A submillimetric 3 dof force sensing instrument with integrated fiber bragg grating for retinal microsurgery

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A 3-DOF force sensing instrument was developed for retinal microsurgery using fiber Bragg grating sensors. Four FBG sensors were configured to maximize decoupling of axial and transverse force sensing. A nitinol flexure provided high axial force sensitivity. Experimental results demonstrated sub-millinewton resolution for axial forces and quarter millinewton resolution for transverse forces through a linear model for transverse forces and second-order polynomial model for axial forces. Validation showed the instrument can provide consistent and accurate 3D force measurement.

Education

A Submillimetric 3-DOF Force Sensing
Instrument With Integrated Fiber Bragg
Grating for Retinal Microsurgery
Vitreoretinal surgery requires very fine motor control to perform precise manipulation of the
delicate tissue in the interior of the eye. Besides physiological hand tremor, fatigue, poor
kinesthetic feedback, and patient movement, the absence of force sensing is one of the
main technical challenges. Previous two degrees of freedom (DOF) force sensing
instruments have demonstrated robust force measuring performance. The main design
challenge is to incorporate high sensitivity axial force sensing. This paper reports the
development of a submillimetric 3-DOF force sensing pick instrument based on fiber Bragg
grating (FBG) sensors. The configurat ion of the four FBG sensors is arranged to maximize
the decoupling between axial and transverse force sensing. A superelastic nitinol flexure is
designed to achieve high axial force sensitivity. An automated calibration system was
developed for repeatability testing, calibration, and validation. Experimental results
demonstrate a FBG sensor repeatability of 1.3 pm. The linear model for calculating the
transverse forces provides an accurate global estimate. While the linear model for axial
force is only locally accurate within a conical region with a 30° vertex angle, a second-order
polynomial model can provide a useful global estimate for axial force. Combining the linear
model for transverse forces and nonlinear model for axial force, the 3-DOF force sensing
instrument can provide sub-millinewton resolution for axial force and a quarter millinewton
for transverse forces. Validation with random samples show the force sensor can provide
consistent and accurate measurement of 3-D forces.

This investigation developed a novel optical technique to measure the mechanical properties of polyethylene glycol acrylate (PEGDA) photopolymers. PEGDA plugs were prepared with high and low monomer concentrations and their elasticity was measured by applying forces between glass slides while imaging the area changes. Elasticity (Young's modulus) was calculated from these measurements. The high concentration plugs had higher moduli (61 kPa on average) and more glass-like fragmentation, while low concentration plugs had lower moduli (16.5 kPa) and more crystal-like fragmentation. This optical method provides a convenient alternative to more complex techniques for characterizing PEGDA hydrogel mechanical properties.

Biological Augmentation Of Rotator Cuff Tears

Adnan Saithna - Orthopedic Surgeon, Scottsdale, Arizona

Rotator cuff tears are a very common cause of shoulder pain. Surgery is very successful in improving pain but biological augmentation is aimed at improving the healing rate. Amniotic membrane allografts, PRP (platelet rich plasma) and stem cells are all currently popular options. This study is an In vitro analysis of amniotic membrane allograft as a potential agent for biological augmentation of rotator cuff repair performed by Dr Adnan Saithna, Orthopedic Surgeon, AZBSC Orthopedics

EIPBN 2010 Abstract_Preetish

preetish09

The document discusses finite element simulations characterizing the local and global response of an EUV reticle and chuck system to entrapped particles during exposure chucking. The simulations model (1) the nano-scale elastic-plastic interaction between particles and surrounding materials, and (2) the macro-scale elastic distortion of the reticle. Simulation results show the particle embedding process and residual heights match analytical predictions. Comparisons of reticle deformation under applied pressure also match closely between simulation and analysis, validating the modeling approach. Results will help identify clamping pressures needed to fully embed particles and meet stringent EUV lithography error budgets.

