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Publication Open Access 3D microprinting of iron platinum nanoparticle-based magnetic mobile microrobots(Wiley, 2021) Giltinan, Joshua; Sridhar, Varun; Bozüyük, Uğur; Sheehan, Devin; Department of Mechanical Engineering; Sitti, Metin; Faculty Member; Department of Mechanical Engineering; School of Medicine; College of Engineering; 297104Wireless magnetic microrobots are envisioned to revolutionize minimally invasive medicine. While many promising medical magnetic microrobots are proposed, the ones using hard magnetic materials are not mostly biocompatible, and the ones using biocompatible soft magnetic nanoparticles are magnetically very weak and, therefore, difficult to actuate. Thus, biocompatible hard magnetic micro/nanomaterials are essential toward easy-to-actuate and clinically viable 3D medical microrobots. To fill such crucial gap, this study proposes ferromagnetic and biocompatible iron platinum (FePt) nanoparticle-based 3D microprinting of microrobots using the two-photon polymerization technique. A modified one-pot synthesis method is presented for producing FePt nanoparticles in large volumes and 3D printing of helical microswimmers made from biocompatible trimethylolpropane ethoxylate triacrylate (PETA) polymer with embedded FePt nanoparticles. The 30 mu m long helical magnetic microswimmers are able to swim at speeds of over five body lengths per second at 200Hz, making them the fastest helical swimmer in the tens of micrometer length scale at the corresponding low-magnitude actuation fields of 5-10mT. It is also experimentally in vitro verified that the synthesized FePt nanoparticles are biocompatible. Thus, such 3D-printed microrobots are biocompatible and easy to actuate toward creating clinically viable future medical microrobots.
Publication Metadata only A monolithic opto-coupler based sensor for contact force detection in artificial hand(Ieee, 2016) N/A; N/A; Department of Mechanical Engineering; Shams, Sarmad; Lazoğlu, İsmail; PhD Student; Faculty Member; Department of Mechanical Engineering; Graduate School of Sciences and Engineering; College of Engineering; N/A; 179391This paper presents a monolithic opto-coupler based force sensor design to detect the contact forces of the fingertip of the artificial hand during grasp process. Effective and precise measurement of the contact force is always a challenge for the humid and temperature varying environment. In this paper, we propose a novel design of force sensor with optical technique. The optical technique is preferred over other techniques because of its simpler electronics and less immunity to temperature variation under humid environment. Simulation results conducted using Finite Element Method (FEM) analysis confirmed the deflection is linear for the forces from 0 to +/- 100 N. The maximum stress found at 100 N is 252.39 MPa. Also, modal analysis is performed to ensure the sensor is durable and operative while handling different vibrating objects. Calibration experiment of the sensor is performed using multipoint calibration process and curve fitting technique.Publication Metadata only A monolithic opto-coupler based sensor for contact force detection in artificial hand(Institute of Electrical and Electronics Engineers (IEEE), 2016) N/A; Department of Mechanical Engineering; Shams, Sarmad; Lazoğlu, İsmail; PhD Student; Faculty Member; Department of Mechanical Engineering; Manufacturing and Automation Research Center (MARC); Graduate School of Sciences and Engineering; College of Engineering; N/A; 179391This paper presents a monolithic opto-coupler based force sensor design to detect the contact forces of the fingertip of the artificial hand during grasp process. Effective and precise measurement of the contact force is always a challenge for the humid and temperature varying environment. In this paper, we propose a novel design of force sensor with optical technique. The optical technique is preferred over other techniques because of its simpler electronics and less immunity to temperature variation under humid environment. Simulation results conducted using Finite Element Method (FEM) analysis confirmed the deflection is linear for the forces from 0 to ±100 N. The maximum stress found at 100 N is 252.39 MPa. Also, modal analysis is performed to ensure the sensor is durable and operative while handling different vibrating objects. Calibration experiment of the sensor is performed using multipoint calibration process and curve fitting technique.Publication Metadata only A new control architecture for physical human-robot interaction based on haptic communication(Ieee, 2014) N/A; N/A; Department of Mechanical Engineering; Aydın, Yusuf; Arghavani, Nasser; Başdoğan, Çağatay; PhD Student; PhD Student; Faculty Member; Department of Mechanical Engineering; Graduate School of Sciences and Engineering; Graduate School of Sciences and Engineering; College of Engineering; 328776; N/A; 125489In the near future, humans and robots are expected to perform collaborative tasks involving physical interaction in various different environments such as homes, hospitals, and factories. One important research topic in physical Human-Robot Interaction (pHRI) is to develop tacit and natural haptic communication between the partners. Although there are already several studies in the area of Human-Robot Interaction, the number of studies investigating the physical