Search Results (73)

Non-nutritive sucking (NNS) is an instinctive behavior in newborns, consisting of two stages: sucking and expression. It plays a critical role in preparing the infant for oral feeding. In neonatal and pediatric units, NNS assessment is routinely performed to determine feeding readiness. However, these evaluations are often subjective and rely heavily on the clinician’s experience. While other medical devices that support the development of NNS skills exist, they are not specifically designed for the comprehensive assessment of NNS, and their high cost limits accessibility for many hospitals and tertiary care units globally. This paper presents the development and pilot testing of a low-cost, portable device and accompanying software for assessing NNS in newborns hospitalized in neonatal care units. Methods: The device uses force-sensitive resistors to capture expression pressure and a differential pressure sensor to measure NNS. Data were acquired through the analog–digital converter of a microcontroller and transmitted via Bluetooth for real-time graphical analysis. Pilot testing was conducted with six hospitalized preterm newborns, measuring intensity, number of bursts, and sucks per burst. Results demonstrated that the system reliably captures both stages of NNS. Significance: This device provides an affordable, portable solution to support clinical decision-making in clinical units, facilitating accurate, objective monitoring of feeding readiness and developmental progression. Full article

Gait analysis provides crucial insights into neuromuscular coordination and postural control, especially in ageing populations and rehabilitation contexts. This study investigates the complexity of muscle activation and ground reaction force patterns during gait by applying detrended fluctuation analysis (DFA) to electromyography (EMG) and force-sensitive resistor (FSR) signals. Data from a two-arm randomised clinical trial (RCT) supplemented with an observational control group were used in this study. Participants performed a single-task walking protocol, with EMG recorded from the tibialis anterior and lateral gastrocnemius muscles of both legs and FSR sensors placed under the feet. Gait cycles were segmented using heel-strike detection from the FSR signal, enabling analysis of individual strides. For each gait cycle, DFA was applied to quantify the long-range temporal correlations in the EMG and FSR time series. Results revealed consistent $\alpha$-scaling exponents across cycles, with EMG signals exhibiting moderate persistence ($\alpha \approx 0.85$–$0.92$) and FSR signals showing higher persistence ($\alpha \approx 1.5$), which is indicative of stable and repeatable gait patterns. These findings support the utility of DFA as a nonlinear signal processing tool for characterising gait dynamics, offering potential markers for gait stability, motor control, and intervention effects in populations practising movement-based therapies such as Tai Chi. Future work will extend this analysis to dual-task conditions and comparative group studies. Full article

The integration of robots into collaborative environments, where they physically interact with humans, requires systems capable of ensuring both safety and performance. This work introduces the development of a Variable Stiffness Impact Testing Device (VSITD), designed to emulate physical human–robot interaction by replicating biomechanical properties such as muscle elasticity and joint compliance. The proposed system integrates a Variable Stiffness Mechanism (VSM) with a multi-sensor configuration that includes a high-resolution Force Sensitive Resistors (FSR) matrix, piezoelectric load cells, and an FPGA-based acquisition unit. The FPGA enables fast acquisition of contact forces and pressures, while the mechanical stiffness configuration of the VSM can be rapidly reconfigured to simulate a wide range of impact scenarios. The device aims to validate compliance with the standard ISO/TS 15066 safety standard of robotic work cell in the context of collaborative application. The modularity and flexibility of the VSITD make it suitable for evaluating a wide range of collaborative robotic platforms, providing a reliable tool for pre-deployment validation in shared workspaces. By combining real-time sensing with adaptable stiffness control, the VSITD establishes a new benchmark for safety testing in human–robot collaboration scenarios. Full article

As populations age, particularly in countries like Japan, mobility impairments related to ankle joint dysfunction, such as foot drop, instability, and reduced gait adaptability, have become a significant concern. Active ankle–foot orthoses (AAFO) offer targeted support during walking; however, most existing systems rely on rule-based or threshold-based control, which are often limited to sagittal plane movements and lacking adaptability to subject-specific gait variations. This study proposes an approach driven by neuromuscular activation using surface electromyography (EMG) and a Gated Recurrent Unit (GRU)-based deep learning model to predict plantar pressure distributions at the heel, midfoot, and toe regions during gait. EMG signals were collected from four key ankle muscles, and plantar pressures were recorded using a customized sandal-integrated force-sensitive resistor (FSR) system. The data underwent comprehensive preprocessing and segmentation using a sliding window method. Root mean square (RMS) values were extracted as the primary input feature due to their consistent performance in capturing muscle activation intensity. The GRU model successfully generalized across subjects, enabling the accurate real-time inference of critical gait events such as heel strike, mid-stance, and toe off. This biomechanical evaluation demonstrated strong signal compatibility, while also identifying individual variations in electromechanical delay (EMD). The proposed predictive framework offers a scalable and interpretable approach to improving real-time AAFO control by synchronizing assistance with user-specific gait dynamics. Full article