Effect of fiber distance on various sac ocdma detection techniques

eSAT Journals

Abstract Optical code division multiple access system (OCDMA) has been gaining importance with increasing demands of high speed and large capacity for communication in optical networks. OCDMA system is totally asynchronous, that does not require any clock signals for synchronization in the network. Therefore, OCDMA provide a network that is simpler and offers the potential for scalability to higher levels of connectivity. OCDMA encoding /decoding process also provides a level of security directly implemented in the physical layer. Using OCDMA technique high spectral efficiency is achieved, hence fiber bandwidth is used very efficiently with throughput in excess of Tbit/s. Among several kinds of OCDMA systems, spectra amplitude coding (SAC) scheme attracts increasing interest because multiple access interference (MAI) can be eliminated and preserve the orthogonality between users in the system. This paper presents comparison of three important SAC-OCDMA detection techniques, namely - Direct detection, Complementary subtraction and AND subtraction. The design of encoder and decoder modules for SAC-OCDMA system used in this paper is based on Fiber Bragg Gratings (FBGs). Here conventional single mode fiber (SMF) is used as the transmission link and the performance metric studied is Quality factor (Q) in multiple access environments of various user systems for these three detection techniques. Finally Effect of increasing number of fiber distance on the direct detection technique using NRZ and RZ data formats have been studied. Simulated results show that AND subtraction technique gives better Quality-factor (Q) than the complementary subtraction and direct detection techniques for the signal with same power. Index Terms: OCDMA (optical CDMA), BER (bit error rate), MAI (multiple access interference), DW (double weight code), SAC (spectral amplitude coding) and Q (quality factor)

Comparatively analysis of FBG optical fiber in 25 & 35 Gbps DCDM based Commun...

IJERD Editor

This document compares the performance of a 25 Gbps and 35 Gbps optical communication system using duty cycle division multiplexing (DCDM) with and without fiber Bragg grating (FBG) optical filtering. It describes the DCDM technique which allows multiple users to transmit simultaneously using different duty cycles. The document presents the system design using a 5 user DCDM system and evaluates the performance based on signal-to-noise ratio, Q-factor, and bit error rate. It is observed that using an FBG filter improves the system performance for both the 25 Gbps and 35 Gbps systems.

Temperature and strain sensitivity of long period grating fiber sensor review

eSAT Journals

Abstract Long period grating fibers are special class of fibers which are produced by periodic modulation of the refractive index of the core. This perturbation leads to forward guiding mode to couple with co propagating cladding modes depending on the phase matching condition. This coupling causes the cladding modes to attenuate during propagation in the fiber and leads to dips in the attenuation bands at discrete wavelengths in the transmission spectrum. These bands are shifted when the LPG is exposed to temperature, strain, refractive index changes in surrounding environment etc. This forms the basis of LPG sensor. The properties of LPG are modified in order to achieve the required sensitivity towards any measurands as per the applications. The performance of LPG by modifying the properties of LPG is reviewed. Keywords: Optical fiber, Optical fiber sensor, Fiber Bragg, Long period grating, Strain, Temperature

A Study on Uniform and Apodized Fiber Bragg Gratings

IJSRD

This document summarizes a study on modeling uniform and apodized fiber Bragg gratings (FBGs) using MATLAB. The authors simulate different FBG designs and analyze their reflection spectra and side lobe strengths. Uniform FBGs are affected by changes in grating length, refractive index modulation, and pitch. Increasing length increases reflectivity but decreases bandwidth, while increasing index modulation increases reflectivity and bandwidth. Apodized FBGs using Gaussian, sinc, and raised cosine profiles reduce side lobes compared to uniform FBGs, at the cost of lower reflectivity. Apodized FBGs are preferred over uniform FBGs when wavelength selectivity is important.

Photonics @ IITM

Anil Prabhakar

The document summarizes photonics research activities at IIT Madras across various laboratories and departments. It discusses current funding sources, national and international collaborations, and future opportunities in areas such as telecommunications, fiber lasers, biophotonics, and silicon photonics. Key research includes high power fiber lasers, tunable MEMS gratings, all-optical signal processing, integrated photonic devices, fiber Bragg gratings, STED microscopy, and plasmon-enhanced fluorescence. The activities span basic research through commercialization.

The document discusses Intelligent Fiber Bragg Gratings (IFBG), which are fiber optic sensors embedded in optical fiber that can sense multiple physical parameters. IFBG prototypes have been developed in-house that are cheaper than existing solutions. IFBGs use Fiber Bragg Gratings (FBG) and can be multiplexed into arrays and interrogated using different architectures involving switches, lasers, and photodiodes. Potential applications include structural health monitoring of composites.

Haptic tech seminar pt

Dan Yadav

Fiber Bragg gratings are made by periodically changing the refractive index in the core of an optical fiber using ultraviolet light exposure. This creates a filter that reflects a narrow band of wavelengths, while transmitting others. There are different types of gratings including uniform, apodized, and chirped. Fiber Bragg gratings have various applications including use in telecommunications as filters and dispersion compensators. They offer advantages such as flexibility, low loss, and ability to sense parameters that affect the grating pitch or refractive index.