interaction between the partners and in particular the haptic communication are limited and the interaction in such systems is still artificial when compared to natural human-human collaboration. Although the tasks involving physical interaction such as the table transportation can be planned and executed naturally and intuitively by two humans, there are unfortunately no robots in the market that can collaborate and perform the same tasks with us. In this study, we propose a new controller for the robotic partner that is designed to a) detect the intentions of the human partner through haptic channel using a fuzzy controller b) adjust its contribution to the task via a variable impedance controller and c) resolve the conflicts during the task execution by controlling the internal forces. The results of the simulations performed in Simulink/Matlab show that the proposed controller is superior to the stand-alone standard/variable impedance controllers.Publication Metadata only A robotic indenter for minimally invasive characterization of soft tissues(Elsevier Science Bv, 2005) Avtan, Levent; Düzgün, Oktay; N/A; N/A; Department of Mechanical Engineering; Samur, Evren; Sedef, Mert; Başdoğan, Çağatay; Master Student; Master Student; Faculty Member; Department of Mechanical Engineering; Graduate School of Sciences and Engineering; Graduate School of Sciences and Engineering College of Engineering; 192890; N/A; 125489We have developed a robotic indenter for minimally invasive measurement of tissue properties during a laparoscopic surgery. Using the indenter, we conducted animal experiments in situ and successfully measured the force versus displacement response of pig liver under static and dynamic loading conditions. Using the small deformation assumption, we estimated the effective Young's modulus of pig liver around 15 kPa from the force-displacement data of static indentations. We also obtained the relaxation function, describing the variation of force response with respect to time, from the data of stress relaxation experiments. We observed that pig liver shows linear viscoelastic behavior.Publication Metadata only A robotic indenter for minimally invasive measurement and characterization of soft tissue response(Elsevier, 2007) Avtan, Levent; Düzgün, Oktay; N/A; N/A; Department of Mechanical Engineering; Samur, Evren; Sedef, Mert; Başdoğan, Çağatay; Master Student; Master Student; Faculty Member; Department of Mechanical Engineering; Graduate School of Sciences and Engineering; Graduate School of Sciences and Engineering College of Engineering; 192890; N/A; 125489The lack of experimental data in current literature on material properties of soft tissues in living condition has been a significant obstacle in the development of realistic soft tissue models for virtual reality based surgical simulators used in medical training. A robotic indenter was developed for minimally invasive measurement of soft tissue properties in abdominal region during a laparoscopic surgery. Using the robotic indenter, force versus displacement and force versus time responses of pig liver under static and dynamic loading conditions were successfully measured to characterize its material properties in three consecutive steps. First, the effective elastic modulus of pig liver was estimated as 10-15 kPa from the force versus displacement data of static indentations based on the small deformation assumption. Then, the stress relaxation function, relating the variation of stress with respect to time, was determined from the force versus time response data via curve fitting. Finally, an inverse finite element solution was developed using ANSYS finite element package to estimate the optimum values of viscoelastic and nonlinear hyperelastic material properties of pig liver through iterations. The initial estimates of the material properties for the iterations were extracted from the experimental data for faster convergence of the solutions.Publication Metadata only Characterization of frequency-dependent material properties of human liver and its pathologies using an impact hammer(Elsevier, 2011) Dogusoy, Gulen; Tokat, Yaman; N/A; N/A; Department of Mechanical Engineering; Özcan, Mustafa Umut; Öcal, Sina; Başdoğan, Çağatay; Master Student; Master Student; Faculty Member; Department of Mechanical Engineering; Graduate School of Sciences and Engineering; Graduate School of Sciences and Engineering; College of Engineering; N/A; N/A; 125489The current methods for characterization of frequency-dependent material properties of human liver are very limited. In fact, there is almost no data available in the literature showing the variation in dynamic elastic modulus of healthy or diseased human liver as a function of excitation frequency. We show that frequency-dependent dynamic material properties of a whole human liver can be easily and efficiently characterized by an impact hammer. The procedure only involves a light impact force applied to the tested liver by a hand-held hammer. The results of our experiments conducted with 15 human livers harvested from the patients having some form of liver disease show that the proposed approach can successfully differentiate the level of fibrosis in human liver. We found that the storage moduli of the livers having no fibrosis (F0) and that of the cirrhotic livers (F4) varied from 10 to 20 kPa and 20 to 50 kPa for the frequency range of 0-80 Hz, respectively.Publication