Wearable Electromechanical Sensors and Its Applications

Wearable electromechanical sensor transforms mechanical stimulus into electrical signals. The main electromechanical sensors we focus on are strain and pressure sensors, which correspond to two main mechanical stimuli. According to their mechanisms, resistive and capacitive sensor attracts more attentions due to their simple structures, mechanisms, preparation method, and low cost. Various kinds of nanomaterials have been developed to fabricate them, including carbon nanomaterials, metallic, and conductive polymers. They have great potentials on health monitoring, human motion monitoring, speech recognition, and related human-machine interface applications. Here, we discuss their sensing mechanisms and fabrication methods and introduce recent progress on their performances and applications

Highly Sensitive Soft Foam Sensors for Wearable Applications

Due to people’s increasing desire for body health monitoring, the needs of knowing humans’ body parameters and transferring them to analyzable and understandable signals become increasingly attractive and significant. The present body-sign measurement devices are still bulky medical devices used in settings such as clinics or hospitals, which are accurate, but expensive and cannot achieve the personalization of usage targets and the monitoring of real-time body parameters. Many commercial wearable devices can provide some of the body indexes, such as the smartwatch providing the pulse/heartbeat information, but cannot give accurate and reliable data, and the data could be influenced by the user’s movement and the loose wearing habit, either. In this way, developing next-generation wearable devices combining good wearable experience and accuracy is gathering increasing attention. The aim of this study is to develop a high-performance pressure/strain sensor with the requirements of comfortable to wear, and having great electromechanical behaviour to convert the physiological signal to an analyzable signal

Emerging Trends in Mechatronics

Mechatronics is a multidisciplinary branch of engineering combining mechanical, electrical and electronics, control and automation, and computer engineering fields. The main research task of mechatronics is design, control, and optimization of advanced devices, products, and hybrid systems utilizing the concepts found in all these fields. The purpose of this special issue is to help better understand how mechatronics will impact on the practice and research of developing advanced techniques to model, control, and optimize complex systems. The special issue presents recent advances in mechatronics and related technologies. The selected topics give an overview of the state of the art and present new research results and prospects for the future development of the interdisciplinary field of mechatronic systems

DEVELOPMENT OF FUNCTIONAL NANOCOMPOSITE MATERIALS TOWARDS BIODEGRADABLE SOFT ROBOTICS AND FLEXIBLE ELECTRONICS

World population is continuously growing, as well as the influence we have on the ecosystem\u2019s natural equilibrium. Moreover, such growth is not homogeneous and it results in an overall increase of older people. Humanity\u2019s activity, growth and aging leads to many challenging issues to address: among them, there are the spread of suddenly and/or chronic diseases, malnutrition, resource pressure and environmental pollution. Research in the novel field of biodegradable soft robotics and electronics can help dealing with these issues. In fact, to face the aging of the population, it is necessary an improvement in rehabilitation technologies, physiological and continuous monitoring, as well as personalized care and therapy. Also in the agricultural sector, an accurate and efficient direct measure of the plants health conditions would be of help especially in the less-developed countries. But since living beings, such as humans and plants, are constituted by soft tissues that continuously change their size and shapes, today\u2019s traditional technologies, based on rigid materials, may not be able to provide an efficient interaction necessary to satisfy these needs: the mechanical mismatch is too prohibitive. Instead, soft robotic systems and devices can be designed to combine active functionalities with soft mechanical properties that can allow them to efficiently and safely interact with soft living tissues. Soft implantable biomedical devices, smart rehabilitation devices and compliant sensors for plants are all applications that can be achieved with soft technologies. The development of sophisticated autonomous soft systems needs the integration on a unique soft body or platform of many functionalities (such as mechanical actuation, energy harvesting, storage and delivery, sensing capabilities). A great research interest is recently arising on this topic, but yet not so many groups are focusing their efforts in the use of natural-derived and biodegradable raw materials. In fact, resource pressure and environmental pollution are becoming more and more critical problems. It should be completely avoided the use of in exhaustion, pollutant, toxic and non-degradable resources, such as lithium, petroleum derivatives, halogenated compounds and organic solvents. So-obtained biodegradable soft systems and devices could then be manufactured in high number and deployed in the environment to fulfil their duties without the need to recover them, since they can safely degrade in the environment. The aim of the current Ph.D. project is the use of natural-derived and biodegradable polymers and substances as building blocks for the development of smart composite materials that could operate as functional elements in a soft robotic system or device. Soft mechanical properties and electronic/ionic conductive properties are here combined together within smart nanocomposite materials. The use of supersonic cluster beam deposition (SCBD) technique enabled the fabrication of cluster-assembled Au electrodes that can partially penetrate into the surface of soft materials, providing an efficient solution to the challenge of coupling conductive metallic layers and soft deformable polymeric substrates. In this work, cellulose derivatives and poly(3-hydroxybutyrate) bioplastic are used as building blocks for the development of both underwater and in-air soft electromechanical actuators that are characterized and tested. A cellulosic matrix is blended with natural-derived ionic liquids to design and manufacture completely biodegradable supercapacitors, extremely interesting energy storage devices. Lastly, ultrathin Au electrodes are here deposited on biodegradable cellulose acetate sheets, in order to develop transparent flexible electronics as well as bidirectional resistive-type strain sensors. The results obtained in this work can be regarded as a preliminary study towards the realization of full natural-derived and biodegradable soft robotic and electronic systems and devices