Bragg grating all optical switches

University of Kentucky

This document discusses different types of all-optical switches that use Bragg gratings and the Kerr effect. It describes a nonlinear directional coupler loaded with a Bragg reflector that can act as an all-optical switch, directing light to different ports based on the presence of a control light. It also discusses an optical fiber grating coupler all-optical switch and a periodically curved nonlinear waveguide all-optical switch, noting advantages like lower power requirements and sharper switching widths.

Birefringence and Bragg grating control in femtosecond laser written optical ...

Luís André Fernandes

This document summarizes research on controlling birefringence and Bragg gratings using femtosecond laser writing in optical circuits. It describes using this technique to fabricate integrated wave plates with polarization contrast up to 35 dB and polarization beam splitters with extinction ratios from 19-24 dB. The research demonstrates controlling birefringence from 10-6 to 10-4 by manipulating laser stress fields and polarization during writing. Future work aims to reduce device sizes and losses for applications in quantum photonics and sensing.

Fiber bragg gratings

Hrudya Balachandran

Fiber Bragg gratings are filters built into the core of optical fibers that reflect specific wavelengths of light and transmit others. They can be used as inline filters or wavelength-specific reflectors to improve optical signal quality. The document discusses several types of FBGs: uniform FBGs with consistent grating periods; chirped FBGs with varying periods that act as dispersion compensators; blazed FBGs with tilted grating planes that reflect light out of the fiber; phase-shifted FBGs with periodic index changes that create narrow transmission windows; and long-period FBGs that couple light into cladding modes, removing resonant wavelengths from the system. Each FBG type has distinct features and applications in optical communications, sensing, and laser

Laser and optical fibers

Deps ..

The document discusses fiber lasers, optical fibers, and their advantages and disadvantages. Fiber lasers use rare-earth doped optical fibers as the gain medium and fiber Bragg gratings instead of mirrors. They have advantages like high power, stability, reliability, and compact size. Disadvantages include nonlinear effects at high power. Optical fibers transmit light through total internal reflection in their glass cores and are used for telecommunications due to advantages like huge bandwidth, small size, low cost, and security.

Optical fibre transmission

Ankit Srivastava

The document discusses optical fiber transmission and its advantages over other transmission mediums. It describes how optical fibers conduct light using total internal reflection. It also summarizes the key components used in optical fiber communication systems including optical sources like LEDs and lasers, photodetectors, and various types of optical fibers and their characteristics such as attenuation and dispersion. The document highlights how optical fiber transmission provides high bandwidth and capacity.

WIRELESS BODY AREA SENSOR NETWORK FOR SOLDIER SYSTEM.

ijiert bestjournal

The development of wireless body area sensor network (WBASN) is offer many promising new application in the area of remote health monitoring. This paper presents a system consisting of a force measuring device for estimation of the force ability of human muscle groups which means (Arm Strength). It comprises at least one (pressing element) strength sensor which works together with a force measuring microcontroller based electronic unit. This unit can accurately measure the force exerted onto strength sensor placed inside the force measuring unit. According to how the equipment is assorted muscle strength of different muscle group can be measured. The measured value are converted to digital form and stored in memory.

Babb Poster 1f

Derrick Babb

1. A framework was developed to assess the structural health of a Composite-Overwrapped Pressure Vessel (COPV) using data from Fiber Bragg Grating (FBG) sensors embedded in the vessel. FBG sensors measure strain as the vessel is pressurized. 2. An experiment was conducted where 36 FBG sensors measured the strain of a 40-inch spherical COPV up to burst pressure. The data was interpolated to create a virtual sensor array with improved granularity. 3. A mathematical model was created to represent the deformed vessel surface as a series of quadratic polynomials. Nonlinear optimization was used to adjust the virtual sensor positions so the model's calculated strains matched the interpolated measurement strains. This

Leap - Learning Adaptive Prosthetic Limb

Prasanna Venkataramanan

This document proposes using an adaptive neuro-fuzzy inference system (ANFIS) to control the damping value of a prosthetic limb. It summarizes previous research on prosthetic limb control that used techniques like magnetorheological damping and microprocessor algorithms. The proposed system would use ANFIS for intelligent control of damping value. ANFIS combines fuzzy logic and neural networks. It would allow the prosthesis to adapt damping based on gait recognition using past experiences stored in patterns identified through principle component analysis. The goal is to automatically adapt damping for different activities like lifting loads, unlike previous methods that focused only on level walking.

Structural Health Monitoring Aluminum Honeycomb Sandwich Composite Panel

Dawid Yhisreal

NASA evaluated using fiber Bragg gratings (FBG) embedded in honeycomb sandwich carbon composite panels as impact sensors to detect damage. An FBG sensor was embedded in a panel between the face-sheet and core. Impacts of 1 ft-lb were made at one-inch intervals and data was collected from the FBG and acoustic emission sensors. Results showed that FBG sensors could successfully detect impacts and have benefits over traditional sensors by enabling strain measurement and eliminating needs for additional systems.

