Search Results (14)

Soft and flexible capacitive tactile sensors are vital in prosthetics, wearable health monitoring, and soft robotics applications. However, achieving accurate real-time force detection and spatial localization remains a significant challenge, especially in dynamic, non-rigid environments like prosthetic liners. This study presents a real-time force point detection and tracking system using a custom-fabricated soft elastomeric capacitive sensor array in conjunction with image processing and machine learning techniques. The system integrates Otsu’s thresholding, Connected Component Labeling, and a tailored cluster-tracking algorithm for anomaly detection, enabling real-time localization within 1 ms. A $6\times 6$ Dragon Skin-based sensor array was fabricated, embedded with copper yarn electrodes, and evaluated using a UR3e robotic arm and a Schunk force-torque sensor to generate controlled stimuli. The fabricated tactile sensor measures the applied force from 1 to 3 N. Sensor output was captured via a MUCA breakout board and Arduino Nano 33 IoT, transmitting the Ratio of Mutual Capacitance data for further analysis. A Python-based processing pipeline filters and visualizes the data with real-time clustering and adaptive thresholding. Machine learning models such as linear regression, Support Vector Machine, decision tree, and Gaussian Process Regression were evaluated to correlate force with capacitance values. Decision Tree Regression achieved the highest performance ($R^2=0.9996, RMSE=0.0446$), providing an effective correlation factor of $51.76$ for force estimation. The system offers robust performance in complex interactions and a scalable solution for soft robotics and prosthetic force mapping, supporting health monitoring, safe automation, and medical diagnostics. Full article

Compression therapy can be successfully applied to the treatment of amputated limbs. Compression is known to speed healing and reduce the appearance of complex scars. This is particularly relevant as the number of amputations increases, especially during times of war, such as the current war in Ukraine. For the research presented in this article, compression knits of two pattern repeats and twelve structural variations each were created. We investigated how the compression generated by the knit is influenced by the main factors which theoretically could have an effect: knitting pattern, density of loops, speed of the wheel supplying elastomeric inlay-yarn into the knitting zone, and elongation resulting from the difference between the knitted limb cover and limb circumference. It was found that in the area of low elongations (up to 50%) of the investigated elastomeric knits, the speed of supply of the inlay-yarn does not have a significant influence on the compression. However, the effect of loop density and knitting elongation on the generated compression is significant and manifests linearly. In addition, the established equations can be used for compression prediction and knitting design according to the required compression class. Full article

Analysis of functional products for medical textiles indicates that there are plenty of different classifications of this group. Requirements for compression generated by compression garments differ depending on the application area, and even more, sometimes are contradictory and can be fulfilled in very different ways. The effectiveness of such products depends on mechanical and physical properties as well as psychological barriers. Currently, there is no uniform classification of compression classes, furthermore, there is no uniform standard, test method or technic for evaluation of the product’ compression. Knitted compression fabrics are made by knitting together at least two types of yarns: a ground yarn which ensures stiffness and thickness and an elastomeric yarn which generates compression. Knitted compression products can be produced on both flat and circular knitting machines, though parameters and usage of production are different. Additional elements used in the structure of the compression product can significantly change the generated compression. Purposes and number of additional details depend on the application and functionality of the compression support, nevertheless, all rigid elements must be taken into account at the designing stage. Additional functionality like antimicrobial activity or thermal therapy can also be provided for compression knits. It is highly important to ensure the longevity of all functional properties. Full article