Human-Machine Interfaces using Distributed Sensing and Stimulation Systems

As the technology moves towards more natural human-machine interfaces (e.g. bionic limbs, teleoperation, virtual reality), it is necessary to develop a sensory feedback system in order to foster embodiment and achieve better immersion in the control system. Contemporary feedback interfaces presented in research use few sensors and stimulation units to feedback at most two discrete feedback variables (e.g. grasping force and aperture), whereas the human sense of touch relies on a distributed network of mechanoreceptors providing a wide bandwidth of information. To provide this type of feedback, it is necessary to develop a distributed sensing system that could extract a wide range of information during the interaction between the robot and the environment. In addition, a distributed feedback interface is needed to deliver such information to the user. This thesis proposes the development of a distributed sensing system (e-skin) to acquire tactile sensation, a first integration of distributed sensing system on a robotic hand, the development of a sensory feedback system that compromises the distributed sensing system and a distributed stimulation system, and finally the implementation of deep learning methods for the classification of tactile data. It\u2019s core focus addresses the development and testing of a sensory feedback system, based on the latest distributed sensing and stimulation techniques. To this end, the thesis is comprised of two introductory chapters that describe the state of art in the field, the objectives, and the used methodology and contributions; as well as six studies that tackled the development of human-machine interfaces

Piezoelectric Transducers Based on Aluminum Nitride and Polyimide for Tactile Applications

