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RISS 인기검색어
- 검색키워드
- 저자 : Cheng-Hsin Chuang (검색결과 5 건)
- 무료
- 기관 내 무료
- 유료
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Flexible tactile sensor array for foot pressure mapping system in a biped robot
Chuang, Cheng-Hsin,Liou, Yi-Rong,Shieh, Ming-Yuan Techno-Press 2012 Smart Structures and Systems, An International Jou Vol.9 No.6
Controlling the balance of motion in a context involving a biped robot navigating a rugged surface or a step is a difficult task. In the present study, a $3{\times}5$ flexible piezoelectric tactile sensor array is developed to provide a foot pressure map and zero moment point for a biped robot. We introduce an innovative concept involving structural electrodes on a piezoelectric film in order to improve the sensitivity. The tactile sensor consists of a polymer piezoelectric film, PVDF, between two patterned flexible print circuit substrates (FPC). Additionally, a silicon rubber bump-like structure is attached to the FPC and covered by a polydimethylsiloxane (PDMS) layer. Experimental results show that the output signal of the sensor exhibits a linear behavior within 0.2 N ~ 9 N, while its sensitivity is approximately 42 mV/N. According to the characteristic of the tactile sensor, the readout module is designed for an in-situ display of the pressure magnitudes and distribution within $3{\times}5$ taxels. Furthermore, the trajectory of the zero moment point (ZMP) can also be calculated by this program. Consequently, our tactile sensor module can provide the pressure map and ZMP information to the in-situ feedback to control the balance of moment for a biped robot.
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Flexible tactile sensor array for foot pressure mapping system in a biped robot
Cheng-Hsin Chuang,Yi-Rong Liou,Ming-Yuan Shieh 국제구조공학회 2012 Smart Structures and Systems, An International Jou Vol.9 No.6
Controlling the balance of motion in a context involving a biped robot navigating a rugged surface or a step is a difficult task. In the present study, a 3×5 flexible piezoelectric tactile sensor array is developed to provide a foot pressure map and zero moment point for a biped robot. We introduce an innovative concept involving structural electrodes on a piezoelectric film in order to improve the sensitivity. The tactile sensor consists of a polymer piezoelectric film, PVDF, between two patterned flexible print circuit substrates (FPC). Additionally, a silicon rubber bump-like structure is attached to the FPC and covered by a polydimethylsiloxane (PDMS) layer. Experimental results show that the output signal of the sensor exhibits a linear behavior within 0.2 N ~ 9 N, while its sensitivity is approximately 42 mV/N. According to the characteristic of the tactile sensor, the readout module is designed for an in-situ display of the pressure magnitudes and distribution within 3×5 taxels. Furthermore, the trajectory of the zero moment point (ZMP) can also be calculated by this program. Consequently, our tactile sensor module can provide the pressure map and ZMP information to the in-situ feedback to control the balance of moment for a biped robot.
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Liang, Shu-Yuan,Chen, Kang-Pan,Tsay, Shiow-Luan,Wu, Shu-Fang,Chuang, Yeu-Hui,Wang, Tsae-Jyy,Tung, Heng-Hsin,Cheng, Su-Fen Asian Pacific Journal of Cancer Prevention 2013 Asian Pacific journal of cancer prevention Vol.14 No.2
Social and behavioral scientists have proposed that a person's belief system crucially influences his or her behaviour, and therefore may affect outcomes of pain management. The purpose of this study was to explore the relationship between analgesic beliefs, analgesic adherence and pain experience amongst Taiwanese cancer outpatients. The cross-sectional study included 92 oncology outpatients in two teaching hospitals in the Taipei area of Taiwan. The research instruments included the Pain Opioid Analgesic Beliefs Scale-Cancer (POABS-CA), opioid adherence, and the Brief Pain Inventory-Chinese (BPI-Chinese). Beliefs about pain and opioids demonstrated a significant relationship with patients' opioid adherence (r = -0.30, p < 0.01). The more negative beliefs regarding opioids and pain the patient had, the worse their adherence to around the clock (ATC) analgesic regimen. However, there was no significant correlation between opioid belief and pain experience. As well, there were no significant relationships between adherence to opioid regimen and any of the measures of pain experience. The study highlights the potential importance of a patient's pain and opioid beliefs in adherence to pain medication.
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Indentation deformation of mesoporous anodic aluminum oxide
Te-Hua Fang,Tong Hong Wang,Shao-Hui Kang,Cheng-Hsin Chuang 한국물리학회 2009 Current Applied Physics Vol.9 No.4
Mechanical properties of anodic aluminum oxides (AAO) were achieved by means of a scanning electron microscope (SEM), an atomic force microscope (AFM), and indentation measurements. A two-step anodized mesoporous anodic aluminum oxide was successfully fabricated vertically and hollowly. Both microindentation and nanoindentation were carried out. Localized pop-in can be found during nanoindentation due to the collapse of the beneath cylindrical structures. Over a certain load, microindentation may induce radial cracks from the indented edge to outward of the AAO. The underside of the indented AAO sample was milled to figure out the structural changes. Mechanical properties of anodic aluminum oxides (AAO) were achieved by means of a scanning electron microscope (SEM), an atomic force microscope (AFM), and indentation measurements. A two-step anodized mesoporous anodic aluminum oxide was successfully fabricated vertically and hollowly. Both microindentation and nanoindentation were carried out. Localized pop-in can be found during nanoindentation due to the collapse of the beneath cylindrical structures. Over a certain load, microindentation may induce radial cracks from the indented edge to outward of the AAO. The underside of the indented AAO sample was milled to figure out the structural changes.
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