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Mechanical Sensors

A special issue of Sensors (ISSN 1424-8220). This special issue belongs to the section "Sensor Materials".

Deadline for manuscript submissions: closed (30 September 2019) | Viewed by 38079

Special Issue Editor

Dr. Roque Saltaren

E-Mail Website1 Website2
Guest Editor
Group of Robots and Intelligent Machines, Polytechnic University of Madrid, 28040 Madrid, Spain
Interests: control; robotics; parallel robots; haptic interfaces and teleoperation; mechanical design; multibody dynamics
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

You are cordially invited to contribute your work, expertise, and insights, in the form of research articles and reviews, for this Special Issue. The goal of this Special Issue is to disseminate new, original, and collective knowledge, gathered from esteemed professionals like yourself, for the advancement of the motion intention sensors community. This Special Issue will cover all aspects of the cutting-edge of applied motion intention sensors, for example, where robots could help human partners in carrying a heavy or unwieldy object, while humans could guide the robot without effort in executing the correct trajectory for positioning the object at the right location. It would be beneficial for the performance of the task if the robot could infer the intention of the human as soon as possible and collaborate to complete the task without requiring any further assistance.

Philosophically, the measurement of an intention involves the impulsive phenomena of the movement, therefore, an intention sensor on a machine can also be useful in measuring the intentions of a machine towards a user or an environment.

In a world in which artificial intelligence has more and more importance in the autonomy of machines, foreseeing the intention of an intelligent machine can open new challenges in the investigation of man–machine relations, for example, in aspects of collaboration, anticipatory control, security, etc.

Dr. Roque Saltaren
Guest Editor

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Keywords

  • Motion intention sensing
  • Intention recognition, and anticipation
  • Force sensing
  • Sensor fusion
  • Active movement-assistive devices
  • Robot intelligent sensing
  • Human–robot co-manipulation
  • Human–robot cooperation (HRC)
  • Human–machine interface
  • Assist as-needed

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Published Papers (7 papers)