The development of micro systems with smart sensing capabilities is paving the way to progresses in the technology for humanoid robotics. The importance of sensory feedback has been recognized the enabler of a high degree of autonomy for robotic systems. In tactile applications, it can be exploited not only to avoid objects slipping during their manipulation but also to allow safe interaction with humans and unknown objects and environments. In order to ensure the minimal deformation of an object during subtle manipulation tasks, information not only on contact forces between the object and fingers but also on contact geometry and contact friction characteristics has to be provided. Touch, unlike other senses, is a critical component that plays a fundamental role in dexterous manipulation capabilities and in the evaluation of objects properties such as type of material, shape, texture, stiffness, which is not easily possible by vision alone. Understanding of unstructured environments is made possible by touch through the determination of stress distribution in the surrounding area of physical contact. To this aim, tactile sensing and pressure detection systems should be integrated as an artificial tactile system. As illustrated in the Chapter I, the role of external stimuli detection in humans is provided by a great number of sensorial receptors: they are specialized endings whose structure and location in the skin determine their specific signal transmission characteristics. Especially, mechanoreceptors are specialized in the conversion of the mechanical deformations caused by force, vibration or slip on skin into electrical nerve impulses which are processed and encoded by the central nervous system. Highly miniaturized systems based on MEMS technology seem to imitate properly the large number of fast responsive mechanoreceptors present in human skin. Moreover, an artificial electronic skin should be lightweight, flexible, soft and wearable and it should be fabricated with compliant materials. In this respect a big challenge of bio-inspired technologies is the efficient application of flexible active materials to convert the mechanical pressure or stress into a usable electric signal (voltage or current). In the emerging field of soft active materials, able of large deformation, piezoelectrics have been recognized as a really promising and attractive material in both sensing and actuation applications. As outlined in Chapter II, there is a wide choice of materials and material forms (ceramics: PZT; polycrystalline films: ZnO, AlN; polymers and copolymers: PVDF, PVDF-TrFe) which are actively piezoelectric and exhibit features more or less attractive. Among them, aluminum nitride is a promising piezoelectric material for flexible technology. It has moderate piezoelectric coefficient, when available in c-axis oriented polycrystalline columnar structure, but, at same time, it exhibits low dielectric constant, high temperature stability, large band gap, large electrical resistivity, high breakdown voltage and low dielectric loss which make it suitable for transducers and high thermal conductivity which implies low thermal drifts. The high chemical stability allows AlN to be used in humid environments. Moreover, all the above properties and its deposition method make AlN compatible with CMOS technology. Exploiting the features of the AlN, three-dimensional AlN dome-shaped cells, embedded between two metal electrodes, are proposed in this thesis. They are fabricated on general purpose Kapton™ substrate, exploiting the flexibility of the polymer and the electrical stability of the semiconductor at the same time. As matter of fact, the crystalline layers release a compressive stress over the polymer, generating three-dimensional structures with reduced stiffness, compared to the semiconductor materials. In Chapter III, a mathematical model to calculate the residual stresses which arise because of mismatch in coefficient of thermal expansion between layers and because of mismatch in lattice constants between the substrate and the epitaxially grown films is adopted. The theoretical equation is then used to evaluate the dependence of geometrical features of the fabricated three-dimensional structures on compressive residual stress. Moreover, FEM simulations and theoretical models analysis are developed in order to qualitative explore the operation principle of curved membranes, which are labelled dome-shaped diaphragm transducers (DSDT), both as sensors and as piezo-actuators and for the related design optimization. For the reliability of the proposed device as a force/pressure sensor and piezo-actuator, an exhaustive electromechanical characterization of the devices is carried out. A complete description of the microfabrication processes is also provided. As shown in Chapter IV, standard microfabrication techniques are employed to fabricate the array of DSDTs. The overall microfabrication process involves deposition of metal and piezoelectric films, photolithography and plasma-based dry and wet etching to pattern thin films with the desired features. The DSDT devices are designed and developed according to FEM and theoretical analysis and following the typical requirements of force/pressure systems for tactile applications. Experimental analyses are also accomplished to extract the relationship between the compressive residual stress due to the aluminum nitride and the geometries of the devices. They reveal different deformations, proving the dependence of the geometrical features of the three-dimensional structures on residual stress. Moreover, electrical characterization is performed to determine capacitance and impedance of the DSDTs and to experimentally calculate the relative dielectric constant of sputtered AlN piezoelectric film. In order to investigate the mechanical behaviour of the curved circular transducers, a characterization of the flexural deflection modes of the DSDT membranes is carried out. The natural frequency of vibrations and the corresponding displacements are measured by a Laser Doppler Vibrometer when a suitable oscillating voltage, with known amplitude, is applied to drive the piezo-DSDTs. Finally, being developed for tactile sensing purpose, the proposed technology is tested in order to explore the electromechanical response of the device when impulsive dynamic and/or long static forces are applied. The study on the impulsive dynamic and long static stimuli detection is then performed by using an ad hoc setup measuring both the applied loading forces and the corresponding generated voltage and capacitance variation. These measurements allow a thorough test of the sensing abilities of the AlN-based DSDT cells. Finally, as stated in Chapter V, the proposed technology exhibits an improved electromechanical coupling with higher mechanical deformation per unit energy compared with the conventional plate structures, when the devices are used as piezo-actuator. On the other hand, it is well suited to realize large area tactile sensors for robotics applications, opening up new perspectives to the development of latest generation biomimetic sensors and allowing the design and the fabrication of miniaturized devices