IRJET-Pedobarography Insoles with Wireless Data Transmission

IRJET Journal

This document describes the development of a wireless plantar pressure measurement system using force sensing resistors (FSRs). The system includes an insole with embedded FSR sensors to measure pressure distribution under the foot. Sensor data is transmitted wirelessly via nRF24L01 radios from a transmitter in the insole to a receiver connected to a PC. The PC displays the pressure data in real-time on a graphical user interface. The system aims to provide accurate, wireless plantar pressure measurements to help diagnose foot and gait issues.

EMBC Paper

Jairo Maldonado-Contreras

This document describes design improvements made to a vibrotactile device used to provide tactile feedback to individuals with lower-limb prosthetics. Based on a pilot study, smaller and stronger vibration motors were selected, goniometers were replaced with IMUs for improved gait detection, and radio frequency was used for synchronization. The device housing was changed to a clamp design and voltage converters were added to power components from a single battery. These modifications aimed to improve the device's accuracy, efficiency, ease of use, and compactness.

EMBC Poster

Jairo Maldonado-Contreras

This document describes improvements made to a vibrotactile device used in rehabilitation training for persons with lower-limb amputations. The original device generated vibrations to simulate tactile feedback during ambulation but pilot studies showed it could be improved. Design modifications included adding a clamp to more easily attach the device to prosthetics, using multiple motor types to increase feedback strength, replacing sensors to more accurately measure gait, and modifying the actuation unit to provide stronger tactile feedback. These improvements aim to enhance the device's functionality for evaluating motor control in rehabilitation experiments.

AMATH582_Final_Poster

Mark Chang

1) The document discusses using feature detection algorithms like SURF and BRISK to filter out redundant frames from a video of a bladder phantom taken with a scanning fiber endoscope, in order to obtain images for 3D reconstruction. 2) Both SURF and BRISK were able to successfully filter the video, removing over 96% of the original frames while keeping the distinct frames needed for 3D reconstruction. 3) While BRISK found more features per frame, both algorithms produced similar filtering results, and BRISK is recommended over SURF for the 3D reconstruction due to it finding more distinct features.

IEEE Bio medical engineering 2016 Title and Abstract

tsysglobalsolutions

Design and development of sensorless based 5-DOF bilaterally controlled surgi...

journalBEEI

Minimally invasive surgery (MIS) is one of the most challenging tasks in surgical procedures due to the lack of visibility of the surgical area, instrument orientation, and depth perception. A tele-operated robot assisted minimally invasive surgery is developed to enhance a surgeon's hand dexterity and accuracy. To perform MIS, the surgeon controls a slave manipulator via a master manipulator, so the force feedback and motion feedback are required to imitate an amount of action and reaction force between master and slave manipulator. The complicated MIS requires more complex surgical manipulator with multi DOFs and multiple force feedback. The limitation of multiple DOFs force feedback is a bandwidth of torque sensors. Therefore, this study proposes a sensorless based 5-DOF Bilaterally controlled surgical manipulation. In this research disturbance observer (DOB) is used to identify the internal disturbance of the system, which is used to estimate the reaction torque. This research mainly focuses on a 5-DOF bilaterally controlled surgical manipulator to maintain a position and additional force. The result of torque error in contact motion is less than 2%, the non-contact motion error is not over 5%, and it is evident that the error is always less than 0.3% for the position response.

Conformal Grasping using Feedback Controlled Bubble Actuator Array

Hillary Green

This paper presents an implementation of a bubble actuator array (BAA) based active robotic skin, a modular system, onto existing low cost robotic end-effectors or prosthetic hands for conformal grasping of objects. The active skin is comprised of pneumatically controlled polyurethane rubber bubbles with overlaid sensors for feedback control. Sensor feedback allows the BAA based robotic skin to conformally grasp an object with an explicit uniform force distribution. The bubble actuator array reported here is capable of applying up to 4N of force at each point of contact and tested for conformally grasping objects with a radius of curvature up to 57.15mm. Once integrated onto a two-finger gripper with one degree of freedom (DOF), the active skin was shown to reduce point of contact forces of up to 50% for grasped objects. © (2014) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE).

Monitoring Motor Function in Children with Stroke Combining a Computer Game w...

