Performance of Smart Materials-Based Instrumentation for Force Measurements in Biomedical Applications: A Methodological Review

The introduction of smart materials will become increasingly relevant as biomedical technologies progress. Smart materials sense and respond to external stimuli (e.g., chemical, electrical, mechanical, or magnetic signals) or environmental circumstances (e.g., temperature, illuminance, acidity, or humidity), and provide versatile platforms for studying various biological processes because of the numerous analogies between smart materials and biological systems. Several applications based on this class of materials are being developed using different sensing principles and fabrication technologies. In the biomedical field, force sensors are used to characterize tissues and cells, as feedback to develop smart surgical instruments in order to carry out minimally invasive surgery. In this regard, the present work provides an overview of the recent scientific literature regarding the developments in force measurement methods for biomedical applications involving smart materials. In particular, performance evaluation of the main methods proposed in the literature is reviewed on the basis of their results and applications, focusing on their metrological characteristics, such as measuring range, linearity, and measurement accuracy. Classification of smart materials-based force measurement methods is proposed according to their potential applications, highlighting advantages and disadvantages

Development of novel micropneumatic grippers for biomanipulation

Microbjects with dimensions from 1 μm to 1 mm have been developed recently for different aspects and purposes. Consequently, the development of handling and manipulation tools to fulfil this need is urgently required. Micromanipulation techniques could be generally categorized according to their actuation method such as electrostatic, thermal, shape memory alloy, piezoelectric, magnetic, and fluidic actuation. Each of which has its advantage and disadvantage. The fluidic actuation has been overlooked in MEMS despite its satisfactory output in the micro-scale. This thesis presents different families of pneumatically driven, low cost, compatible with biological environment, scalable, and controllable microgrippers. The first family demonstrated a polymeric microgripper that was laser cut and actuated pneumatically. It was tested to manipulate microparticles down to 200 microns. To overcome the assembly challenges that arise in this family, the second family was proposed. The second family was a micro-cantilever based microgripper, where the device was assembled layer by layer to form a 3D structure. The microcantilevers were fabricated using photo-etching technique, and demonstrated the applicability to manipulate micro-particles down to 200 microns using automated pick-and-place procedure. In addition, this family was used as a tactile-detector as well. Due to the angular gripping scheme followed by the above mentioned families, gripping smaller objects becomes a challenging task. A third family following a parallel gripping scheme was proposed allowing the gripping of smaller objects to be visible. It comprises a compliant structure microgripper actuated pneumatically and fabricated using picosecond laser technology, and demonstrated the capability of gripping microobject as small as 100 μm microbeads. An FEA modelling was employed to validate the experimental and analytical results, and excellent matching was achieved

A contemporary investigation of force transducers: Past and present scenario

In this paper, retrospective investigation of different types of force transducers, used in different applications (metrological, industrial, scientific etc.) for force measurement, has been done. The paper discusses the complete classification of force transducers based on shape, display and applications. Various types of force transducer have been discussed in the paper including symmetrical, unsymmetrical and alteration types. An attempt has been made to provide a comprehensive investigation related to metrological aspects of force transducer