Wearable pressure sensing for intelligent gesture recognition

The development of wearable sensors has become a major area of interest due to their wide range of promising applications, including health monitoring, human motion detection, human-machine interfaces, electronic skin and soft robotics. Particularly, pressure sensors have attracted considerable attention in wearable applications. However, traditional pressure sensing systems are using rigid sensors to detect the human motions. Lightweight and flexible pressure sensors are required to improve the comfortability of devices. Furthermore, in comparison with conventional sensing techniques without smart algorithm, machine learning-assisted wearable systems are capable of intelligently analysing data for classification or prediction purposes, making the system ‘smarter’ for more demanding tasks. Therefore, combining flexible pressure sensors and machine learning is a promising method to deal with human motion recognition. This thesis focuses on fabricating flexible pressure sensors and developing wearable applications to recognize human gestures. Firstly, a comprehensive literature review was conducted, including current state-of-the-art on pressure sensing techniques and machine learning algorithms. Secondly, a piezoelectric smart wristband was developed to distinguish finger typing movements. Three machine learning algorithms, K Nearest Neighbour (KNN), Decision Tree (DT) and Support Vector Machine (SVM), were used to classify the movement of different fingers. The SVM algorithm outperformed other classifiers with an overall accuracy of 98.67% and 100% when processing raw data and extracted features. Thirdly, a piezoresistive wristband was fabricated based on a flake-sphere composite configuration in which reduced graphene oxide fragments are doped with polystyrene spheres to achieve both high sensitivity and flexibility. The flexible wristband measured the pressure distribution around the wrist for accurate and comfortable hand gesture classification. The intelligent wristband was able to classify 12 hand gestures with 96.33% accuracy for five participants using a machine learning algorithm. Moreover, for demonstrating the practical applications of the proposed method, a realtime system was developed to control a robotic hand according to the classification results. Finally, this thesis also demonstrates an intelligent piezoresistive sensor to recognize different throat movements during pronunciation. The piezoresistive sensor was fabricated using two PolyDimethylsiloxane (PDMS) layers that were coated with silver nanowires and reduced graphene oxide films, where the microstructures were fabricated by the polystyrene spheres between the layers. The highly sensitive sensor was able to distinguish throat vibrations from five different spoken words with an accuracy of 96% using the artificial neural network algorithm

Distributed Sensing and Stimulation Systems Towards Sense of Touch Restoration in Prosthetics

