A quantitative evaluation of drive pattern selection for optimizing EIT-based stretchable sensors

Electrical Impedance Tomography (EIT) is a medical imaging technique that has been recently used to realize stretchable pressure sensors. In this method, voltage measurements are taken at electrodes placed at the boundary of the sensor and are used to reconstruct an image of the applied touch pressure points. The drawback in EIT-based sensors however, is their low spatial resolution due to the ill-posed nature of the EIT reconstruction. In this paper, we show our performance evaluation of different EIT drive patterns, specifically strategies for electrode selection when performing current injection and voltage measurements. We compare voltage data with Signal to Noise Ratio (SNR) and Boundary Voltage Changes (BVC), and study image quality with Size Error (SE), Position Error (PE) and Ringing (RNG) parameters, in the case of one-point and two-point simultaneous contact locations. The study shows that, in order to improve the performance of EIT based sensors, the electrode selection strategies should dynamically change correspondingly to the location of the input stimuli. In fact, the selection of a drive pattern over another can improve the target size detection and position accuracy up to 4.7% and 18% respectively

EIT BASED PIEZORESISTIVE TACTILE SENSORS: A SIMULATION STUDY

Electrical impedance tomography (EIT) is an imaging technique that uses voltage measurements to map the internal conductivity distribution of a body by applying current on electrodes attached to the boundary of that body. EIT has many applications, ranging from medical imaging to 3D printing. This imaging method is also being used for tactile sensing using stretchable piezoresistive sensors, mainly for robotic applications. Although prior research has focused on qualitative illustrations of tactile sensing, this thesis focuses on quantitative evaluation. In this thesis different current injection patterns are quantitatively analyzed using performance metrics to understand their effect on the resulting EIT images

A 122 fps, 1 MHz bandwidth multi-frequency wearable EIT belt featuring novel active electrode architecture for neonatal thorax vital sign monitoring

A highly integrated, wearable electrical impedance tomography (EIT) belt for neonatal thorax vital multiple sign monitoring is presented. The belt has sixteen active electrodes. Each has an application specific integrated circuit (ASIC) connected to an electrode. The ASIC contains a fully differential current driver, a high-performance instrumentation amplifier (IA), a digital controller and multiplexors. The wearable EIT belt features a new active electrode architecture that allows programmable flexible electrode current drive and voltage sense patterns under simple digital control. It provides intimate connections to the electrodes for the current drive and to the IA for direct differential voltage measurement providing superior common-mode rejection ratio. The ASIC was designed in a CMOS 0.35-μm high-voltage technology. The high specification EIT belt has an image frame rate of 122 fps, a wide operating bandwidth of 1 MHz and multi-frequency operation. It measures impedance with 98% accuracy and has less than 0.5 Ω and 1o variation across all possible channels. The image results confirmed the advantage of the new active electrode architecture and the benefit of wideband, multi-frequency EIT operation. The wearable EIT belt can also detect patient position and torso shape information using a MEMS sensor interfaced to each ASIC. The system successfully captured high quality lung respiration EIT images, breathing cycle and heart rate

An Imaged-Based Method for Universal Performance Evaluation of Electrical Impedance Tomography Systems

This paper describes a simple and reproducible methodology for universal evaluation of the performance of electrical impedance tomography (EIT) systems using reconstructed images. Based on objective full referencing (FR), the method provides a visually distinguishable hot colormap and two new FR metrics, the global and the more specific region of interest, to address the issues where common electrical parameters are not directly related to the quality of EIT images. A passive 16 electrode EIT system using an application specific integrated circuit front-end was used to evaluate the proposed method. The measured results show, both visually and in terms of the proposed FR metrics, the impact on recorded EIT images with different design parameters and non-idealities. The paper also compares the image results of a passive electrode system with a matched single variable active electrode system and demonstrates the merit of an active electrode system for noise interference

