Capacitive sensors are widely adopted in compact robotic systems due to their simple structure, ease of fabrication, and scalability for miniaturized designs. However, sensor miniaturization inevitably leads to reduced sensitivity and increased sensi...
In this paper, we present a direct drive brush-shaped tool developed for the use of robotic vine suckering. Direct drive design philosophy allows for precise and high bandwidth control of the torque exerted by the brush. Besides limiting the torque e...
By fixing two FBGs on the surface of a rotating shaft along the direction of ±45° and using dynamic wavelength demodulation technology, we propose an optical fiber sensing system to monitor the driving torque and torsion angle of the rotating shaft....
In recent years, the advancement of metamaterials has opened new possibilities for integrating torque sensors into robotic/automotive systems at an affordable cost. Millimeter-wave metamaterial-based sensing technologies enable compact, highly accura...
In human-robot cooperative control systems, force feedback is often necessary in order to achieve high precision and high stability. Usually, traditional robot assistant systems implement force feedback using force/torque sensors. However, it is diff...
This paper presents an improved control system for a small flux-switching permanent magnet motor (FSPM) to enhance its performance and torque sensing. The analytical magnetic circuit design was used to determine the related motor parameters, such as...
This paper presents a nonlinear cascaded control design that has been developed to (1) improve the self-sensing speed control performance of an interior permanent magnet synchronous motor (IPMSM) drive by reducing its speed and torque ripples and its...
In this paper, a three-dimensional finite element analysis (3D-FEA) model for shear horizontal surface acoustic wave (SH-SAW) torque sensors is presented. Torque sensors play a significant role in various fields to ensure a reliable torque transmissi...
Unaccustomed eccentric exercise is well established to induce exercise-induced muscle damage (EIMD), characterized by transient strength loss, delayed onset muscle soreness (DOMS), reduced range of motion, and proprioceptive disturbances. While limb...
Complementary polarized spin-transfer torque magnetic random-access memory (CPSTT-MRAM) has been proposed to address the sensing reliability issues caused by the single-ended sensing of STT-MRAM. However, it results in a three-fold increase in the fr...
In this paper is proposed a dynamic torque, rotational speed, and shaft position sensor. It is built of magnetic elastomer coating directly applied over a rotating shaft. The sensor is used for precise measurements of changes in torque and speed, and...
Spin-transfer torque magnetoresistive random access memory (STT-MRAM) applications have received considerable attention as a possible alternative for universal memory applications because they offer a cost advantage comparable to that of a dynamic RA...
This review synthesises fault detection and diagnosis (FDD) methods for robotic actuation in healthcare, where precise, compliant, and safe physical human–robot interaction (pHRI) is essential. Actuator families—harmonic-drive electric tr...
The tiger beetle can maintain its stability by controlling the interaction force between its legs and an unstructured terrain while it runs. The biomimetic hexapod robot mimics a tiger beetle, and a comprehensive force sensing system combined with ce...
This dataset represents the physical interactions collected by the robot’s sensors during a collaborative effort between humans and robots. The experiment was conducted at the Sheffield Robotics laboratory at the University of Sheffield, UK, ut...
To address the inefficiency of demolition robots at nuclear contamination sites due to frequent retreats to safe zones for attachment replacement, this study develops and experimentally evaluates a six-wheeled mobile platform for attachment-replaceme...
Purpose: Excessive drill advancement after cortical breakthrough is a potential safety concern in orthopaedic procedures. We developed a data-driven approach to estimate the drill-tip position relative to the far cortex prior to breakthrough using ti...
When a shipborne helicopter performs vertical replenishment with external cargo, changes in flight attitude and the combined airflow field may cause the suspended load to rotate, generating torque at the connection assembly. This torque cannot be mea...
Rigid multi-peg-in-hole assembly is prone to contact coupling, uncertain contact sequences, and jamming under small clearances. This study proposes a dual-key-peg progressive constraint strategy integrated with the proposed variable-damping admittanc...
Eccentric payloads redistribute wheel loads and change the forces and moments required to maneuver heavy mobile robots. This study combines torque-based center-of-mass (CoM) estimation with global and local motion planning. During aligned, quasi-stat...
The magnetoelastic effect is known as the dependence between the magnetic properties of the material and applied mechanical stress. The stress might not be applied directly but rather generated by the applied torque. This creates the possibility of d...
With the rapid development of science and technology, high-resolution remote sensing cameras are now widely used in various fields. At the beginning of camera attitude adjustment, residual torque due to state changes can affect platform stability and...
Force–torque sensors are used in many and different domains (i.e., space, medicine, biology, etc.). Design solutions of force–torque sensors can be conceived by using many types of connections or components; however, there are only a few...
GyroWheel is an integrated device that can provide three-axis control torques and two-axis angular rate sensing for small spacecrafts. Large tilt angle of its rotor and de-tuned spin rate lead to a complex and non-linear dynamics as well as difficult...