Modern prostheses aim at restoring the functional and aesthetic characteristics of the lost limb. To foster prosthesis embodiment and functionality, it is necessary to restitute both volitional control and sensory feedback. Contemporary feedback interfaces presented in research use few sensors and stimulation units to feedback at most two discrete feedback variables (e.g. grasping force and aperture), whereas the human sense of touch relies on a distributed network of mechanoreceptors providing high-fidelity spatial information. To provide this type of feedback in prosthetics, it is necessary to sense tactile information from artificial skin placed on the prosthesis and transmit tactile feedback above the amputation in order to map the interaction between the prosthesis and the environment. This thesis proposes the integration of distributed sensing systems (e-skin) to acquire tactile sensation, and non-invasive multichannel electrotactile feedback and virtual reality to deliver high-bandwidth information to the user. Its core focus addresses the development and testing of close-loop sensory feedback human-machine interface, based on the latest distributed sensing and stimulation techniques for restoring the sense of touch in prosthetics. To this end, the thesis is comprised of two introductory chapters that describe the state of art in the field, the objectives and the used methodology and contributions; as well as three studies distributed over stimulation system level and sensing system level. The first study presents the development of close-loop compensatory tracking system to evaluate the usability and effectiveness of electrotactile sensory feedback in enabling real-time close-loop control in prosthetics. It examines and compares the subject\u2019s adaptive performance and tolerance to random latencies while performing the dynamic control task (i.e. position control) and simultaneously receiving either visual feedback or electrotactile feedback for communicating the momentary tracking error. Moreover, it reported the minimum time delay needed for an abrupt impairment of users\u2019 performance. The experimental results have shown that electrotactile feedback performance is less prone to changes with longer delays. However, visual feedback drops faster than electrotactile with increased time delays. This is a good indication for the effectiveness of electrotactile feedback in enabling close- loop control in prosthetics, since some delays are inevitable. The second study describes the development of a novel non-invasive compact multichannel interface for electrotactile feedback, containing 24 pads electrode matrix, with fully programmable stimulation unit, that investigates the ability of able-bodied human subjects to localize the electrotactile stimulus delivered through the electrode matrix. Furthermore, it designed a novel dual parameter -modulation (interleaved frequency and intensity) and compared it to conventional stimulation (same frequency for all pads). In addition and for the first time, it compared the electrotactile stimulation to mechanical stimulation. More, it exposes the integration of virtual prosthesis with the developed system in order to achieve better user experience and object manipulation through mapping the acquired real-time collected tactile data and feedback it simultaneously to the user. The experimental results demonstrated that the proposed interleaved coding substantially improved the spatial localization compared to same-frequency stimulation. Furthermore, it showed that same-frequency stimulation was equivalent to mechanical stimulation, whereas the performance with dual-parameter modulation was significantly better. The third study presents the realization of a novel, flexible, screen- printed e-skin based on P(VDF-TrFE) piezoelectric polymers, that would cover the fingertips and the palm of the prosthetic hand (particularly the Michelangelo hand by Ottobock) and an assistive sensorized glove for stroke patients. Moreover, it developed a new validation methodology to examine the sensors behavior while being solicited. The characterization results showed compatibility between the expected (modeled) behavior of the electrical response of each sensor to measured mechanical (normal) force at the skin surface, which in turn proved the combination of both fabrication and assembly processes was successful. This paves the way to define a practical, simplified and reproducible characterization protocol for e-skin patches In conclusion, by adopting innovative methodologies in sensing and stimulation systems, this thesis advances the overall development of close-loop sensory feedback human-machine interface used for restoration of sense of touch in prosthetics. Moreover, this research could lead to high-bandwidth high-fidelity transmission of tactile information for modern dexterous prostheses that could ameliorate the end user experience and facilitate it acceptance in the daily life

The "Federica" hand: a simple, very efficient prothesis

Hand prostheses partially restore hand appearance and functionalities. Not everyone can afford expensive prostheses and many low-cost prostheses have been proposed. In particular, 3D printers have provided great opportunities by simplifying the manufacturing process and reducing costs. Generally, active prostheses use multiple motors for fingers movement and are controlled by electromyographic (EMG) signals. The "Federica" hand is a single motor prosthesis, equipped with an adaptive grasp and controlled by a force-myographic signal. The "Federica" hand is 3D printed and has an anthropomorphic morphology with five fingers, each consisting of three phalanges. The movement generated by a single servomotor is transmitted to the fingers by inextensible tendons that form a closed chain; practically, no springs are used for passive hand opening. A differential mechanical system simultaneously distributes the motor force in predefined portions on each finger, regardless of their actual positions. Proportional control of hand closure is achieved by measuring the contraction of residual limb muscles by means of a force sensor, replacing the EMG. The electrical current of the servomotor is monitored to provide the user with a sensory feedback of the grip force, through a small vibration motor. A simple Arduino board was adopted as processing unit. The differential mechanism guarantees an efficient transfer of mechanical energy from the motor to the fingers and a secure grasp of any object, regardless of its shape and deformability. The force sensor, being extremely thin, can be easily embedded into the prosthesis socket and positioned on both muscles and tendons; it offers some advantages over the EMG as it does not require any electrical contact or signal processing to extract information about the muscle contraction intensity. The grip speed is high enough to allow the user to grab objects on the fly: from the muscle trigger until to the complete hand closure, "Federica" takes about half a second. The cost of the device is about 100 US$. Preliminary tests carried out on a patient with transcarpal amputation, showed high performances in controlling the prosthesis, after a very rapid training session. The "Federica" hand turned out to be a lightweight, low-cost and extremely efficient prosthesis. The project is intended to be open-source: all the information needed to produce the prosthesis (e.g. CAD files, circuit schematics, software) can be downloaded from a public repository. Thus, allowing everyone to use the "Federica" hand and customize or improve it