TACTILE SENSING WITH COMPLIANT STRUCTURES FOR HUMAN-ROBOT INTERACTION

This dissertation presents the research on tactile sensing with compliant structures towards human-robot interaction. It would be beneficial for robots working collaboratively with humans to be soft or padded and have compliant tactile sensing skins over the padding. To allow the robots to interact with humans via touch effectively and safely and to detect tactile stimuli in an unstructured environment, new tactile sensing concepts are needed that can detect a wide range of potential interactions and sense over an area. However, most highly sensitive tactile sensors are unable to cover the forces involved in human contacts, which ranges from 1 newton to thousand newtons; to implement area sensing capabilities, there have been challenges in creating traditional sensing arrays, where the associated supporting electronics become more complex with an increasing number of sensing elements. This dissertation develops a novel multi-layer cutaneous tactile sensing architecture for enhanced sensitivity and range, and employs an imaging technique based on boundary measurements called electrical impedance tomography (EIT) to achieve area tactile sensing capabilities. The multi-layer cutaneous tactile sensing architecture, which consists of stretchable piezoresistive strain-sensing layers over foam padding layers of different stiffness, allows for both sufficient sensitivity and an extended force range for human contacts. The role that the padding layer plays when placed under a stretchable sensing layer was investigated, and it was discovered that the padding layer magnifies the sensor signal under indentation compared to that obtained without padding layers. The roles of the multi-layer foams were investigated by changing stiffness and thickness, which allows tailoring the response of multi-layer architectures for different applications. To achieve both extended force range and distributed sensing, EIT technique was employed with the multi-layer sensing architecture. Machine and human touch were conducted on the developed multi-layer sensing system, revealing that the second sensing skin is required to detect the large variability in human touch. Although widely applied in the medical field for functional imaging, EIT applied in tactile sensing faces different challenges, such as unknown number and region of tactile stimuli. Current EIT tactile sensors have focused on qualitative demonstration. This dissertation aims at achieving quantitative information from piezoresistive EIT tactile sensors, by investigating spatial performance and the effect of sensor’s conductivity. A spatial correction method was developed for obtaining consistent spatial information, which was validated by both simulation and experiments from our stretchable piezoresistive EIT sensor with an underlying padding layer

A 122 fps, 1 MHz bandwidth multi-frequency wearable EIT belt featuring novel active electrode architecture for neonatal thorax vital sign monitoring

A highly integrated, wearable electrical impedance tomography (EIT) belt for neonatal thorax vital multiple sign monitoring is presented. The belt has sixteen active electrodes. Each has an application specific integrated circuit (ASIC) connected to an electrode. The ASIC contains a fully differential current driver, a high-performance instrumentation amplifier (IA), a digital controller and multiplexors. The wearable EIT belt features a new active electrode architecture that allows programmable flexible electrode current drive and voltage sense patterns under simple digital control. It provides intimate connections to the electrodes for the current drive and to the IA for direct differential voltage measurement providing superior common-mode rejection ratio. The ASIC was designed in a CMOS 0.35-μm high-voltage technology. The high specification EIT belt has an image frame rate of 122 fps, a wide operating bandwidth of 1 MHz and multi-frequency operation. It measures impedance with 98% accuracy and has less than 0.5 Ω and 1o variation across all possible channels. The image results confirmed the advantage of the new active electrode architecture and the benefit of wideband, multi-frequency EIT operation. The wearable EIT belt can also detect patient position and torso shape information using a MEMS sensor interfaced to each ASIC. The system successfully captured high quality lung respiration EIT images, breathing cycle and heart rate

Development of a practical electrical tomography system for flexible contact sensing applications

Tactile sensing is seeing an increase in potential applications, such as in humanoid and industrial robots; health care systems and medical instrumentation; prosthetic devices; and in the context of human-machine interaction. However, these applications require the integration of tactile sensors over various objects with different surface shapes. This emphasises the need of developing sensors which are flexible in contrast with the common rigid type. Moreover, flexible sensing research is considered to be in its infancy. Many technological and system issues are still open, mainly: conformability; scalability; system integration; high system cost; sensor size; and power consumption. In light of the above, this thesis is concerned with the development of a flexible fabric-based contact sensor system. This is done through an interdisciplinary approach whereby electronics, system engineering, electrical tomography, and machine learning have been considered. This results in a practical flexible sensor that is capable of accurately detecting contact locations with high temporal resolution; and requires low power consumption.The sensor is based on the principle of electrical tomography. This is essential since this technique allows us to eliminate electrodes and wiring from within the sensing area, confining them to the periphery of the sensor. This improves flexibility all while eliminating electrode fatigue and deterioration due to repeated loading.We start by developing an electrical tomography sensor system. This comprises of a piezoresistive flexible fabric material, a data acquisition card, and a custom printed circuit board for managing both current injection and data collection. We show that current injection and voltage measurement protocols respond differently to different positions of the input contact region of interest, consequently affecting the overall performance of the tomography sensor system. Then, an approach for classifying contact location over the sensor is presented. This is done using supervised machine learning, namely discriminant analysis. Accurate touch location identification is achieved, along with an increase in the detection speed and sensor versatility. Finally, the sensor is placed over different surfaces in order to show and validate its efficiency. The main finding of this work is that electrical tomography flexible sensor systems present a very promising technology, and can be practically and effectively used for developing inexpensive and durable flexible sensors for tactile applications. The main advantage of this approach is the complete absence of wires in the internal area of the sensor. This allows the sensor to be placed over surfaces with different shapes without losing its functionality. The sensor's applicability can be further improved by using machine learning strategies due to their ability of empirical learning and extracting meaningful tactile information. The research work in this thesis was motivated by the problems faced by industrial partners which were part of the sustainable manufacturing and advanced robotics training network in Europe (SMART-e)

