor showed practical applicability and consistent performance in detecting rare earth ions in tap water. Full article

The half-sitting posture is essential for many functional tasks performed by industrial workers. Thus, passive lower-limb exoskeletons, known as wearable chairs, are increasingly used to relieve lower-limb loading in such scenarios. However, although these devices lighten muscle effort during half-sitting tasks, they can disrupt walking mechanics and balance. Moreover, rigorous biomechanical data on joint moments and contact forces during walking with such a device remain scarce. Therefore, this study conducted a biomechanical evaluation of level walking with a wearable chair to quantify its effects on gait and joint loading. Participants performed walking experiments with and without the wearable chair. An optical motion capture system and force plates collected kinematic and ground reaction data. Six-axis force sensors measured contact forces and moments. These measurements were fed into a Newton–Euler inverse dynamics model to estimate lower-limb joint moments and assess joint loading. The contact measurements showed that nearly all rotational load was absorbed at the thigh attachment, while the ankle attachment served mainly as a positional guide with minimal moment transfer. The inverse dynamics analysis revealed that the wearable chair introduced unintended rotational stresses at lower-limb joints, potentially elevating musculoskeletal risk. This detailed biomechanical evidence underpins targeted design refinements to redistribute loads and better protect lower-limb joints. Full article

Robotic assembly of electrical connectors enables the automation of high-efficiency production of electronic products. A rigid gripper is adopted as the end-effector by the majority of existing works with a force–torque sensor installed at the wrist, which suffers from very limited perception capability of the manipulated objects. Moreover, the grasping and movement actions, as well as the inconsistency between the robot base and the end-effector frame, tend to result in angular misalignment, usually leading to assembly failure. Bio-inspired by the human finger, we designed a tactile finger in this paper with three characteristics: (1) Compliance: A soft ‘skin’ layer provides passive compliance for plenty of manipulation actions, thus increasing the tolerance for alignment errors. (2) Tactile Perception: Two types of sensing elements are embedded into the soft skin to tactilely sense the involved contact status. (3) Enhanced manipulation force: A rigid fingernail is designed to enhance the manipulation force and enable potential delicate operations. Moreover, a tactile-based alignment algorithm is proposed to search for the optimal orientation angle about the z axis. In the application of U-disk insertion, the three characteristics are validated and a success rate of 100% is achieved, whose generalization capability is also validated through the assembly of three types of electrical connectors. Full article

Natural polymers, polysaccharides, demonstrate piezoelectric behavior suitable for force sensor manufacturing. Carrageenan hydrogel film with α-iron oxide particles can act as a piezoelectric polysaccharide-based force sensor. The mechanical impact on the hydrogel caused by a falling ball shows the impact response time, which is measured in milliseconds. Repeating several experiments in a row shows the dynamics of fatigue, which does not reduce the speed of response to impact. Through the practical experiments, we sought to demonstrate how theoretical knowledge describes the hydrogel we elaborated, which works as a piezoelectric material. In addition to the theoretical basis, which includes the operation of the metal and metal oxide contact junction, the interaction between the metal oxide and the hydrogel surfaces, the paper presents the practical application of this knowledge to the complex hydrogel film. The simple calculations presented in this paper are intended to predict the hydrogel film’s characteristics and explain the results obtained during practical experiments. Carrageenan, as a low-cost and already widely used polysaccharide in various industries, is suitable for the production of low-cost force sensors in combination with iron oxide. Full article

The use of aerial robots for inspection and maintenance in industrial settings demands high maneuverability, precise control, and reliable measurements. This study explores the development of a fully customized unmanned aerial manipulator (UAM), composed of a tilting drone and an articulated robotic arm, designed to perform non-destructive in-contact inspections of iron structures. The system is intended to operate in complex and potentially hazardous environments, where autonomous execution is supported by shared-control strategies that include human supervision. A parallel force–impedance control framework is implemented to enable smooth and repeatable contact between a sensor for ultrasonic testing (UT) and the inspected surface. During interaction, the arm applies a controlled push to create a vacuum seal, allowing accurate thickness measurements. The control strategy is validated through repeated trials in both indoor and outdoor scenarios, demonstrating consistency and robustness. The paper also addresses the mechanical and control integration of the complex robotic system, highlighting the challenges and solutions in achieving a responsive and reliable aerial platform. The combination of semi-autonomous control and human-in-the-loop operation significantly improves the effectiveness of inspection tasks in hard-to-reach environments, enhancing both human safety and task performance. Full article

Photoplethysmographic (PPG) sensors are small and cheap wearable sensors which open the possibility of monitoring physiological parameters such as heart rate during normal daily routines, ultimately providing valuable information on health status. Despite their potential and distribution within wearable devices, their accuracy is affected by several influencing parameters, such as contact pressure and physical activity. In this study, the effect of contact pressure (i.e., at 20, 60, and 75 mmHg) and intensity of physical activity (i.e., at 3, 6, and 8 km/h) were evaluated on a sample of 25 subjects using both a reference device (i.e., an electrocardiography-based device) and a PPG sensor applied to the skin with controlled contact pressure values. Results showed differing accuracy and precision when measuring the heart rate at different pressure levels, achieving the best performance at a contact pressure of 60 mmHg, with a mean absolute percentage error of between 3.36% and 6.83% depending on the physical activity levels, and a Pearson’s correlation coefficient of between 0.81 and 0.95. Plus, considering the individual optimal contact pressure, measurement uncertainty significantly decreases at any contact pressure, for instance, decreasing from 15 bpm (at 60 mmHg) to 8 bpm when running at a speed of 6 km/h (coverage factor k = 2). These results may constitute useful information for both users and manufacturers to improve the metrological performance of PPG sensors and expand their use in a clinical context. Full article

