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"Dahiya, Ravinder"
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Sensory systems for robotic applications
Thanks to advances in sensing and computer vision technologies, robots can be found today in healthcare, medicine and the industry. Topics covered in this edited book include various types of sensors used in robotics, sensing schemes, sensing technologies and their applications including robotics, prosthetics, wearables and healthcare. Written for those working in robotics, sensor technologies and electronics, and their applications in robotics, haptics, prosthetics, wearable and interactive systems, cognitive engineering, neuro-engineering, computational neuroscience, medicine, and healthcare technologies.
BOOK
Smart Tactile Gloves for Haptic Interaction, Communication, and Rehabilitation
Wearable human machine interfaces (HMI) such as smart gloves have attracted considerable interest in recent years. The quality of the interactive experience with the real and virtual world using wearable HMI technologies depends on the intuitive two‐way haptic interfaces they offer and the real‐time touch‐based information they send and receive. Herein, various smart glove solutions and their application in interaction, rehabilitation, virtual (VR) and augmented reality (AR), and augmentative and alternative communication (AAC) tasks are reviewed. While the early variants of such systems were based on commercial touch sensors and displays integrated (e.g., stitched) on wearables, electronic skin (e‐skin)‐type technologies with multifunctional capabilities are being explored nowadays for rich user experience and comfort. In this regard, instead of using separate touch sensors and actuators, miniaturized integrated devices providing both touch sensing and vibrotactile actuation have also been reported recently. Such advances, the associated challenges, and the advantages they offer for users to enjoy the full characteristic benefits of VR/ARs for interaction, immersion, and imagination are discussed. Finally, the huge potential the smart‐glove‐type solutions hold for advances in various application areas such as robotics, health care, sensorial augmentation for nondisabled and tactile Internet is also discussed. Herein, various smart glove solutions and their application in interaction, rehabilitation, virtual (VR)/augmented reality (AR), and augmentative and alternative communication (AAC) tasks are reviewed. While the early variants of such systems were based on commercial touch sensors and displays integrated (e.g., stitched) on wearables, the electronic skin (e‐skin)‐type technologies with multifunctional capabilities are being explored nowadays for rich user experience.
Journal Article
Energy autonomous electronic skin
Energy autonomy is key to the next generation portable and wearable systems for several applications. Among these, the electronic-skin or
e
-skin is currently a matter of intensive investigations due to its wider applicability in areas, ranging from robotics to digital health, fashion and internet of things (IoT). The high density of multiple types of electronic components (e.g. sensors, actuators, electronics, etc.) required in
e
-skin, and the need to power them without adding heavy batteries, have fuelled the development of compact flexible energy systems to realize self-powered or energy-autonomous
e
-skin. The compact and wearable energy systems consisting of energy harvesters, energy storage devices, low-power electronics and efficient/wireless power transfer-based technologies, are expected to revolutionize the market for wearable systems and in particular for
e
-skin. This paper reviews the development in the field of self-powered
e
-skin, particularly focussing on the available energy-harvesting technologies, high capacity energy storage devices, and high efficiency power transmission systems. The paper highlights the key challenges, critical design strategies, and most promising materials for the development of an energy-autonomous
e
-skin for robotics, prosthetics and wearable systems. This paper will complement other reviews on
e
-skin, which have focussed on the type of sensors and electronics components.
Journal Article
Ultra-thin chips for high-performance flexible electronics
Flexible electronics has significantly advanced over the last few years, as devices and circuits from nanoscale structures to printed thin films have started to appear. Simultaneously, the demand for high-performance electronics has also increased because flexible and compact integrated circuits are needed to obtain fully flexible electronic systems. It is challenging to obtain flexible and compact integrated circuits as the silicon based CMOS electronics, which is currently the industry standard for high-performance, is planar and the brittle nature of silicon makes bendability difficult. For this reason, the ultra-thin chips from silicon is gaining interest. This review provides an in-depth analysis of various approaches for obtaining ultra-thin chips from rigid silicon wafer. The comprehensive study presented here includes analysis of ultra-thin chips properties such as the electrical, thermal, optical and mechanical properties, stress modelling, and packaging techniques. The underpinning advances in areas such as sensing, computing, data storage, and energy have been discussed along with several emerging applications (e.g., wearable systems, m-Health, smart cities and Internet of Things etc.) they will enable. This paper is targeted to the readers working in the field of integrated circuits on thin and bendable silicon; but it can be of broad interest to everyone working in the field of flexible electronics.