Mechanical Properties of Low Dimensional Materials

Recent advances in low dimensional materials (LDMs) have paved the way for unprecedented technological advancements. The drive to reduce the dimensions of electronics has compelled researchers to devise newer techniques to not only synthesize novel materials, but also tailor their properties. Although micro and nanomaterials have shown phenomenal electronic properties, their mechanical robustness and a thorough understanding of their structure-property relationship are critical for their use in practical applications. However, the challenges in probing these mechanical properties dramatically increase as their dimensions shrink, rendering the commonly used techniques inadequate. This Dissertation focuses on developing techniques for accurate determination of elastic modulus of LDMs and their mechanical responses under tensile and shear stresses. Fibers with micron-sized diameters continuously undergo tensile and shear deformations through many phases of their processing and applications. Significant attention has been given to their tensile response and their structure-tensile properties relations are well understood, but the same cannot be said about their shear responses or the structure-shear properties. This is partly due to the lack of appropriate instruments that are capable of performing direct shear measurements. In an attempt to fill this void, this Dissertation describes the design of an inexpensive tabletop instrument, referred to as the twister, which can measure the shear modulus (G) and other longitudinal shear properties of micron-sized individual fibers. An automated system applies a pre-determined twist to the fiber sample and measures the resulting torque using a sensitive optical detector. The accuracy of the instrument was verified by measuring G for high purity copper and tungsten fibers. Two industrially important fibers, IM7 carbon fiber and Kevlar® 119, were found to have G = 17 and 2.4 GPa, respectively. In addition to measuring the shear properties directly on a single strand of fiber, the technique was automated to allow hysteresis, creep and fatigue studies. Zinc oxide (ZnO) semiconducting nanostructures are well known for their piezoelectric properties and are being integrated into several nanoelectro-mechanical (NEMS) devices. In spite of numerous studies on the mechanical response of ZnO nanostructures, there is not a consensus in its measured bending modulus (E). In this Dissertation, by employing an all-electrical Harmonic Detection of Resonance (HDR) technique on ZnO nanowhisker (NW) resonators, the underlying origin for electrically-induced mechanical oscillations in a ZnO NW was elucidated. Based on visual detection and electrical measurement of mechanical resonances under a scanning electron microscope (SEM), it was shown that the use of an electron beam as a resonance detection tool alters the intrinsic electrical character of the ZnO NW, and makes it difficult to identify the source of the charge necessary for the electrostatic actuation. A systematic study of the amplitude of electrically actuated as-grown and gold-coated ZnO NWs in the presence (absence) of an electron beam using an SEM (dark-field optical microscope) suggests that the oscillations seen in our ZnO NWs are due to intrinsic static charges. In experiments involving mechanical resonances of micro and nanostructured resonators, HDR is a tool for detecting transverse resonances and E of the cantilever material. To add to this HDR capability, a novel method of measuring the G using HDR is presented. We used a helically coiled carbon nanowire (HCNW) in singly-clamped cantilever configuration, and analyzed the complex (transverse and longitudinal) resonance behavior of the nonlinear geometry. Accordingly, a synergistic protocol was developed which (i) integrated analytical, numerical (i.e., finite element using COMSOL ®) and experimental (HDR) methods to obtain an empirically validated closed form expression for the G and resonance frequency of a singly-clamped HCNW, and (ii) provided an alternative for solving 12th order differential equations. A visual detection of resonances (using in situ SEM) combined with HDR revealed intriguing non-planar resonance modes at much lower driving forces relative to those needed for linear carbon nanotube cantilevers. Interestingly, despite the presence of mechanical and geometrical nonlinearities in the HCNW resonance behavior, the ratio of the first two transverse modes f2/f1 was found to be similar to the ratio predicted by the Euler-Bernoulli theorem for linear cantilevers

Design and fabrication of flexible tactile sensing and feedback interface for communication by deafblind people