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Research

20 pages, 4842 KiB  
Article
ALICE: Conceptual Development of a Lower Limb Exoskeleton Robot Driven by an On-Board Musculoskeletal Simulator
by Manuel Cardona, Cecilia E. García Cena, Fernando Serrano and Roque Saltaren
Sensors 2020, 20(3), 789; https://doi.org/10.3390/s20030789 - 31 Jan 2020
Cited by 27 | Viewed by 8901
Abstract
Objective: In this article, we present the conceptual development of a robotics platform, called ALICE (Assistive Lower Limb Controlled Exoskeleton), for kinetic and kinematic gait characterization. The ALICE platform includes a robotics wearable exoskeleton and an on-board muscle driven simulator to estimate the [...] Read more.
Objective: In this article, we present the conceptual development of a robotics platform, called ALICE (Assistive Lower Limb Controlled Exoskeleton), for kinetic and kinematic gait characterization. The ALICE platform includes a robotics wearable exoskeleton and an on-board muscle driven simulator to estimate the user’s kinetic parameters. Background: Even when the kinematics patterns of the human gait are well studied and reported in the literature, there exists a considerable intra-subject variability in the kinetics of the movements. ALICE aims to be an advanced mechanical sensor that allows us to compute real-time information of both kinetic and kinematic data, opening up a new personalized rehabilitation concept. Methodology: We developed a full muscle driven simulator in an open source environment and validated it with real gait data obtained from patients diagnosed with multiple sclerosis. After that, we designed, modeled, and controlled a 6 DoF lower limb exoskeleton with inertial measurement units and a position/velocity sensor in each actuator. Significance: This novel concept aims to become a tool for improving the diagnosis of pathological gait and to design personalized robotics rehabilitation therapies. Conclusion: ALICE is the first robotics platform automatically adapted to the kinetic and kinematic gait parameters of each patient. Full article
(This article belongs to the Special Issue Mechanical Sensors)
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12 pages, 3175 KiB  
Article
Non-Invasive Device for Blood Pressure Wave Acquisition by Means of Mechanical Transducer
by David Zambrana-Vinaroz, Jose Maria Vicente-Samper, Carlos G. Juan, Vicente Esteve-Sala and Jose Maria Sabater-Navarro
Sensors 2019, 19(19), 4311; https://doi.org/10.3390/s19194311 - 5 Oct 2019
Cited by 11 | Viewed by 5309
Abstract
Blood pressure wave monitoring provides interesting information about the patient’s cardiovascular function. For this reason, this article proposes a non-invasive device capable of capturing the vibrations (pressure waves) produced by the carotid artery by means of a pressure sensor encapsulated in a closed [...] Read more.
Blood pressure wave monitoring provides interesting information about the patient’s cardiovascular function. For this reason, this article proposes a non-invasive device capable of capturing the vibrations (pressure waves) produced by the carotid artery by means of a pressure sensor encapsulated in a closed dome filled with air. When the device is placed onto the outer skin of the carotid area, the vibrations of the artery will exert a deformation in the dome, which, in turn, will lead to a pressure increase in its inner air. Then, the sensor inside the dome captures this pressure increase. By combining the blood pressure wave obtained with this device together with the ECG signal, it is possible to help the screening of the cardiovascular system, obtaining parameters such as heart rate variability (HRV) and pulse transit time (PTT). The results show how the pressure wave has been successfully obtained in the carotid artery area, discerning the characteristic points of this signal. The features of this device compare well with previous works by other authors. The main advantages of the proposed device are the reduced size, the cuffless condition, and the potential to be a continuous ambulatory device. These features could be exploited in ambulatory tests. Full article
(This article belongs to the Special Issue Mechanical Sensors)
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24 pages, 13267 KiB  
Article
Experimental and Computational Methodology for the Determination of Hydrodynamic Coefficients Based on Free Decay Test: Application to Conception and Control of Underwater Robots
by Juan S. Cely, Roque Saltaren, Gerardo Portilla, Oz Yakrangi and Alejandro Rodriguez-Barroso
Sensors 2019, 19(17), 3631; https://doi.org/10.3390/s19173631 - 21 Aug 2019
Cited by 21 | Viewed by 4664
Abstract
Hydrodynamic coefficients are essential for the development of underwater robots; in particular, for their design and navigation control. To obtain these coefficients, several techniques exist. These methods are usually experimental, but, more recently, some have been designed by a combination of experiments with [...] Read more.
Hydrodynamic coefficients are essential for the development of underwater robots; in particular, for their design and navigation control. To obtain these coefficients, several techniques exist. These methods are usually experimental, but, more recently, some have been designed by a combination of experiments with computational methods based on Computational Fluid Dynamics (CFD). One method for obtaining the hydrodynamic coefficients of an ROV (Remote Operated Vehicle) is by using an experimental PMM (Planar Motion Mechanism) or CWC (Circular Water Channel); however, the use of these experimental infrastructures is costly. Therefore, it is of interest to obtain these coefficients in other ways, for example, by the use of simple experiments. The Free Decay Test is an ideal type of experiment, as it has a low cost and is simple to implement. In this paper, two different free decay tests were carried out, to which three different methods for obtaining coefficients were applied. They were compared with results obtained by CFD simulation to conduct a statistical analysis in order to determine their behaviours. It was possible to obtain values of the drag and added mass coefficients for the models analysed, where the values were obtained for an Underwater Drone Robot (UDrobot). Full article
(This article belongs to the Special Issue Mechanical Sensors)
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20 pages, 9367 KiB  
Article
Dynamic Walking of a Legged Robot in Underwater Environments
by Gerardo Portilla, Roque Saltarén, Francisco Montero de Espinosa, Alejandro R. Barroso, Juan Cely and Oz Yakrangi
