Smart Shoe Insole Based on Polydimethylsiloxane Composite Capacitive Sensors

Nowadays, the study of the gait by analyzing the distribution of plantar pressure is a well-established technique. The use of intelligent insoles allows real-time monitoring of the user. Thus, collecting and analyzing information is a more accurate process than consultations in so-called gait laboratories. Most of the previous published studies consider the composition and operation of these insoles based on resistive sensors. However, the use of capacitive sensors could provide better results, in terms of linear behavior under the pressure exerted. This behavior depends on the properties of the dielectric used. In this work, the design and implementation of an intelligent plantar insole composed of capacitive sensors is proposed. The dielectric used is a polydimethylsiloxane (PDMS)-based composition. The sensorized plantar insole developed achieves its purpose as a tool for collecting pressure in different areas of the sole of the foot. The fundamentals and details of the composition, manufacture, and implementation of the insole and the system used to collect data, as well as the data samples, are shown. Finally, a comparison of the behavior of both insoles, resistive and capacitive sensor-equipped, is made. The prototype presented lays the foundation for the development of a tool to support the diagnosis of gait abnormalities.22 página

An in-shoe gait analysis device to measure the maximum shear stresses at the first metatarsal head

Bibliography: leaf 107.Recent research indicates that the shear stresses acting on a diabetic's foot are one of the major mechanical contributors to the high incidence of ulceration experienced by these patients. These stresses together with direct pressure are thought to have an effect on blood flow occlusion elsewhere in the body. The reduced blood flow may relate in moderation to reduced tissue tolerance or repair capability or even in more severe cases to cell death. Repeated vascular occlusion in a normal person would produce a minor blister or a swollen area, but with a diabetic patient it has the ability to create large incisions and ulcers. This is because diabetic patients are unable to redistribute the load on their feet due to the lack of sensation in their lower extremities. This results in diabetes being the number one cause of all lower limb amputations and accounting for 50 to 70 % of all non-traumatic amputations in the U.S. In the same country, it accounts for $200 million a year in treatment costs directly related to diabetic foot infections. Quantifying the magnitude and duration of these shear stresses therefore has the potential to play a crucial role in assisting podiatrists and clinicians in their diagnosis and treatment of these patients. However these stresses have not been widely evaluated due to lack of suitable instrumentation for their measurement. A technique which has proven to be the most successful in measuring these stresses involves placing a discrete transducer inside a customised insole and fitting it to a patient's shoe. This report sets out to design a similar technique but with the use of a differently designed transducer. The validity of and confidence in the proposed transducer was established by assessing and comparing the results of the transducer under a series of controlled tests with the results of other transducers presented in the literature. To allow an accurate assessment of the transducer to be made, the tests which were performed on the transducer were controlled and conducted at a fixed walking speed. The computational theory used was based on the assumptions and equations of two dimensional plane strain for linear elastic isotropic homogeneous materials. The transducer is based on the principle that a shear angle is induced on a plane when a shear stress is applied to a plane continuous and orthogonal to it. This principle was adapted into the design of the transducer in the form of a square block of material, whose two orthogonal lateral surfaces were used to measure the shear stress applied to its top surface. The design of the transducer consists of a block of material, two laterally positioned rectangular strain rosettes and a circular base. The first series of tests conducted on the transducer were intended to verify and establish its material properties and characteristics. A model of the transducer was then constructed using the finite element package ABAQUS. Two Shape Factors – one for calibration purposes and the other for in-shoe testing - were generated for the transducer to allow for the effects of the geometrical inconsistencies present in its design to be accounted for. Without these Shape Factors the equations and assumptions of linear elasticity would not have been appropriate. A series of controlled pilot and analysis tests were then performed using the custom designed insole and transducer fitted to a diabetic shoe. The diabetic shoe was worn by a subject who performed the tests on a treadmill at a laboratory in the Sports Institute of South Africa