Virtual Sensei

It has been demonstrated that early diagnosis and development of effective rehabilitation strategies will substantially improve functional recovery in children with ischemic injury and that regular assessment of function and motor abilities is critical to implementation of correct rehabilitation interventions after a stroke. However, access to specialized care is limited for patients living in rural areas, particularly for pediatric ones. Our objective is to develop a computer-aided system to accurately monitor upper extremity motor function. This system is based on the combination of a “functional” test (video-game) that we have recently developed, with a prototyped sensor glove which measures angles of movement of wrist and elbow. Such a system would allow for self-evaluation and regular home-based monitoring of treatment efficacy and drive timely modification of clinical interventions.

Embedded system for upper-limb exoskeleton based on electromyography control

TELKOMNIKA JOURNAL

A major problem in an exoskeleton based on electromyography (EMG) control with pattern recognition-based is the need for more time to train and to calibrate the system in order able to adapt for different subjects and variable. Unfortunately, the implementation of the joint prediction on an embedded system for the exoskeleton based on the EMG control with non-pattern recognition-based is very rare. Therefore, this study presents an implementation of elbow-joint angle prediction on an embedded system to control an upper limb exoskeleton based on the EMG signal. The architecture of the system consisted of a bio-amplifier, an embedded ARMSTM32F429 microcontroller, and an exoskeleton unit driven by a servo motor. The elbow joint angle was predicted based on the EMG signal that is generated from biceps. The predicted angle was obtained by extracting the EMG signal using a zero-crossing feature and filtering the EMG feature using a Butterworth low pass filter. This study found that the range of root mean square error and correlation coefficients are 8°-16° and 0.94-0.99, respectively which suggest that the predicted angle is close to the desired angle and there is a high relationship between the predicted angle and the desired angle.

WAVELET DECOMPOSITION METHOD BASED AUTOMATED DIAGNOSIS OF MUSCLE DISEASES

IRJET Journal

This document proposes a method for automated diagnosis of muscle diseases using electromyography (EMG) signals. It involves applying wavelet decomposition to EMG signals to extract features. A Hilbert transform is used to represent the EMG signal analytically, and features are calculated from the analytical signal. These features are input to a convolutional neural network (CNN) classifier to categorize the EMG signal and diagnose muscle diseases. Simulation software with MATLAB is used to test this process, with the goal of early and accurate detection of neuromuscular disorders.

Ieeepro techno solutions 2012 ieee embedded project development of wearable...

srinivasanece7

This document describes the development of a 4x4 array of electromagnetic micro-actuators intended for dynamic tactile stimulation. Each actuator is 2.28mm in diameter and 7mm long, allowing integration into a dense array covering an area of 18mm by 21mm. Finite element analysis was used to optimize the design of a voice-coil type actuator that can produce over 26mN of force over a 2100μm stroke. Experimental evaluation showed no crosstalk between actuators spaced 3.3mm apart. The array exceeds the density of alternative designs and meets thresholds for human tactile perception.

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Mechanomyogram chandra sen vikram

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Mechanomyography (MMG) is a technique that detects muscle contractions through vibration transducers on the skin. MMG signals have a higher signal-to-noise ratio than EMG and are less sensitive to motion artifacts. MMG can be detected using various transducers including accelerometers, microphones, and laser sensors. MMG has applications in assessing muscle fatigue, diagnosing muscle disease, and controlling prosthetics. Studies show that MMG amplitude increases with force levels during muscle contractions up to a point, then decreases due to motor unit firing rate changes. Multi-channel MMG can accurately identify patterns of forearm muscle activity during different hand movements.

Fatigue testing of a composite propeller blade using fiber optic strain sensors

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Short-term hand gestures recognition based on electromyography signals

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Electromyography pattern recognition to predict limb movements can significantly enhance the control of the prosthesis. However, this technique has not yet been widely used in clinical practice. Improvements in the myoelectric pattern recognition (MPR) system can improve the functionality of the prosthesis. This study proposes new sets of time domain features to enhance the MPR control system. Three groups of features are evaluated, time domain with auto regression (TD-AR), frequency domain (FD), and timefrequency domain (TFD). The electromyography signals (EMG) are obtained from the Ninapro database-5 (DB5), a publicly available dataset for hand prosthetics. The long-term signals of DB5 are divided into short-term signals to perform short-term signals recognition. The three feature sets are extracted from the short-term signals. The results showed that the performance of the proposed TD-AR features outperformed that of the FD and TFD feature sets. The TD-AR-based discrimination performance of 40 gestures achieved a precision of 88.8% and a sensitivity of 82.6%. The integration of short-term identification with reliable features can improve classification accuracy even for a large number of gestures. A comparison with the latest works shows the reliability of the proposed work.

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