Thin fiber-shaped pneumatic artificial muscle (PAM) can generate contractile motions upon stimulation, and it is well known for its good compliance, high weight-to-power ratio, resemblance to animal muscle movements, and, most importantly, the capability to be integrated into fabrics and other textile forms for wearable devices. This fiber-shaped device, based on McKibben technology, consists of an elastomeric bladder that is wrapped around by a braided sleeve, which transfers radial expansion into longitudinal contraction due to the change in the sleeve’s braiding angle while being inflated. This paper investigates the effect of material properties on fiber-shaped PAM’s behavior, including the braiding yarn and bladder’s dimensional and mechanical properties. A range of samples with combinations of yarn and bladder parameters were developed and characterized. A robust fabrication process verified through several calibration and control experiments of PAM was applied, which ensured a more accurate characterization of the actuators. The results demonstrate that material properties, such as yarn stiffness, yarn diameter, bladder diameter, and bladder hardness, have significant effects on PAMs’ deformation strains and forces generated. The findings can serve as fundamental guidelines for the future design and development of fiber-shaped pneumatic actuators. Full article

Textiles-fibres, yarns and fabrics are omnipresent in our daily lives, with unique mechanical properties that fit the design specifications for the tasks for which they are designed. The development of yarns and fabrics with negative Poisson’s ratio (NPR) is an area of current research interest due to their potential for use in high performance textiles (e.g., military, sports, etc.). The unique braiding technology of interlacement for preparation of braided helically wrapped yarns with NPR effect with later development of auxetic woven fabric made it possible to avoid the slippage of the wrapped component from the core. The applied geometrical configuration and NPR behaviour of the braided helical yarn structure with seven different angles comprising of monofilament elastomeric polyurethane (PU) core with two wrap materials that include multifilament ultra-high molecular weight polyethylene (UHMWPE) and polyethylene terephthalate (PET) fibres were investigated and analysed. The mechanically stable 2D woven textile auxetic fabrics (AF) with various weave patterns such as 2/2 matt and 3/1 twill were developed from the auxetic yarn with PU elastomer core having maximum NPR effect of −1.70 using lower wrapped angle of 9° to study and compare their mechanical responses. The auxetic yarn was used in weft direction and multifilament UHMWPE yarn in warp direction, using semi-automatic loom. Auxeticity of AF was analysed and its various mechanical properties such tensile strength, impact energy absorption, in-plane, and out-of-plane auxeticity, and puncture resistance were studied. Higher energy absorption of 84 Nm for matt fabric was seen compared to twill fabric having an energy of 65 Nm. The puncture resistance capability of matt fabric was better than twill fabric. While twill fabric exhibited better auxetic effect in both in-plane and out-of-plane mode compared to matt fabric. In short, both the twill and matt design AF’s showed unique characteristics which are beneficial in making various protective textiles such as protective helmets, bullet proof shields, cut resistance gloves, blast resistant curtains, and puncture tolerant elastomeric composites. Full article

Fibers and textiles are ubiquitous in our daily lives, with mechanical properties that match the design specifications for the task for which they are intended; the development of yarns with a negative Poisson’s ratio (NPR) is a hot topic of current research, owing to their potential for use in high-performance textiles (e.g., military, sports, etc.). This study described a simple approach to constructing braided, helically interlaced yarns. When a torque is applied, the yarns prevent the wrapped component from dislodging from the core. The geometry and auxetic behavior of the braided helical structure was analyzed for two different combinations of core materials with similar wrap materials and different braiding angles. Two elastomeric materials (polyurethane (PU) and polyester) served as monofilament cores, while two stiffer multifilament wrap yarns (ultrahigh molecular weight polyethylene (UHMWPE) and polyethylene terephthalate (PET)) served as wrap yarns. In addition, the behavior of yarns braided at seven different angles was investigated to determine the materials’ response to the applied braided configuration’s NPR. The NPR was influenced by the core and wrap materials used and the braiding angle. The NPR value was greater for a core comprising more excellent elasticity (e.g., PU versus polyester); a smaller wrap angle and a slower braiding speed also led to a higher NPR value. The maximum NPR value of −1.70 was obtained using a PU core wrapped at a 9° angle and a strain value of 0.5. Full article