Rear-end collisions represent a major concern in automotive safety, particularly due to the risk of whiplash injuries among vehicle occupants. The accurate simulation of occupant kinematics during such impacts is critical for the development of advanced safety systems. This paper presents an enhanced multibody simulation model specifically designed for rear-end crash scenarios, incorporating integrated active headrest mechanisms and sensor-based activation logic. The model combines detailed representations of vehicle structures, suspension systems, restraint systems, and occupant biomechanics, allowing for the precise prediction of crash dynamics and occupant responses. The system was developed using Simscape Multibody, with CAD-derived components interconnected through physical joints and validated using controlled experimental crash tests. Special attention was given to modelling contact forces, suspension behaviour, and actuator response times for the active headrest system. The model achieved a root mean square error (RMSE) of 4.19 m/s² and a mean absolute percentage error (MAPE) of 0.71% when comparing head acceleration in frontal collision tests, confirming its high accuracy. Validation results demonstrate that the model accurately reproduces occupant kinematics and head acceleration profiles, confirming its reliability and effectiveness as a predictive tool. This research highlights the critical role of integrated sensor-actuator systems in improving occupant safety and provides a flexible platform for future studies on intelligent vehicle safety technologies. Full article

School-aged children are routinely exposed to additional physical stress due to carrying school backpacks. These backpacks often exceed recommended limits and can contain not only books and notebooks but also laptops, water bottles, and other personal items. The present study aimed to evaluate the impact of different backpack loads (10%, 15%, and 20% of body weight) on dynamic gait parameters in 7-year-old girls and boys. Twenty-six children (13 girls, 13 boys) participated in the study. Gait analysis was performed using the Footscan® system (RSscan International, Olen, Belgium; 2 m × 0.4 m × 0.02 m, 16,384 sensors) equipped with Footscan software version 7 (Gait 2nd generation), examining peak force (FMAX), peak pressure (PMAX), contact area (CA), and time to peak force (Time to FMAX) across five anatomical foot zones. The study revealed significant changes in all parameters, particularly at loads of 15% and 20% of body weight. Increases in plantar pressure, contact area, and asymmetry were observed, along with delays in time to peak force. These findings support the recommendation that children’s backpack loads should not exceed 10% of their body weight to prevent potential adverse effects on postural and musculoskeletal development. Full article

Foot plantar pressure refers to the pressure or force that the foot generates in contact with the ground, varying across different regions of the foot. This parameter is essential in static and dynamic analyses to access accurate diagnoses, study the human body biomechanics, create functional footwear designs, aid in rehabilitation and physiotherapy, and prevent injuries in athletes during sports practice. This study presents an experimental comparison between two different plantar pressure measurement devices, Pedar^® (sensorized insoles) and Physiosensing^® (pressure platform). The devices were selected based on their capacity to measure contact area and peak pressure points. Results showed that Physiosensing^® provided a more uniform measurement of the contact area, proving its efficiency for weight distribution and stability analysis applications, particularly in posture assessment and balance studies. The Pedar^® system showed higher capacity in peak pressure point detection. Therefore, the insole system is more suitable for applications requiring precise high-pressure zone localization. Comparative analysis highlights the strengths and limitations of each device and offers insights regarding its optimal usage in clinical, sports, and research settings. Full article

Wheel-legged robots combine the advantages of both wheeled robots and traditional quadruped robots, enhancing terrain adaptability but posing higher demands on the perception of foot–ground contact forces. However, existing approaches still suffer from limited accuracy in estimating contact positions and three-dimensional contact forces when dealing with flexible tire–ground interactions. To address this challenge, this study proposes a foot–ground contact state detection technique and optimization method based on multi-sensor fusion and intelligent modeling for wheel-legged robots. First, finite element analysis (FEA) is used to simulate strain distribution under various contact conditions. Combined with global sensitivity analysis (GSA), the optimal placement of PVDF sensors is determined and experimentally validated. Subsequently, under dynamic gait conditions, data collected from the PVDF sensor array are used to predict three-dimensional contact forces through Gaussian process regression (GPR) and artificial neural network (ANN) models. A custom experimental platform is developed to replicate variable gait frequencies and collect dynamic contact data for validation. The results demonstrate that both GPR and ANN models achieve high accuracy in predicting dynamic 3D contact forces, with normalized root mean square error (NRMSE) as low as 8.04%. The models exhibit reliable repeatability and generalization to novel inputs, providing robust technical support for stable contact perception and motion decision-making in complex environments. Full article

Object-related accidents among older adults often result from inadequately designed furniture and fixtures that do not accommodate age-related changes. However, technologies for quantitatively capturing how furniture and fixtures assist the body in daily life remain limited. This study addresses this gap by introducing a portable, non-disruptive system that measures and visualizes how humans interact with environmental objects, particularly during transitional movements such as standing, turning, or reaching. The system integrates wearable force sensors, motion capture gloves, RGB-D cameras, and LiDAR-based environmental scanning to generate spatial maps of body-applied forces, overlaid onto point cloud representations of actual living environments. Through home-based experiments involving 13 older adults aged 69–86 across nine households, the system effectively identified object-specific support interactions with specific furniture (e.g., doorframes, shelves) and enabled a three-dimensional comparative analysis across different spaces, including living rooms, entryways, and bedrooms. The visualization captured essential spatial features—such as contact height and positional context—without altering the existing environment. This study presents a novel methodology for evaluating life environments from a life-centric perspective and offers insights for the inclusive design of everyday objects and spaces to support safe and independent aging in place. Full article