With rapid advancements in lower-limb exoskeleton hardware, two key challenges persist: the accurate assessment of user biomechanics and the reliable control of device behavior in real-world settings. This study presents a modular, sensor-based system designed to enhance both biomechanical evaluation and control of lower-limb exoskeletons, leveraging advanced sensor technologies and fuzzy logic. The system addresses the limitations of traditional lab-bound, high-cost methods by integrating inertial measurement units, force-sensitive resistors, and load cells into instrumented crutches and 3D-printed insoles. These components work independently or in unison to capture critical biomechanical metrics, including the anteroposterior center of pressure and crutch ground reaction forces. Data are processed in real time by a central unit using fuzzy logic algorithms to estimate gait phases and support exoskeleton control. Validation experiments with three participants, benchmarked against motion capture and force plate systems, demonstrate the system’s ability to reliably detect gait phases and accurately measure biomechanical parameters. By offering an open-source, cost-effective design, this work contributes to the advancement of wearable robotics and promotes broader innovation and accessibility in exoskeleton research. Full article

Diabetic foot complications pose significant health risks, necessitating innovative approaches in orthotic design. This study explores the potential of additive manufacturing in producing functional footwear components with lattice-based structures for diabetic foot orthoses. Five distinct lattice structures (gyroid, diamond, Schwarz P, Split P, and honeycomb) were designed and fabricated using stereolithography (SLA) with varying strand thicknesses and resin types. Mechanical testing revealed that the Schwarz P lattice exhibited superior compressive strength, particularly when fabricated with flexible resin. Porosity analysis demonstrated significant variations across structures, with the gyroid showing the most pronounced changes with increasing mesh thickness. Real-time pressure distribution mapping, achieved through integrated force-sensitive resistors and Arduino-based data acquisition, enabled the visualization of pressure hotspots across the insole. The correlation between lattice properties and pressure distribution was established, allowing for tailored designs that effectively alleviated high-pressure areas. This study demonstrates the feasibility of creating highly personalized orthotic solutions for diabetic patients using additive manufacturing, offering a promising approach to reducing the plantar pressure in foot and may contribute to improved outcomes in diabetic foot care. Full article

This paper introduces the TacFR-Gripper, a novel reconfigurable soft robotic gripper inspired by the Fin-Ray effect and equipped with tactile skin. The gripper incorporates a four-bar mechanism for accurate finger bending and a reconfigurable design to change the relative positions between the fingers and palm, enabling precise and adaptable object grasping. This 5-Degree-of-Freedom (DOF) soft gripper can facilitate dexterous manipulation of objects with diverse shapes and stiffness and is beneficial to the safe and efficient grasping of delicate objects. An array of Force Sensitive Resistor (FSR) sensors is embedded within each robotic fingertip to serve as the tactile skin, enabling the robot to perceive contact information during manipulation. Moreover, we implemented a threshold-based tactile perception approach to enable reliable grasping without accidental slip or excessive force. To verify the effectiveness of the TacFR-Gripper, we provide detailed workspace analysis to evaluate its grasping performance and conducted three experiments, including (i) assessing the grasp success rate across various everyday objects through different finger configurations, (ii) verifying the effectiveness of tactile skin with different control strategies in grasping, and (iii) evaluating the in-hand manipulation capabilities through object pose control. The experimental results indicate that the TacFR-Gripper can grasp a wide range of complex-shaped objects with a high success rate and deliver dexterous in-hand manipulation. Additionally, the integration of tactile skin is demonstrated to enhance grasp stability by incorporating tactile feedback during manipulations. Full article