Stretch sensors for measuring knee kinematics in sports

The popularity of wearable technology in sport has increased, due to its ability to provide unobtrusive monitoring of athletes. This technology has been used to objectively measure kinetic and kinematic variables, with the aim of preventing injury, maximising athletic performance and classifying the skill level of athletes, all of which can influence training and coaching practices. Wearable technologies overcome the limitations of motion capture systems which are limited in their capture volume, enabling the collection of data in-field, during training and competition. Inertial sensors are a common form of technology used in these environments however, their high-cost and complex calibration due to multiple sensor integration can make them prohibitive for widespread use. This thesis focuses on the development of a strain sensor that can be used to measure knee range of motion in sports, specifically rowing and cycling, as a potential low-cost, lightweight alternative to inertial sensors which can also be integrated into clothing, making them more discreet. A systematic review highlighted the lack of alternate technologies to inertial sensors such as strain sensors, as well as the limited use of wearable technologies in both rowing and cycling. Strain sensors were fabricated from a carbon nanotube-natural rubber composite using solvent exchange techniques and employed a piezoresistive sensing mechanism. These were then characterised using mechanical testing, to determine their electrical properties under cyclical strain. The strain sensors displayed hysteretic behaviour, but were durable, withstanding over 4500 strain cycles. Statistical analysis indicated that over 60% of the tests conducted had good intra-test variability with regards to the resistance response range in each strain cycle and sensor response deviating by less than 10% at strain rates below 100 mm/min and less than 20% at a strain rate of 350 mm/min. These sensors were integrated into a wearable sensor system and tested on rowing and cycling cohorts consisting of ten athletes each, to assess the translational use of the strain sensor. This preliminary testing indicated that strain sensors were able to track the motion of the knee during the rowing stroke and cycling pedalling motion, when compared to the output of a motion capture system. Perspectives of participants on the wearable system were collected, which indicated their desire for a system that they could use in their sport, and they considered the translation of this system for real-life use with further development to improve comfort of the system and consistency of the sensor response. The strain sensors developed in this project, when integrated into a wearable sensor system, have the potential to provide an unobtrusive method of measuring knee kinematics, helping athletes, coaches and other support staff make technical changes that can reduce injury risk and improve performance.Open Acces

Experimental Testing and Numerical Investigation of Materials with Embedded Systems during Indentation and Complex Loading Conditions

In this work, parametric FE (Finite Element) modelling has been developed and used to study the deformation of soft materials with different embedded systems under indentation and more complex conditions. The deformation of a soft material with an embedded stiffer layer under cylindrical flat indenter was investigated through FE modelling. A practical approach in modelling embedded system is evaluated and presented. The FE results are correlated with an analytical solution for homogenous materials and results from a mathematical approach for embedded systems in a half space. The influence of auxeticity on the indentation stiffness ratio and the de-formation of the embedded system under different conditions (indenter size, thickness and embedment depth of the embedded layer) was established and key mechanisms of the Poisson’s ratio effect are highlighted. The results show that the auxeticity of the matrix has a direct influence on the indentation stiffness of the system with an embedded layer. The enhancement of indentation resistance due to embedment increases, as the matrix Poisson’s ratio is decreased to zero and to negative values. The indentation stiffness could be increased by over 30% with a thin inextensible shell on top of a negative Poisson’s ratio matrix. The deformation of the embedded layer is found to be significantly influenced by the auxeticity of the matrix. Selected case studies show that the modelling approach developed is effective in simulating piezoelectrical sensors, and force sensitive resistor, as well as investigating the deformation and embedded auxetic meshes. A full scale parametric FE foot model is developed to simulate the deformation of the human foot under different conditions including soles with embedded shells and negative Poisson’s ratio. The models used a full bone structure and effective embedded structure method to increase the modelling efficiency. A hexahedral dominated meshing scheme was applied on the surface of the foot bones and skin. An explicit solver (Abaqus/Explicit) was used to simulate the transient landing process. Navicular drop tests have been performed and the displacement of the Navicular bone is measured using a 3D image analysing system. The experimental results show a good agreement with the numerical models and published data. The detailed deformation of the Navicular bone and factors affecting the Navicular bone displacement and measurement is discussed. The stress level and rate of stress increase in the Metatarsals and the injury risk in the foot between forefoot strike (FS) and rearfoot (RS) is evaluated and discussed. A detailed full parametric FE foot model is developed and validated. The deformation and internal energy of the foot and stresses in the metatarsals are comparatively investigated. The results for forefoot strike tests showed an overall higher average stress level in the metatarsals during the entire landing cycle than that for rearfoot strike. The increased rate of the metatarsal stress from the 0.5 body weight (BW) to 2 BW load point is 30.76% for forefoot strike and 21.39% for rearfoot strike. The maximum rate of stress increase among the five metatarsals is observed on the 1st metatarsal in both landing modes. The results indicate that high stress level during forefoot landing phase may increase potential of metatarsal injuries. The FE was used to evaluate the effect of embedded shell and auxetic materials on the foot-shoe sole interaction influencing both the contact area and the pressure. The work suggests that application of the auxetic matrix with embedded shell can reinforce the indentation resistance without changing the elastic modulus of the material which can optimise the wearing experience as well as providing enough support for wearers. . Potential approaches of using auxetic structures and randomly distributed 2D inclusion embedded in a soft matrix for footwear application is discussed. The design and modelling of foot prosthetic, which resembles the human foot structure with a rigid structure embedded in soft matrix is also presented and discussed

Addressing the challenges posed by human machine interfaces based on force sensitive resistors for powered prostheses

