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Sensors, Volume 21, Issue 9

May-1 2021 - 413 articles

Cover Story: Admittance control of robotic manipulators requires force/torque measurement at the end effector (EE). This is usually pursued by means of direct force/torque sensors located at the EE. While this allows accurate measurement, it is a very expensive approach, and the size of the sensor is further problematic. In this paper, a novel approach is presented where the EE forces/torques are indirectly deduced from the force/torque measurement at the base of the robot. To this end, a dedicated sensor is developed that measures the ground reaction wrench at the base. The sensor concept relies on a model-based calibration that accounts for the non-linear dynamics of the robot and the pose-dependent transmission characteristics. Two sensor setups are investigated, one using ground-fixed load cells, and the other using a tailored four-spoke structure equipped with strain gauges. View this paper.
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Articles (413)

  • Communication
  • Open Access
8 Citations
2,718 Views
14 Pages

A Novel GBSM for Non-Stationary V2V Channels Allowing 3D Velocity Variations

  • Naeem Ahmed,
  • Boyu Hua,
  • Qiuming Zhu,
  • Kai Mao and
  • Junwei Bao

10 May 2021

A new non-stationary (NS) geometry-based stochastic model (GBSM) is presented for developing and testing the communication systems of vehicle-to-vehicle (V2V) applications, which considers the three-dimensional (3D) scattering environments and allows...

  • Article
  • Open Access
3 Citations
2,820 Views
20 Pages

10 May 2021

The principal objective of this research is to conceive a mobile system based on electrical tomography for subsurface imaging and monitoring in order to enable simultaneous recording of electrical potentials of cardiac and pulmonary activity. For an...

  • Article
  • Open Access
27 Citations
4,807 Views
19 Pages

Automatic vs. Human Recognition of Pain Intensity from Facial Expression on the X-ITE Pain Database

  • Ehsan Othman,
  • Philipp Werner,
  • Frerk Saxen,
  • Ayoub Al-Hamadi,
  • Sascha Gruss and
  • Steffen Walter

10 May 2021

Prior work on automated methods demonstrated that it is possible to recognize pain intensity from frontal faces in videos, while there is an assumption that humans are very adept at this task compared to machines. In this paper, we investigate whethe...

  • Article
  • Open Access
4 Citations
3,096 Views
30 Pages

Exploring a Novel Multiple-Query Resistive Grid-Based Planning Method Applied to High-DOF Robotic Manipulators

  • Jesus Huerta-Chua,
  • Gerardo Diaz-Arango,
  • Hector Vazquez-Leal,
  • Javier Flores-Mendez,
  • Mario Moreno-Moreno,
  • Roberto C. Ambrosio-Lazaro and
  • Carlos Hernandez-Mejia

10 May 2021

The applicability of the path planning strategy to robotic manipulators has been an exciting topic for researchers in the last few decades due to the large demand in the industrial sector and its enormous potential development for space, surgical, an...

  • Communication
  • Open Access
13 Citations
6,918 Views
11 Pages

Enhancing the Accuracy of Non-Invasive Glucose Sensing in Aqueous Solutions Using Combined Millimeter Wave and Near Infrared Transmission

  • Helena Cano-Garcia,
  • Rohit Kshirsagar,
  • Roberto Pricci,
  • Ahmed Teyeb,
  • Fergus O’Brien,
  • Shimul Saha,
  • Panagiotis Kosmas and
  • Efthymios Kallos

10 May 2021

We reported measurement results relating to non-invasive glucose sensing using a novel multiwavelength approach that combines radio frequency and near infrared signals in transmission through aqueous glucose-loaded solutions. Data were collected simu...

  • Article
  • Open Access
4 Citations
2,666 Views
16 Pages

10 May 2021

The paper describes the architecture of a Spiking Neural Network (SNN) for time waveform analyses using edge computing. The network model was based on the principles of preprocessing signals in the diencephalon and using tonic spiking and inhibition-...

  • Communication
  • Open Access
5 Citations
3,039 Views
10 Pages

10 May 2021

We study here the spectral characteristics of square-wave-modulated type II long-period fiber gratings (LPFGs) inscribed by a femtosecond laser. Both theoretical and experimental results indicate that higher-order harmonics refractive index (RI) modu...

  • Article
  • Open Access
9 Citations
4,867 Views
11 Pages

10 May 2021

The objectives of this study were to determine the amplitude of movement differences and asymmetries between feet during the stance phase and to evaluate the effects of foot orthoses (FOs) on foot kinematics in the stance phase during running. In tot...

  • Article
  • Open Access
8 Citations
3,868 Views
16 Pages

10 May 2021

Lab-based X-ray computed tomography (XCT) systems use X-ray sources that emit a polychromatic X-ray spectrum and detectors that do not detect all X-ray photons with the same efficiency. A consequence of using a polychromatic X-ray source is that beam...

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Sensors - ISSN 1424-8220Creative Common CC BY license