Sedentary behaviors, including poor postures, are significantly detrimental to health, particularly for individuals losing motion ability. This study presents a posture detection system utilizing four force-sensitive resistors (FSRs) and two triaxial accelerometers selected after rigorous assessment for consistency and linearity. We compared various machine learning algorithms based on classification accuracy and computational efficiency. The k-nearest neighbor (KNN) algorithm demonstrated superior performance over Decision Tree, Discriminant Analysis, Naive Bayes, and Support Vector Machine (SVM). Further analysis of KNN hyperparameters revealed that the city block metric with K = 3 yielded optimal classification results. Triaxial accelerometers exhibited higher accuracy in both training (99.4%) and testing (99.0%) phases compared to FSRs (96.6% and 95.4%, respectively), with slightly reduced processing times (0.83 s vs. 0.85 s for training; 0.51 s vs. 0.54 s for testing). These findings suggest that, apart from being cost-effective and compact, triaxial accelerometers are more effective than FSRs for posture detection. Full article

This paper describes the design, realization, and application of a wearable sensor based on the photoplethysmography (PPG) principle supplemented with a force-sensitive resistor and a thermometer for the measurement of contact pressure force and the temperature of the skin at the point where the optical part of the PPG sensor touches the finger. The performed experiments confirmed the essential influence of the applied contact force on the amplitude and ripple of the sensed PPG signal and the stability and precision of heart rate values determined from the PPG wave. Preliminary measurements showed that the response to the applied contact force was principally different for fingers of male and female tested persons, so different scaling and pressure levels were applied in the main experiments. Contrariwise, differences between left and right hands were not significant. The influence of skin temperature changes could be ignored for these measurements due to the short time duration of the PPG signal recording (approx. 1 min). Full article

Recently, there has been a huge increase in the different ways to manufacture polymer-based sensors. Methods like additive manufacturing, microfluidic preparation, and brush painting are just a few examples of new approaches designed to improve sensor features like self-healing, higher sensitivity, reduced drift over time, and lower hysteresis. That being said, we believe there is still a lot of potential to boost the performance of current sensors by applying modeling, classification, and machine learning techniques. With this approach, final sensor users may benefit from inexpensive computational methods instead of dealing with the already mentioned manufacturing routes. In this study, a total of 96 specimens of two commercial brands of Force Sensing Resistors (FSRs) were characterized under the error metrics of drift and hysteresis; the characterization was performed at multiple input voltages in a tailored test bench. It was found that the output voltage at null force (V_{o_null}) of a given specimen is inversely correlated with its drift error, and, consequently, it is possible to predict the sensor’s performance by performing inexpensive electrical measurements on the sensor before deploying it to the final application. Hysteresis error was also studied in regard to V_{o_null} readings; nonetheless, a relationship between V_{o_null} and hysteresis was not found. However, a classification rule base on k-means clustering method was implemented; the clustering allowed us to distinguish in advance between sensors with high and low hysteresis by relying solely on V_{o_null} readings; the method was successfully implemented on Peratech SP200 sensors, but it could be applied to Interlink FSR402 sensors. With the aim of providing a comprehensive insight of the experimental data, the theoretical foundations of FSRs are also presented and correlated with the introduced modeling/classification techniques. Full article

The foot is considered a wonder of biological engineering due to its structure, formed by bones, ligaments, and tendons that collaborate to ensure stability and mobility. A key area often examined by medical professionals in patients with diabetic feet is the plantar surface, due to the risk of ulcer development. If left untreated, these ulcers can lead to severe complications, including amputation of the toe, foot, or even the limb. Interpolation methods are used to find areas with overloads in a system of sensor maps that are based on capacitive, load cells, or force-sensitive resistors (FSRs). This manuscript presents the assessment of linear, nearest neighbors, and bicubic methods in comparison with ground truth to calculate the root mean square error (RMSE) in two assessments using a dataset of eight healthy subjects, four men and four women, with an average age of 25 years, height of 1.63 m, and weight of 72 kg with shoe sizes from 7.3 USA using FSR map with 48 sensors. Additionally, this paper describes the conditioning circuit development to implement a plantar surface system that enables interpolating loads on the plantar surface. The proposed system’s results show that the first assessment indicates an RMSE of 0.089, 0.126, and 0.089 for linear, nearest neighbor, and bicubic methods, while the second assessment shows a mean RMSE for linear, nearest neighbor, and bicubic methods of 0.114, 0.159, and 0.112. Full article