Despite the advancements in the mechatronics aspect of prosthetic devices, prostheses control still lacks an interface that satisfies the needs of the majority of users. The research community has put great effort into the advancements of prostheses control techniques to address users’ needs. However, most of these efforts are focused on the development and assessment of technologies in the controlled environments of laboratories. Such findings do not fully transfer to the daily application of prosthetic systems. The objectives of this thesis focus on factors that affect the use of Force Myography (FMG) controlled prostheses in practical scenarios. The first objective of this thesis assessed the use of FMG as an alternative or synergist Human Machine Interface (HMI) to the more traditional HMI, i.e. surface Electromyography (sEMG). The assessment for this study was conducted in conditions that are relatively close to the real use case of prosthetic applications. The HMI was embedded in the custom prosthetic prototype that was developed for the pilot participant of the study using an off-the-shelf prosthetic end effector. Moreover, prostheses control was assessed as the user moved their limb in a dynamic protocol.The results of the aforementioned study motivated the second objective of this thesis: to investigate the possibility of reducing the complexity of high density FMG systems without sacrificing classification accuracies. This was achieved through a design method that uses a high density FMG apparatus and feature selection to determine the number and location of sensors that can be eliminated without significantly sacrificing the system’s performance. The third objective of this thesis investigated two of the factors that contribute to increased errors in force sensitive resistor (FSR) signals used in FMG controlled prostheses: bending of force sensors and variations in the volume of the residual limb. Two studies were conducted that proposed solutions to mitigate the negative impact of these factors. The incorporation of these solutions into prosthetic devices is discussed in these studies.It was demonstrated that FMG is a promising HMI for prostheses control. The facilitation of pattern recognition with FMG showed potential for intuitive prosthetic control. Moreover, a method for the design of a system that can determine the required number of sensors and their locations on each individual to achieve a simpler system with comparable performance to high density FMG systems was proposed and tested. The effects of the two factors considered in the third objective were determined. It was also demonstrated that the proposed solutions in the studies conducted for this objective can be used to increase the accuracy of signals that are commonly used in FMG controlled prostheses

Analysis and enhancement of interpersonal coordination using inertial measurement unit solutions