The integrity and transparency of a haptic feedback in a bilateral control is crucial for precise and accurate operators’ sensation during human–machine interactions. Conventional master and slave bilateral control systems are often subject to unknow...
The motion-control precision of a shallow-sea underwater robot is seriously affected by external disturbances such as wind, waves and ocean currents. Due to the lack of a specialized disturbance-sensor system, the disturbance force and torque cannot...
This paper proposes two kinds of approaches of angular rate sensing for micro-spacecraft with a gyrowheel (GW), which can combine attitude sensing with attitude control into one single device to achieve a compact micro-spacecraft design. In this impl...
In the field of robotics, sensors are crucial in enabling the interaction between robots and their users. To ensure this interaction, sensors mainly measure the user’s strength, and based on this, wearable robots are controlled. In this paper, we pro...
A torqued vector field
A three-dimensional finite element analysis model of surface acoustic wave (SAW) torque sensor based on multilayer structure is proposed in this paper. Compared with the traditional saw torque sensor with quartz as piezoelectric substrate, the SAW to...
Six-dimensional force sensors are widely used in compliant robotic control and safe human–machine interactions due to their mature sensing mechanisms and high accuracy. However, conventional six-dimensional force sensors often suffer from compl...
Real-time multi-axis distributed tactile sensing is a critical capability if robots are to perform stable gripping and dexterous manipulation, as it provides crucial information about the sensor–object interface. In this paper, we present an op...
The need for reducing the cost of and space in Electrically Assisted Bicycles (EABs) has led the research to the development of solutions able to sense the applied pedalling torque and to provide a suitable electrical assistance avoiding the installa...
Electrified transport demands reliable and high-performance motor drives. Homopolar single-stator doubly salient permanent-magnet (DSPM) motors feature a simple rotor without windings or permanent magnets and stator-mounted excitation. However, durin...
In high speed and high precision machining applications, it is important to monitor the machining process in order to ensure high product quality. For this purpose, it is essential to develop a dynamometer with high sensitivity and high natural frequ...
Demand for wheelchairs is increasing with growing numbers of aged and disabled persons. Manual wheelchairs are the most commonly used assistive device for mobility because they are convenient to transport. Manual wheelchairs have several advantages b...
In order to improve the precision and stability of puncture surgical operations to assist doctors in completing fine manipulation, a new of type puncturing needle sensor is proposed based on a fiber Bragg grating (FBG). Compared with the traditional...
Recently, due to the development of automation technology, torque measuring and monitoring technologies have been brought to the focus. However, the commercially available sensors have the disadvantage of large volume, which results in the difficulty...
In this paper, we propose a compact force sensor system for a hip-mounted exoskeleton for seniors with difficulties in walking due to muscle weakness. It senses and monitors the delivered force and power of the exoskeleton for motion control and taki...
With the emerging of wearable robots, the safety and effectiveness of human-robot physical interaction have attracted extensive attention. Recent studies suggest that online measurement of the interaction force between the robot and the human body is...
This paper presents a data-driven modeling and sensorless angle–torque prediction method for a pneumatic soft bending actuator. The actuator contains no embedded angle or torque sensors; instead, only airflow and pressure sensors located in the...
Background: The purpose of the present investigation was to study the possible differences between young and elderly individuals regarding muscle damage, position sense, and oxidative stress biomarkers in response to resistance eccentric-biased exerc...
Background: The diagnostic integration of complementary smart sensing technologies offers significant advantages for functional neuromuscular profiling and athletic screening. This study investigated the biomechanical coupling between unilateral post...
The stability and integrity of the abutment-implant connection, by means of a screw, is fallible from the moment the prosthetic elements are joined and is dependent on the applied preload, wear of the components and function. One of the main causes o...
To enhance the driving experience for drivers, making it more realistic and comfortable, this study proposes a simulation control strategy for steering-by-wire road sense based on sliding mode control. Firstly, a dynamic model is constructed for the...
This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology. The sensor’s main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensi...
Wheeled-bipedal robots (WBRs) integrate the locomotion efficiency and terrain adaptability of legged and wheeled robots. However, terrain adaptability is significantly influenced by the control system. This paper proposes a hierarchical control metho...
Automated collection of on-vehicle sensor data allows the development of artificial intelligence (AI) techniques for vehicular systems’ diagnostic and prognostic processes to better assess the state-of-health, predict faults and evaluate residu...
Force sensing system (FSS) is widely used to simulate the control force of aircrafts for pilots. Conventional FSS employs multiple single-axis motors and complex transmission mechanisms to achieve multiple degree-of-freedom (DOF) force output of joys...
The rotary bacterial flagellar motor is remarkable in biochemistry for its highly synchronized operation and amplification during switching of rotation sense. The motor is part of the flagellar basal body, a complex multi-protein assembly. Sensory an...
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