Humans generally interact and communicate using five basic sensory modalities and mainly through vision, touch and audio. However, this does not work for deafblind people as they have both impaired hearing and vision modalities, and hence rely on touch-sensing. This necessitates the development of alternative means that allows them to independently interact and communicate. To do this requires a solution which has the capability for tactile sensing and feedback. Therefore, tactile interface becomes a critical component of any assistive device usable by deafblind people for interaction and communication. Given that existing solutions mainly use rigid and commercial components, there is a need to tap into the advancements in flexible electronics in order develop more effective and conformable solutions. This research involves the development of flexible tactile communication interface usable in assistive communication devices for deafblind people. First, commercial sensors and actuators were utilised as a proof-of-concept and then four novel tactile interfaces were explored which include two similar touch-sensitive electromagnetic actuators, one capacitive tactile sensing array, and a facile flexible inductance-based pressure sensor. The two fabricated touch-sensitive electromagnetic actuators (Type 1 and 2) are both based on electromagnetic principle and capable of simultaneous tactile sensing and feedback. Each comprises of a tandem combination of two main modules - the touch-sensing and the actuation module, with both modules integrated as a single device in each case. The actuation module employs a flexible planar spiral coil and a Neodymium magnet assembled in a soft Polydimethylsiloxane (PDMS) structure, while the touch-sensing module is a planar capacitive metal- insulator-metal structure of copper. The flexible coil (~17µm thick and with 45 turns) was fabricated on a Polyimide sheet using Lithographie Galvanoformung Abformung (LIGA) process. The results of characterisation of these actuators at frequencies ranging from 10Hz to 200Hz, shows a maximum displacement (~ 190µm) around 40Hz. Evaluation of this by 40 (20 deafblind and 20 sighted and hearing) participants show that they can feel vibration at this range. Another tactile interface fabricated is an 8 x 8 capacitive tactile sensing array. The sensor was developed on a flexible Polyvinyl Chloride (PVC) sheet with column electrodes deposited on one side and row electrodes on the reverse side. It is intended for use as an assistive tactile communication interface for deafblind people who communicate using deafblind manual alphabets as well as the English block letters. An inductance-based pressure sensor was also designed, fabricated and characterised for use as an input interface for finger Braille as well as other tactile communication methods for deafblind people. It was realised with a soft ferromagnetic elastomer and a 17µm-thick coil fabricated on a flexible 50 µm-thick polyimide sheet. The ferromagnetic elastomer acts as the core of the coil, which when pressed, sees the metal particles moving closer to each other, leading to changes in the inductance. The coil, with 75µm conductor and 25µm pitch, was also realised using LIGA micromolding technique. Seven different sensors were fabricated using different ratios (1:1, 1:2, 1:3, 1:5, 2:1, 3:1, and 5:1) of Ecoflex to Iron particles. The performance of each sensor was investigated and generally, sensors with higher Iron particles gave better sensitivity, linear as well as dynamic range. In comparison with all other fabricated sensors, the sensor made with 1:5DD was recommended for application as a tactile interface

Methods and Sensors for Slip Detection in Robotics: A Survey

The perception of slip is one of the distinctive abilities of human tactile sensing. The sense of touch allows recognizing a wide set of properties of a grasped object, such as shape, weight and dimension. Based on such properties, the applied force can be accordingly regulated avoiding slip of the grasped object. Despite the great importance of tactile sensing for humans, mechatronic hands (robotic manipulators, prosthetic hands etc.) are rarely endowed with tactile feedback. The necessity to grasp objects relying on robust slip prevention algorithms is not yet corresponded in existing artificial manipulators, which are relegated to structured environments then. Numerous approaches regarding the problem of slip detection and correction have been developed especially in the last decade, resorting to a number of sensor typologies. However, no impact on the industrial market has been achieved. This paper reviews the sensors and methods so far proposed for slip prevention in artificial tactile perception, starting from more classical techniques until the latest solutions tested on robotic systems. The strengths and weaknesses of each described technique are discussed, also in relation to the sensing technologies employed. The result is a summary exploring the whole state of art and providing a perspective towards the future research directions in the sector

Laser-assisted processing of multilayer films for inexpensive and flexible biomedical microsystems

