MEC 462: Biomechatronics

Model Answer of Assignment 2

1) Mention the properties’ types of a grasped object based on tactile sensing, giving
examples of each type.

Answer

The properties, in a grasped object, can be classified into geometric and dynamometric
types.

Among the geometric properties are presence, location in relation to the end-effector,
shape, dimensions, and surface conditions.

Among the dynamometric parameters associated with grasping are force distribution,
slippage, elasticity, and hardness as well as friction.

2) Explain with a sketch how a resistive tactile sensor work, showing how the location
of the applied force can be detected?

Answer

A typical array will include conductive strips connecting the rows and columns of the
grid so that the individual element resistances may be sensed, as shown in figure.

A binary address selection connects a voltage , to a single row of resistive elements,

while simultaneously the address controls a multiplexer that connects a single column
to an op amp inverter. The voltage output, , is proportional to the resistance of a
single element,

=− ,

where is the resistance of the element at row and column , and is the
resistance of the feedback resistor.
3) Explain with a sketch how a capacitive tactile sensor work, showing how the location
of the applied force can be detected? What is the main difference between this
tactile sensor and the previous resistive tactile sensor?

Answer

If the row and column conductive strips are placed on either side of a compliant
dielectric material, then the intersection of each forms a tiny capacitor. The capacitance
of a parallel plate capacitor is directly proportional to the product of the plate area, ,
and the dielectric constant, , and inversely proportional to the distance between them,
ℎ.

= .

An applied force that reduces the distance between the plates will result in an increase
in capacitance that can be measured by an external circuit as shown in figure.

If stray capacitances between elements are ignored and the multiplexers are ideal,
then the capacitors functions as an AC voltage divider and will be a function of the
element capacitance

= ,

where is the detector capacitance, and is the capacitance of the element

addressed by row and column .

The main difference between this tactile sensor and the previous resistive tactile
sensor is that only AC voltage must be applied in case of using the capacitive tactile
sensor.
4) How a piezoelectric tactile sensor can be used for measuring sliding forces?

Answer

Sliding force sensors can be constructed using thin slivers of piezoelectric materials
orientated in different directions. These are situated within a silicone rubber skin and
will respond differently as the sensor is moved in different directions across a rough
surface.

5) How can the sensitivity of a carbon microcoils (CMCs) silicon rubber tactile sensor
be controlled? Why a DC excitation voltage can’t be used for this type of sensors?

Answer

The sensitivity can be controlled by adjusting the concentration of the CMC material
compared with the silicone rubber, as shown in the figure.

A DC excitation voltage can’t be used for this type of sensors because of the coiled
nature of the conductive material where a significant inductive component exists.

6) Explain using a sketch how can the evanescent wave spectroscopy be used for
detecting certain compounds in a liquid sample?

Answer

When light propagates along an optical fiber, it is not completely confined to the core
region but penetrates a short distance (typically one wavelength) into the cladding.
Therefore, any compounds close to the surface will have an effect on this wave.
Typically, a section of fiber is left unclad and in contact with a solution of the molecule
of interest or with a reagent that reacts with the molecule. Multiple internal reflections
along this section of the fiber contribute to the overall absorption or fluorescence, which
can be measured at the end of the fiber.
7) Show with illustrations the working principle of the surface plasmon resonance
method.

Answer

In this technique, the fiber is clad with a metallized layer, typically gold or silver. When
monochromatic light from the laser reaches this layer, it is absorbed by the plasma
generated by the conduction electrons of the metal. This results in a phenomenon
called surface plasmon resonance (SPR), which leads to absorption of the light. The
resonance depends on the angle, wavelength, and polarization state of the incident
light and the refractive index of the metal film and material adjacent to it.

Therefore, SPR is an extremely sensitive method of measuring changes in the

refractive index of the medium.

8) What is the function of a reagent membrane of an optical fiber sensor?

Answer

The function of a reagent membrane of an optical fiber sensor is to represent the

medium that reacts to measurements by providing a spectral or absorption changes.

In optical fiber-based sensors, light travels efficiently to the end of the fiber where it
exits into the medium and interacts with the molecule or reagent before returning via
the same or a different optical fiber to a detector for analysis and interpretations.
.

Typical reagent mediated optical fiber-based sensors are shown in the figure.

9) Explain briefly how the blood Oxygen concentration can be measured using a pulse
oximeter?

Answer

The blood oxygen concentration can be measured using a pulse oximeter based on
the color change in the blood as relative amounts of deoxyhemoglobin (Hb) and
oxyhemoglobin (HbO2) vary.

Measurements are performed at two specific wavelengths, the first at 660 nm, where
there is large difference between the relative absorption of the two molecules, and the
second at 805 nm approximately, where the absorption is independent of blood
oxygenation. The oxygen saturation, O2sat, can be determined from the ratio of the two
absorption levels, 1, and 2.
O2sat=a-b , where a and b are sensor dependent constants.
A pulse oximeter is a noninvasive sensor that is clamped to the finger or ear where
blood flow is close to the surface. They monitor differences in the absorption only as a
function of time. This relationship is dependent on the blood volume within sensitive
area and will therefore be a function of arterial pressure and heartbeat. A normalization
process determines the ratio of the changing component, and the fixed component of
the measured signal to produce a stable and reliable signal.
Pulse oximeters consist of a pair of small and inexpensive LEDs, one operating in the
red and the other in the infrared band. A single, highly sensitive phototransistor
monitors the signal level transmitted through a finger or ear lobe or the backscatter
from any other well-vascularized portion of the body.
 Pulse oximeter

10) Sketch different metal plate skin electrodes. Which purposes are these electrodes
used for?

Answer

These electrodes types are used for diagnostic recordings of Electrocardiogram

(ECG) and Electroencephalogram (EEG) signals.

11) What is the main difference between the metal plate electrodes and the electrodes
used for chronic patient monitoring?

Answer

The main difference between the metal plate electrodes and the electrodes used for
chronic patient monitoring that electrodes used for chronic patient monitoring must
provide a stable interface. .

Also mechanical stability with the reduction of motion artifacts, is important. This can
be achieved by recessing the electrodes into the bottom of a cupful of electrolyte gel.
This recessed electrolyte simple design has the advantage of producing it for mass
production.

The electrodes consist of a conductive metal electrode bonded to a layer of open-cell

foam that is impregnated with a high-viscosity electrolyte gel.
A modification of this design replaces the electrodes with a thin film of foil that can
deform for a better fit on a curved body. The sponge is replaced with a thinner hydrogel
film. This electrolyte-hydrogel mix is very sticky, so no adhesive is required.

12) Why the electrodes used for internal use don’t require a gel layer?

Answer

The electrodes used for internal use don’t require a gel layer because they are in
intimate contact with the organism’s own electrolyte solution.