A Human-Machine Interface Using Electrical Impedance Tomography for Hand Prosthesis Control

This paper presents a human-machine interface that establishes a link between the user and a hand prosthesis. It successfully uses electrical impedance tomography, a conventional bio-impedance imaging technique, using an array of electrodes contained in a wristband on the user's forearm. Using a high-performance analog front-end application specific integrated circuit (ASIC) the user's forearm inner bio-impedance redistribution is accurately assessed. These bio-signatures are strongly related to hand motions and using artificial neural networks, they can be learned so as to recognize the user's intention in real-time for prosthesis operation. In this work, eleven hand motions are designed for prosthesis operation with a gesture switching enabled sub-grouping method. Experiments with five subjects show that the system can achieve 98.5% accuracy with a grouping of three gestures and an accuracy of 94.4% with two sets of five gestures. The ASIC comprises a current driver with common-mode reduction capability and a current feedback instrumentation amplifier. The ASIC operates from $\pm$1.65 V power supplies, occupies an area of 0.07 mm2, and has a minimum bio-impedance sensitivity of 12.7 mΩp-p

Advances in Integrated Circuits and Systems for Wearable Biomedical Electrical Impedance Tomography

Electrical impedance tomography (EIT) is an impedance mapping technique that can be used to image the inner impedance distribution of the subject under test. It is non-invasive, inexpensive and radiation-free, while at the same time it can facilitate long-term and real-time dynamic monitoring. Thus, EIT lends itself particularly well to the development of a bio-signal monitoring/imaging system in the form of wearable technology. This work focuses on EIT system hardware advancement using complementary metal oxide semiconductor (CMOS) technology. It presents the design and testing of application specific integrated circuit (ASIC) and their successful use in two bio-medical applications, namely, neonatal lung function monitoring and human-machine interface (HMI) for prosthetic hand control. Each year fifteen million babies are born prematurely, and up to 30% suffer from lung disease. Although respiratory support, especially mechanical ventilation, can improve their survival, it also can cause injury to their vulnerable lungs resulting in severe and chronic pulmonary morbidity lasting into adulthood, thus an integrated wearable EIT system for neonatal lung function monitoring is urgently needed. In this work, two wearable belt systems are presented. The first belt features a miniaturized active electrode module built around an analog front-end ASIC which is fabricated with 0.35-µm high-voltage process technology with ±9 V power supplies and occupies a total die area of 3.9 mm². The ASIC offers a high power active current driver capable of up to 6 mAp-p output, and wideband active buffer for EIT recording as well as contact impedance monitoring. The belt has a bandwidth of 500 kHz, and an image frame rate of 107 frame/s. To further improve the system, the active electrode module is integrated into one ASIC. It contains a fully differential current driver, a current feedback instrumentation amplifier (IA), a digital controller and multiplexors with a total die area of 9.6 mm². Compared to the conventional active electrode architecture employed in the first EIT belt, the second belt features a new architecture. It allows programmable flexible electrode current drive and voltage sense patterns under simple digital control. It has intimate connections to the electrodes for the current drive and to the IA for direct differential voltage measurement providing superior common-mode rejection ratio (CMRR) up to 74 dB, and with active gain, the noise level can be reduced by a factor of √3 using the adjacent scan. The second belt has a wider operating bandwidth of 1 MHz and multi-frequency operation. The image frame rate is 122 frame/s, the fastest wearable EIT reported to date. It measures impedance with 98% accuracy and has less than 0.5 Ω and 1° variation across all channels. In addition the ASIC facilitates several other functionalities to provide supplementary clinical information at the bedside. With the advancement of technology and the ever-increasing fusion of computer and machine into daily life, a seamless HMI system that can recognize hand gestures and motions and allow the control of robotic machines or prostheses to perform dexterous tasks, is a target of research. Originally developed as an imaging technique, EIT can be used with a machine learning technique to track bones and muscles movement towards understanding the human user’s intentions and ultimately controlling prosthetic hand applications. For this application, an analog front-end ASIC is designed using 0.35-µm standard process technology with ±1.65 V power supplies. It comprises a current driver capable of differential drive and a low noise (9μVrms) IA with a CMRR of 80 dB. The function modules occupy an area of 0.07 mm². Using the ASIC, a complete HMI system based on the EIT principle for hand prosthesis control has been presented, and the user’s forearm inner bio-impedance redistribution is assessed. Using artificial neural networks, bio-impedance redistribution can be learned so as to recognise the user’s intention in real-time for prosthesis operation. In this work, eleven hand motions are designed for prosthesis operation. Experiments with five subjects show that the system can achieve an overall recognition accuracy of 95.8%