Journal Article
Intelligent In‐Vehicle Interaction Technologies
With rapid advances in the field of autonomous vehicles (AVs), the ways in which human–vehicle interaction (HVI) will take place inside the vehicle have attracted major interest and, as a result, intelligent interiors are being explored to improve the user experience, acceptance, and trust. This is also fueled by parallel research in areas such as perception and control of robots, safe human–robot interaction, wearable systems, and the underpinning flexible/printed electronics technologies. Some of these are being routed to AVs. Growing number of network of sensors are being integrated into the vehicles for multimodal interaction to draw correct inferences of the communicative cues from the user and to vary the interaction dynamics depending on the cognitive state of the user and contextual driving scenario. In response to this growing trend, this timely article presents a comprehensive review of the technologies that are being used or developed to perceive user's intentions for natural and intuitive in‐vehicle interaction. The challenges that are needed to be overcome to attain truly interactive AVs and their potential solutions are discussed along with various new avenues for future research. Human–vehicle interaction is integral for the user acceptance and trust toward autonomous vehicles. Growing number of interior sensors integrated in the vehicle enable multimodal interaction between the vehicle and the humans. Herein, a comprehensive state‐of‐art for human‐vehicle interaction is provided in terms of interior sensing technologies and corresponding techniques and algorithms for providing natural and intuitive interaction.
Journal Article
Tacsac: A Wearable Haptic Device with Capacitive Touch-Sensing Capability for Tactile Display
This paper presents a dual-function wearable device (Tacsac) with capacitive tactile sensing and integrated tactile feedback capability to enable communication among deafblind people. Tacsac has a skin contactor which enhances localized vibrotactile stimulation of the skin as a means of feedback to the user. It comprises two main modules—the touch-sensing module and the vibrotactile module; both stacked and integrated as a single device. The vibrotactile module is an electromagnetic actuator that employs a flexible coil and a permanent magnet assembled in soft poly (dimethylsiloxane) (PDMS), while the touch-sensing module is a planar capacitive metal-insulator-metal (MIM) structure. The flexible coil was fabricated on a 50 µm polyimide (PI) sheet using Lithographie Galvanoformung Abformung (LIGA) micromoulding technique. The Tacsac device has been tested for independent sensing and actuation as well as dual sensing-actuation mode. The measured vibration profiles of the actuator showed a synchronous response to external stimulus for a wide range of frequencies (10 Hz to 200 Hz) within the perceivable tactile frequency thresholds of the human hand. The resonance vibration frequency of the actuator is in the range of 60–70 Hz with an observed maximum off-plane displacement of 0.377 mm at coil current of 180 mA. The capacitive touch-sensitive layer was able to respond to touch with minimal noise both when actuator vibration is ON and OFF. A mobile application was also developed to demonstrate the application of Tacsac for communication between deafblind person wearing the device and a mobile phone user who is not deafblind. This advances existing tactile displays by providing efficient two-way communication through the use of a single device for both localized haptic feedback and touch-sensing.
Journal Article
Textile-Based Potentiometric Electrochemical pH Sensor for Wearable Applications
In this work, we present a potentiometric pH sensor on textile substrate for wearable applications. The sensitive (thick film graphite composite) and reference electrodes (Ag/AgCl) are printed on cellulose-polyester blend cloth. An excellent adhesion between printed electrodes allow the textile-based sensor to be washed with a reliable pH response. The developed textile-based pH sensor works on the basis of electrochemical reaction, as observed through the potentiometric, cyclic voltammetry (100 mV/s) and electrochemical impedance spectroscopic (10 mHz to 1 MHz) analysis. The electrochemical double layer formation and the ionic exchanges of the sensitive electrode-pH solution interaction are observed through the electrochemical impedance spectroscopic analysis. Potentiometric analysis reveals that the fabricated textile-based sensor exhibits a sensitivity (slope factor) of 4 mV/pH with a response time of 5 s in the pH range 6–9. The presented sensor shows stable response with a potential of 47 ± 2 mV for long time (2000 s) even after it was washed in tap water. These results indicate that the sensor can be used for wearable applications.
Journal Article
Development of a highly controlled system for large-area, directional printing of quasi-1D nanomaterials
Printing is a promising method for the large-scale, high-throughput, and low-cost fabrication of electronics. Specifically, the contact printing approach shows great potential for realizing high-performance electronics with aligned quasi-1D materials. Despite being known for more than a decade, reports on a precisely controlled system to carry out contact printing are rare and printed nanowires (NWs) suffer from issues such as location-to-location and batch-to-batch variations. To address this problem, we present here a novel design for a tailor-made contact printing system with highly accurate control of printing parameters (applied force: 0–6 N ± 0.3%, sliding velocity: 0–200 mm/s, sliding distance: 0–100 mm) to enable the uniform printing of nanowires (NWs) aligned along 93% of the large printed area (1 cm
2
). The system employs self-leveling platforms to achieve optimal alignment between substrates, whereas the fully automated process minimizes human-induced variation. The printing dynamics of the developed system are explored on both rigid and flexible substrates. The uniformity in printing is carefully examined by a series of scanning electron microscopy (SEM) images and by fabricating a 5 × 5 array of NW-based photodetectors. This work will pave the way for the future realization of highly uniform, large-area electronics based on printed NWs.
Journal Article