Metadata only Detecting human motion intention during phri using artificial neural networks trained by EMG signals(Ieee, 2020) N/A; N/A; N/A; N/A; Department of Mechanical Engineering; Şirintuna, Doğanay; Özdamar, İdil; Aydın, Yusuf; Başdoğan, Çağatay; PhD Student; Master Student; PhD Student; Faculty Member; Department of Mechanical Engineering; Graduate School of Sciences and Engineering; Graduate School of Sciences and Engineering; Graduate School of Sciences and Engineering; College of Engineering; N/A; N/A; 328776; 125489With the recent advances in cobot (collaborative robot) technology, we can now work with a robot side by side in manufacturing environments. The collaboration between human and cobot can be enhanced by detecting the intentions of human to make the production more flexible and effective in future factories. In this regard, interpreting human intention and then adjusting the controller of cobot accordingly to assist human is a core challenge in physical human-robot interaction (pHRI). In this study, we propose a classifier based on Artificial Neural Networks (ANN) that predicts intended direction of human movement by utilizing electromyography (EMG) signals acquired from human arm muscles. We employ this classifier in an admittance control architecture to constrain human arm motion to the intended direction and prevent undesired movements along other directions. The proposed classifier and the control architecture have been validated through a path following task by utilizing a KUKA LBR iiwa 7 R800 cobot. The results of our experimental study with 6 participants show that the proposed architecture provides an effective assistance to human during the execution of task and reduces undesired motion errors, while not sacrificing from the task completion time.Publication Metadata only Experimental estimation of gap thickness and electrostatic forces between contacting surfaces under electroadhesion(Wiley, 2024) Martinsen, Orjan Grottem; Pettersen, Fred-Johan; Colgate, James Edward; Department of Mechanical Engineering; Aliabbasi, Easa; Başdoğan, Çağatay; Department of Mechanical Engineering; Graduate School of Sciences and Engineering; College of EngineeringElectroadhesion (EA) is a promising technology with potential applications in robotics, automation, space missions, textiles, tactile displays, and some other fields where efficient and versatile adhesion is required. However, a comprehensive understanding of the physics behind it is lacking due to the limited development of theoretical models and insufficient experimental data to validate them. This article proposes a new and systematic approach based on electrical impedance measurements to infer the electrostatic forces between two dielectric materials under EA. The proposed approach is applied to tactile displays, where skin and voltage-induced touchscreen impedances are measured and subtracted from the total impedance to obtain the remaining impedance to estimate the electrostatic forces between the finger and the touchscreen. This approach also marks the first instance of experimental estimation of the average air gap thickness between a human finger and a voltage-induced capacitive touchscreen. Moreover, the effect of electrode polarization impedance on EA is investigated. Precise measurements of electrical impedances confirm that electrode polarization impedance exists in parallel with the impedance of the air gap, particularly at low frequencies, giving rise to the commonly observed charge leakage phenomenon in EA. A novel and systematic approach is introduced, leveraging electrical impedance measurements to infer electrostatic forces between two dielectric materials under electroadhesion (EA). This innovative approach holds promise for diverse applications spanning robotics, automation, space missions, textiles, and tactile displays. Furthermore, this study sheds light on the physics of EA, offering valuable insights with implications for the design of electroadhesive devices.Publication Metadata only Hapticolor: interpolating color information as haptic feedback to assist the colorblind(Assoc Computing Machinery, 2016) Carcedo, Marta G.; Chua, Soon Hau; Perrault, Simon; Wozniak, Pawel; Joshi, Raj; Fjeld, Morten; Zhao, Shengdong; Department of Mechanical Engineering; Obaid, Mohammad; Undergraduate Student; Department of Mechanical Engineering; KU Arçelik Research Center for Creative Industries (KUAR) / KU Arçelik Yaratıcı Endüstriler Uygulama ve Araştırma Merkezi (KUAR); College of Engineering; N/AMost existing colorblind aids help their users to distinguish and recognize colors but not compare them. We present HaptiColor, an assistive wristband that encodes discrete color information into spatiotemporal vibrations to support colorblind users to recognize and compare colors. We ran three experiments: the first found the optimal number and placement of motors around the wrist-worn prototype, and the second tested the optimal way to represent discrete points between the vibration motors. Results suggested that using three vibration motors and pulses of varying duration to encode proximity information in spatiotemporal patterns is the optimal solution. Finally, we evaluated the HaptiColor prototype and encodings with six colorblind participants. Our results show that the participants were able to easily understand the encodings and perform color comparison tasks accurately (94.4% to 100%).