Sensors 2019, 19(16), 3588; https://doi.org/10.3390/s19163588 - 17 Aug 2019
Cited by 7 | Viewed by 5005
Abstract
In this research, the dynamic walking of a legged robot in underwater environments is proposed. For this goal, the underwater zero moment point (Uzmp) is proposed in order to generate the trajectory of the centre of the mass of the robot. Also, the [...] Read more.
In this research, the dynamic walking of a legged robot in underwater environments is proposed. For this goal, the underwater zero moment point (Uzmp) is proposed in order to generate the trajectory of the centre of the mass of the robot. Also, the underwater zero moment point auxiliary (Uzmp aux.) is employed to stabilize the balance of the robot before it undergoes any external perturbations. The concept demonstration of a legged robot with hydraulic actuators is developed. Moreover, the control that was used is described and the hydrodynamic variables of the robot are determined. The results demonstrate the validity of the concepts that are proposed in this article, and the dynamic walking of the legged robot in an underwater environment is successfully demonstrated. Full article
(This article belongs to the Special Issue Mechanical Sensors)
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28 pages, 9437 KiB  
Article
Potential Energy Distribution of Redundant Cable-Driven Robot Applied to Compliant Grippers: Method and Computational Analysis
by Alejandro Rodriguez-Barroso, Roque Saltaren, Gerardo A. Portilla, Juan S. Cely and Oz Yakrangi
Sensors 2019, 19(15), 3403; https://doi.org/10.3390/s19153403 - 2 Aug 2019
Cited by 5 | Viewed by 3721
Abstract
Cable-driven parallel robots with a redundant configuration have infinite solutions for their cable tension distribution to provide a specific wrench to the end-effector. Redundancy is commonly used to increase the workspace and stiffness or to achieve secondary objectives like energetic minimization or additional [...] Read more.
Cable-driven parallel robots with a redundant configuration have infinite solutions for their cable tension distribution to provide a specific wrench to the end-effector. Redundancy is commonly used to increase the workspace and stiffness or to achieve secondary objectives like energetic minimization or additional movements. This article presents a method based on energy distribution to handle the redundancy of cable-driven parallel robots. This method allows the deformation and tension of each link to be related to the total energy available in the parallel robot. The study of energy distribution expression allows deformation, tension, and position to be combined. It also defines the range of tension and deformation that cables can achieve without altering the wrench exerted on the end-effector. This range is used with a passive reconfigurable end-effector to control the position of two grippers attached to some cables which act as compliant actuators. The relationship between the actuators’ energy and their corresponding gripper positions is also provided. In this way, energy measurement from the actuators allows the grasping state to be sensed. The results are validated using multibody dynamic software. Full article
(This article belongs to the Special Issue Mechanical Sensors)
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20 pages, 8225 KiB  
Article
Electromyography Assessment of the Assistance Provided by an Upper-Limb Exoskeleton in Maintenance Tasks
by Andrea Blanco, José María Catalán, Jorge Antonio Díez, José Vicente García, Emilio Lobato and Nicolás García-Aracil
Sensors 2019, 19(15), 3391; https://doi.org/10.3390/s19153391 - 2 Aug 2019
Cited by 30 | Viewed by 5861
Abstract
In this paper, the analysis of the intensity of muscle activations in different subjects when they perform an industrial task in a repetitive way assisted by a robotic upper-limb exoskeleton is presented. To do that, surface electromyography (EMG) signals were monitored with and [...] Read more.
In this paper, the analysis of the intensity of muscle activations in different subjects when they perform an industrial task in a repetitive way assisted by a robotic upper-limb exoskeleton is presented. To do that, surface electromyography (EMG) signals were monitored with and without a robotic upper-limb exoskeleton for 10 subjects during a drilling task, a typical tedious maintenance or industrial task. Our results show that wearing the upper-limb exoskeleton substantially reduces muscle activity during a drilling task above head height. Specifically, there is statistically significant differences in the pectoralis major and rhomboids muscles between the groups wearing or not wearing the robotic upper-limb exoskeleton. Full article
(This article belongs to the Special Issue Mechanical Sensors)
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17 pages, 4184 KiB  
Article
Analytical Modeling and Experimental Validation of an Energy Harvesting System for the Smart Plate with an Integrated Piezo-Harvester
by Andrzej Koszewnik
Sensors 2019, 19(4), 812; https://doi.org/10.3390/s19040812 - 16 Feb 2019
Cited by 13 | Viewed by 3368
Abstract
The literature on piezoelectric energy harvesting (PEH) is strongly focused on structures, like cantilever beams with piezoceramic layers, due to the fact that they are easily modelled and implemented. As compared to the number of studies dealing with the aforementioned case, research on [...] Read more.
The literature on piezoelectric energy harvesting (PEH) is strongly focused on structures, like cantilever beams with piezoceramic layers, due to the fact that they are easily modelled and implemented. As compared to the number of studies dealing with the aforementioned case, research on 2D structures with an attached piezoceramic patch harvester is very limited. Thus, an analytical modeling and experimental validations of a piezo harvester structurally integrated on a thin plate with SFSF (Simply supported-Free-Simply supported-Free) boundary conditions is presented in this paper. The distributed parameter electroelastic model of a harvester bonded to an aluminum plate with both piezo-patch actuators is developed on the basis of the Kirchhoff plate theory and the modal analysis for physical and modal coordinates. This allows to estimate the steady-state value output voltage for each odd mode in the frequency range of 10–300 Hz. Finally, the obtained results for the electroelastic analytical model is experimentally verified on a laboratory stand. Full article
(This article belongs to the Special Issue Mechanical Sensors)
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