In this study, we thoroughly analyzed the linearity and repeatability of force-sensing resistor (FSR) sensors through static load tests to ensure their reliability. The novelty of this research lies in its comprehensive evaluation and direct comparison of two widely used FSR sensors, i.e., Flexiforce A201-1 and Interlink FSR-402, under various loading conditions by employing a robust calibration methodology. This study provides detailed insights into the sensors’ performances, offering practical calibration equations that enhance measurement precision and reliability, which have not been extensively documented in previous studies. Our results demonstrate that the linearity of thin film FSR sensors is highly accurate, closely resembling a straight line. We employed M1 Class weights, applying loads ranging from 20 g to 300 g. The resistance of the FSR sensors, which varies with the applied load, was measured using a voltage divider circuit and an analog-to-digital converter of a microcontroller. MATLAB was used to calculate the average output voltage for each applied load and fixed resistance. Additionally, we examined the relationships among load, FSR sensor resistance, and conductivity. Our research indicates that with precise calibration, thin film FSR sensors can be highly reliable for force measurement applications. Full article

Issues of size and power consumption in IoT devices can be addressed through triboelectricity-driven energy harvesting technology, which generates electrical signals without external power sources or batteries. This technology significantly reduces the complexity of devices, enhances installation flexibility, and minimizes power consumption. By utilizing shear thickening fluid (STF), which exhibits variable viscosity upon external impact, the sensitivity of triboelectric nanogenerator (TENG)-based sensors can be adjusted. For this study, the highest electrical outputs of STF and sponge-hybrid TENG (SSH-TENG) devices under various input forces and frequencies were generated with an open-circuit voltage (V_OC) of 98 V and a short-circuit current (I_SC) of 4.5 µA. The maximum power density was confirmed to be 0.853 mW/m² at a load resistance of 30 MΩ. Additionally, a lying state detection system for use in medical settings was implemented using SSH-TENG as a hybrid triboelectric motion sensor (HTMS). Each unit of a 3 × 2 HTMS array, connected to a half-wave rectifier and 1 MΩ parallel resistor, was interfaced with an MCU. Real-time detection of the patient’s condition through the HTMS array could enable the early identification of hazardous situations and alerts. The proposed HTMS continuously monitors the patient’s movements, promptly identifying areas prone to pressure ulcers, thus effectively contributing to pressure ulcer prevention. Full article

This work introduces a neuromorphic sensor (NS) based on force-sensing resistors (FSR) and spiking neurons for robotic systems. The proposed sensor integrates the FSR in the schematic of the spiking neuron in order to make the sensor generate spikes with a frequency that depends on the applied force. The performance of the proposed sensor is evaluated in the control of a SMA-actuated robotic finger by monitoring the force during a steady state when the finger pushes on a tweezer. For comparison purposes, we performed a similar evaluation when the SNN received input from a widely used compression load cell (CLC). The results show that the proposed FSR-based neuromorphic sensor has very good sensitivity to low forces and the function between the spiking rate and the applied force is continuous, with good variation range. However, when compared to the CLC, the response of the NS follows a logarithmic-like function with improved sensitivity for small forces. In addition, the power consumption of NS is 128 µW that is 270 times lower than that of the CLC which needs 3.5 mW to operate. These characteristics make the neuromorphic sensor with FSR suitable for bioinspired control of humanoid robotics, representing a low-power and low-cost alternative to the widely used sensors. Full article

Haptic hands and grippers, designed to enable skillful object manipulation, are pivotal for high-precision interaction with environments. These technologies are particularly vital in fields such as minimally invasive surgery, where they enhance surgical accuracy and tactile feedback: in the development of advanced prosthetic limbs, offering users improved functionality and a more natural sense of touch, and within industrial automation and manufacturing, they contribute to more efficient, safe, and flexible production processes. This paper presents the development of a two-finger robotic hand that employs simple yet precise strategies to manipulate objects without damaging or dropping them. Our innovative approach fused force-sensitive resistor (FSR) sensors with the average current of servomotors to enhance both the speed and accuracy of grasping. Therefore, we aim to create a grasping mechanism that is more dexterous than grippers and less complex than robotic hands. To achieve this goal, we designed a two-finger robotic hand with two degrees of freedom on each finger; an FSR was integrated into each fingertip to enable object categorization and the detection of the initial contact. Subsequently, servomotor currents were monitored continuously to implement impedance control and maintain the grasp of objects in a wide range of stiffness. The proposed hand categorized objects’ stiffness upon initial contact and exerted accurate force by fusing FSR and the motor currents. An experimental test was conducted using a Yale–CMU–Berkeley (YCB) object set consisted of a foam ball, an empty soda can, an apple, a glass cup, a plastic cup, and a small milk packet. The robotic hand successfully picked up these objects from a table and sat them down without inflicting any damage or dropping them midway. Our results represent a significant step forward in developing haptic robotic hands with advanced object perception and manipulation capabilities. Full article