Electromyography (EMG) is the resulting electrical signal from muscle activity, commonly used as a proxy for users’ intent in voluntary control of prosthetic devices. EMG signals are recorded with gold standard Ag/AgCl gel electrodes, though there are limitations in continuous use applications, with potential skin irritations and discomfort. Alternative dry solid metallic electrodes also face long-term usability and comfort challenges due to their inflexible and non-breathable structures. This is critical when the anatomy of the targeted body region is variable (e.g., residual limbs of individuals with amputation), and conformal contact is essential. In this study, textile electrodes were developed, and their performance in recording EMG signals was compared to gel electrodes. Additionally, to assess the reusability and robustness of the textile electrodes, the effect of 30 consumer washes was investigated. Comparisons were made between the signal-to-noise ratio (SNR), with no statistically significant difference, and with the power spectral density (PSD), showing a high correlation. Subsequently, a fully textile sleeve was fabricated covering the forearm, with 14 textile electrodes. For three individuals, an artificial neural network model was trained, capturing the EMG of 7 distinct finger movements. The personalized models were then used to successfully control a myoelectric prosthetic hand. Full article

This experiment presents a study carried out on the electric charge passing textiles for heat production in compression weft-knitted composite fabrics used for medical purposes. The aim was to flourish compression support of knitted structure with integrated highly sensitive metal (silver) coated polyamide multifilament yarns and to evaluate its heat origination attributes after stretching in different levels as well as changes of the temperature during the time. A flat double needle-bed knitting machine was utilized to fabricate the selected specimens together with elastomeric inlay-yarn incorporated into the structure for compression generation and silver coated polyamide yarn laid as ground yarn in a plated structure for heat generation. Six different variants depending on the metal coated yarn amount used and the fabric structure along with two types of the conductive yarn linear density were fabricated for this research work. Scanning electron microscope (SEM) images were preoccupied to show the morphology of conductive yarn and thermal pictures were captured to study the evenness of the heat over the surface of composite fabrics depending on conductive yarn distribution in the pattern repeat. The temperature profile of fabricated composite fabrics and comparison of the heat generation by specimens after stretching in different levels was studied Full article

Electrically conductive filaments are used in a wide variety of applications, for example, in smart textiles and soft robotics. Filaments that conduct electricity are required for the transmission of energy and information, but up until now, most electrically conductive fibers, filaments and wires offer low mechanical elongation. Therefore, they are not well suited for the implementation into elastomeric composites and textiles that are worn close to the human body and have to follow a wide range of movements. In order to overcome this issue, the presented study aims at the development of electrically conductive and elastic filaments based on a coating process suited for multifilament yarns made of thermoplastic polyurethane (TPU). The coating solution contains TPU, carbon nanotubes (CNT) and N-Methyl-2-pyrrolidone (NMP) with varied concentrations of solids and electrically conductive particles. After applying the coating to TPU multifilament yarns, the mechanical and electrical properties are analyzed. A special focus is given to the electromechanical behavior of the coated yarns under mechanical strain loading. It is determined that the electrical conductivity is maintained even at elongations of up to 100%. Full article

Textile-based heaters have opened new opportunities for next-generation smart heating devices. This experiment presents electrically conductive textiles for heat generation in orthopaedic compression supports. The main goal was to investigate the influence of frequent washing and stretching on heat generation durability of constructed compression knitted structures. The silver coated polyamide yarns were used to knit a half-Milano rib structure containing elastomeric inlay-yarn. Dimensional stability of the knitted fabric and morphological changes of the silver coated electro-conductive yarns were investigated during every wash cycle. The results revealed that temperature becomes stable within two minutes for all investigated fabrics. The heat generation was found to be dependent on the stretching, mostly due to the changing surface area; and it should be considered during the development of heated compression knits. Washing negatively influences the heat-generating capacity on the fabric due to the surface damage caused by the mechanical and chemical interaction during washing. The higher number of silver-coated filaments in the electro-conductive yarn and the knitted structure, protecting the electro-conductive yarn from mechanical abrasion, may ensure higher durability of heating characteristics. Full article