Flexible/stretchable electronics offer ideal properties for emerging health monitoring devices that can seamlessly integrate with the soft, curvilinear, and dynamic surfaces of the human body. The resulting capabilities have allowed novel devices for monitoring physiological parameters, improving surgical procedures, and human-machine interfaces. While the attractiveness of these devices are indubitable, their fabrication by conventional cleanroom techniques makes them expensive and incompatible with rapid large-scale (e.g., roll-to-roll) production. The purpose of this research is to develop inexpensive fabrication technologies using low-cost commercial films such as polyimide, paper, and metalized paper that can be utilized for developing various flexible/stretchable physical and chemical sensors for wearable and lab-on-chip applications. The demonstrated techniques focus on an array of laser assisted surfaces modification and micromachining strategies with the two commonly used CO2 and Nd: YAG laser systems. The first section of this dissertation demonstrates the use of localized pulsed CO2 laser irradiation to selectively convert thermoset polymer films (e.g., polyimide) into electrically conductive highly porous carbon micro/nanostructures.Thisprocessprovidesauniqueandfacileapproachfordirect writing of carbonized conductive patterns on flexible polyimide sheets in ambient conditions, eliminating complexities of current methods such as expensive CVD processes and complicated formulation/preparation of conductive carbon based inks used in ink jet printing. The highly porous laser carbonized layer can be transferred to stretchable elastomer or further functionalized with various chemical substances such as ionic solutions, nanoparticles, and chemically conductive polymers to create different mechanical and chemical sensors. The second section of this dissertation describes the use of laser ablation for selective removal of material from multilayer films such as ITO-coated PET, parchment paper, and metalized paper to create disposable diagnostic platforms and in-vitro models for lab-on-chip based studies. The ablated areas were analyzed using electrical, mechanical, and surface analysis tools to understand change in physical structure and chemical properties of the laser ablated films. As proof-of-concept demonstrations of these technologies, four different devices are presented here: mechanical, electrochemical, and environmental sensors along with an in-vitro cell culture platform. All four devices are designed, fabricated, and characterized to highlight the capability of commercial laser processing systems in the production of the next generation, low-cost and flexible biomedical devices

Ultra conformable and multimodal tactile sensors based on organic field-effect transistors

Cognitive psychology is the branch of psychology related to all the processes by which sensory input is transformed, processed and used. Academic and industrial research has always invested time and resources to develop devices capable to simulate the behavior of the organs where the perceptions are located. In recent years, in fact, there have been numerous discoveries related to new materials, and new devices, capable of reproducing, in a reliable manner, the sensory behavior of humans. Particular interest in scientific research has been aimed at understanding and reproducing of man's tactile sensations. It is known that, through the receptors of the skin, it is possible to detect sensations such as pain, changes in pressure and/or temperature. The development of tactile sensor technology had a significant increase in the last years of 1970s, thanks to the important surveys of Stojiljkovic, Harmon and Lumelsky who presented the firsts prototype of sensors for artificial skin applications, and summarized the main characteristics and requirements of tactile sensors. Recently, organic electronics has been deeply investigated as technology for the fabrication of tactile sensors using biocompatible materials, which can be deposited and processed on ultra flexible and ultra conformable substrates. In general, the most attractive property of these materials is mainly related to their high mechanical flexibility, which is mandatory for artificial skin applications. The main object of this PhD research activity was the development and optimization of an innovative technology for the realization of physical sensors able to detect pressure and temperature variations, which can be applied in the field of biomedical engineering and biorobotics. By exploiting the particular characteristics of the employed materials, such as mechanical flexibility, the proposed sensors are very suitable to be integrated with flexible structures (for example plastics) as a pressure and temperature sensor, and therefore, ideal for the realization of an artificial skin like. In Chapter 1, the basics of humans somatosensory system will be introduced: after a brief description of tactile thermoreceptors, mechanoreceptors and nociceptors, a definition of electronic skin and its characteristics will be provided. In Chapter 2, a wide analysis of the state of the art will be reported. Several and different examples of tactile sensor (in inorganic and organic technology) will be presented, underlining advantages and disadvantages for each approach. In Chapter 3, the firsts experimental results, obtained in the first part of my PhD program, will be presented. All the steps of the fabrication process of the devices will be described, as well as the measurement setup used for the electrical characterization of the sensors. In Chapter 4, the sensor structure optimization will be presented. It will be demonstrated how the presented devices are able to sense simultaneously thermal and mechanical stimuli. Moreover, it will be demonstrated that, thanks to an alternative and innovative fabrication process, the sensors can be transferred directly on skin, thus proving the suitability of the proposed sensor architecture for tactile applications