Die heutigen mobilen Kommunikationstechnologien haben den Umfang der verbalen und textbasierten Kommunikation mit anderen Menschen, sozialen Robotern und künstlicher Intelligenz erhöht. Auf der anderen Seite reduzieren diese Technologien die nonverbale und die direkte persönliche Kommunikation, was zu einer gesellschaftlichen Thematik geworden ist, weil die Verringerung der direkten persönlichen Interaktionen eine angemessene Wahrnehmung sozialer und umgebungsbedingter Reizmuster erschweren und die Entwicklung allgemeiner sozialer Fähigkeiten bremsen könnte. Wissenschaftler haben aktuell die Bedeutung nonverbaler zwischenmenschlicher Aktivitäten als soziale Fähigkeiten untersucht, indem sie menschliche Verhaltensmuster in Zusammenhang mit den jeweilgen neurophysiologischen Aktivierungsmustern analzsiert haben. Solche Querschnittsansätze werden auch im Forschungsprojekt der Europäischen Union "Socializing sensori-motor contingencies" (socSMCs) verfolgt, das darauf abzielt, die Leistungsfähigkeit sozialer Roboter zu verbessern und Autismus-Spektrumsstörungen (ASD) adäquat zu behandeln. In diesem Zusammenhang ist die Modellierung und das Benchmarking des Sozialverhaltens gesunder Menschen eine Grundlage für theorieorientierte und experimentelle Studien zum weiterführenden Verständnis und zur Unterstützung interpersoneller Koordination. In diesem Zusammenhang wurden zwei verschiedene empirische Kategorien in Abhängigkeit von der Entfernung der Interagierenden zueinander vorgeschlagen: distale vs. proximale Interaktionssettings, da sich die Struktur der beteiligten kognitiven Systeme zwischen den Kategorien ändert und sich die Ebene der erwachsenden socSMCs verschiebt. Da diese Dissertation im Rahmen des socSMCs-Projekts entstanden ist, wurden Interaktionssettings für beide Kategorien (distal und proximal) entwickelt. Zudem wurden Ein-Sensor-Lösungen zur Reduzierung des Messaufwands (und auch der Kosten) entwickelt, um eine Messung ausgesuchter Verhaltensparameter bei einer Vielzahl von Menschen und sozialen Interaktionen zu ermöglichen. Zunächst wurden Algorithmen für eine kopfgetragene Trägheitsmesseinheit (H-IMU) zur Messung der menschlichen Kinematik als eine Ein-Sensor-Lösung entwickelt. Die Ergebnisse bestätigten, dass die H-IMU die eigenen Gangparameter unabhängig voneinander allein auf Basis der Kopfkinematik messen kann. Zweitens wurden—als ein distales socSMC-Setting—die interpersonellen Kopplungen mit einem Bezug auf drei interagierende Merkmale von „Übereinstimmung“ (engl.: rapport) behandelt: Positivität, gegenseitige Aufmerksamkeit und Koordination. Die H-IMUs überwachten bestimmte soziale Verhaltensereignisse, die sich auf die Kinematik der Kopforientierung und Oszillation während des Gehens und Sprechens stützen, so dass der Grad der Übereinstimmung geschätzt werden konnte. Schließlich belegten die Ergebnisse einer experimentellen Studie, die zu einer kollaborativen Aufgabe mit der entwickelten IMU-basierten Tablet-Anwendung durchgeführt wurde, unterschiedliche Wirkungen verschiedener audio-motorischer Feedbackformen für eine Unterstützung der interpersonellen Koordination in der Kategorie proximaler sensomotorischer Kontingenzen. Diese Dissertation hat einen intensiven interdisziplinären Charakter: Technologische Anforderungen in den Bereichen der Sensortechnologie und der Softwareentwicklung mussten in direktem Bezug auf vordefinierte verhaltenswissenschaftliche Fragestellungen entwickelt und angewendet bzw. gelöst werden—und dies in zwei unterschiedlichen Domänen (distal, proximal). Der gegebene Bezugsrahmen wurde als eine große Herausforderung bei der Entwicklung der beschriebenen Methoden und Settings wahrgenommen. Die vorgeschlagenen IMU-basierten Lösungen könnten dank der weit verbreiteten IMU-basierten mobilen Geräte zukünftig in verschiedene Anwendungen perspektiv reich integriert werden.Today’s mobile communication technologies have increased verbal and text-based communication with other humans, social robots and intelligent virtual assistants. On the other hand, the technologies reduce face-to-face communication. This social issue is critical because decreasing direct interactions may cause difficulty in reading social and environmental cues, thereby impeding the development of overall social skills. Recently, scientists have studied the importance of nonverbal interpersonal activities to social skills, by measuring human behavioral and neurophysiological patterns. These interdisciplinary approaches are in line with the European Union research project, “Socializing sensorimotor contingencies” (socSMCs), which aims to improve the capability of social robots and properly deal with autism spectrum disorder (ASD). Therefore, modelling and benchmarking healthy humans’ social behavior are fundamental to establish a foundation for research on emergence and enhancement of interpersonal coordination. In this research project, two different experimental settings were categorized depending on interactants’ distance: distal and proximal settings, where the structure of engaged cognitive systems changes, and the level of socSMCs differs. As a part of the project, this dissertation work referred to this spatial framework. Additionally, single-sensor solutions were developed to reduce costs and efforts in measuring human behaviors, recognizing the social behaviors, and enhancing interpersonal coordination. First of all, algorithms using a head worn inertial measurement unit (H-IMU) were developed to measure human kinematics, as a baseline for social behaviors. The results confirmed that the H-IMU can measure individual gait parameters by analyzing only head kinematics. Secondly, as a distal sensorimotor contingency, interpersonal relationship was considered with respect to a dynamic structure of three interacting components: positivity, mutual attentiveness, and coordination. The H-IMUs monitored the social behavioral events relying on kinematics of the head orientation and oscillation during walk and talk, which can contribute to estimate the level of rapport. Finally, in a new collaborative task with the proposed IMU-based tablet application, results verified effects of different auditory-motor feedbacks on the enhancement of interpersonal coordination in a proximal setting. This dissertation has an intensive interdisciplinary character: Technological development, in the areas of sensor and software engineering, was required to apply to or solve issues in direct relation to predefined behavioral scientific questions in two different settings (distal and proximal). The given frame served as a reference in the development of the methods and settings in this dissertation. The proposed IMU-based solutions are also promising for various future applications due to widespread wearable devices with IMUs.European Commission/HORIZON2020-FETPROACT-2014/641321/E

Review of Wearable Devices and Data Collection Considerations for Connected Health

Wearable sensor technology has gradually extended its usability into a wide range of well-known applications. Wearable sensors can typically assess and quantify the wearer’s physiology and are commonly employed for human activity detection and quantified self-assessment. Wearable sensors are increasingly utilised to monitor patient health, rapidly assist with disease diagnosis, and help predict and often improve patient outcomes. Clinicians use various self-report questionnaires and well-known tests to report patient symptoms and assess their functional ability. These assessments are time consuming and costly and depend on subjective patient recall. Moreover, measurements may not accurately demonstrate the patient’s functional ability whilst at home. Wearable sensors can be used to detect and quantify specific movements in different applications. The volume of data collected by wearable sensors during long-term assessment of ambulatory movement can become immense in tuple size. This paper discusses current techniques used to track and record various human body movements, as well as techniques used to measure activity and sleep from long-term data collected by wearable technology devices