Elastomeric, conductive composite yarns have recently received attention around the opportunity for them to offer special protective fields. A straightforward approach for fabricating tri-component elastic-conductive composite yarns (t-ECCYs) containing stainless steel wire (SSW) was proposed previously. This work mainly focuses on the electromagnetic shielding effectiveness (EMSE) of weft-stretchable woven fabric containing t-ECCY over the X-band under different testing conditions, e.g., single step-by-step elongation, cyclic stretch and lamination events. Results showed that a woven cotton fabric with weft yarn of t-ECCY not only exhibited superior weft stretch-ability to a higher elongation (>40%) compared with a pure cotton control but also had an acceptable 15-cyclic stability with 80% shape recovery retention. The t-ECCY weft fabric was effective in shielding electromagnetic radiation, and its EMSE was also enhanced at elevated elongations during stretch at parallel polarization of EM waves. There was also no decay in EMSE before and after the t-ECCY fabric was subject to 15 stretch cycles at extension of 20%. In addition, a 90° by 90° cross lamination of t-ECCY fabric remarkably improved the EMSE compared to a 0°/90° one. The scalable fabrication strategy and excellent EMSE seen in t-ECCY-incorporated fabrics represent a significant step forward in protective fields. Full article

Electronic textiles demand a new family of flexible circuit boards in the construction of fiber or fiber assemblies. This paper presents a stretchable woven fabric circuit board (FCB) with permanent as well as detachable electrical connections to sensors or other wearable electronics components. The woven FCB was created by integrating conductive yarns into an elastic woven fabric. Permanent connection was designed between the conductive tracks and flexible sensors; detachable connection was achieved by the helical structure of conductive yarns wrapping around the rigid component electrode encapsulated within elastomeric layer. The developed FCB, with its connections to flexible sensors or rigid components, is porous, flexible, and capable of stretching to 30% strain. The woven FCB with permanent connection to temperature sensors has a large fatigue life of more than 10,000 cycles while maintaining constant electrical resistance due to crimped configurations of the conductive track in the elastic fabric substrate and stable contact resistance. A prototype of the FCB assembly, with independent light-emitting diodes electrically linked and mechanically supported by the woven FCB, is also demonstrated for wearable applications. Full article

This paper presents a study of the sensing properties exhibited by textile-based knitted strain sensors. Knitted sensors were manufactured using flat-bed knitting technology, and electro-mechanical tests were subsequently performed on the specimens using a tensile testing machine to apply strain whilst the sensor was incorporated into a Wheatstone bridge arrangement to allow electrical monitoring. The sensing fabrics were manufactured from silver-plated nylon and elastomeric yarns. The component yarns offered similar diameters, bending characteristics and surface friction, but their production parameters differed in respect of the required yarn input tension, the number of conductive courses in the sensing structure and the elastomeric yarn extension characteristics. Experimental results showed that these manufacturing controls significantly affected the sensing properties of the knitted structures such that the gauge factor values, the working range and the linearity of the sensors varied according to the knitted structure. These results confirm that production parameters play a fundamental role in determining the physical behavior and the sensing properties of knitted sensors. It is thus possible to manipulate the sensing properties of knitted sensors and the sensor response may be engineered by varying the production parameters applied to specific designs. Full article

The design and development of textile-based strain sensors has been a focus of research and many investigators have studied this subject. This paper presents a new textile-based strain sensor design and shows the effect of base fabric parameters on its sensing properties. Sensing fabric could be used to measure articulations of the human body in the real environment. The strain sensing fabric was produced by using electronic flat-bed knitting technology; the base fabric was produced with elastomeric yarns in an interlock arrangement and a conductive yarn was embedded in this substrate to create a series of single loop structures. Experimental results show that there is a strong relationship between base fabric parameters and sensor properties. Full article