Dissertations / Theses on the topic '3D printed sensors'

Fiber Bragg Gratings is a type of optical sensor used to measure temperature in many different fields. They have many advantages in relation to standard electric thermometers. The optical fiber and grating is cheap, these optical fiber sensor systems are expensive mainly due to the spectrum analyzer, so it is preferable to minimize the cost while keeping the accuracy as high as possible. By increasing the thermal response of the fiber it is possible to reduce the overall cost of the sensor system. The thermal response can be increased if a material with greater thermal expansion than the fiber is used as coating. Plastic is a coating material with potential due to its availability, low cost and high coefficient of thermal expansion. With 3Dprinting it is possible to choose from a large range of materials available and customize the functionality of the sensor. In this degree project we examined the functionality of a PLA coated Fiber Bragg Grating sensor where the coating was applied using a 3D-printer. Our findings shows that these type of sensors could meet the requirements if used within a specific temperature range.

Nowadays, we observe the transition for creation of the domestic and industry objects from the traditional methods involving the assembling of the different parts obtained by cutting, molding or otherwise to the additive manufacturing which refers to the object formation by using a layer-by-layer deposition of the versatile materials (metals, plastics, glasses, and so on) in the one 3D printing technological process. In the electronics, the attention should be given to the especially perspective technology, that is 3D ink printing of inks based on the metal nanoparticles (Ag, Cu, Sn) to obtain the printed circuit boards, charge-collecting contacts of thin-film solar cells and its connections with the external loads. Moreover, the inks based on the semiconductor materials (Cu2ZnSn(S,Se)4, ZnO) are the promising for the use in the sensitive elements of photoconverters, thermoelectric generators, transparent electronics, gas sensors, and touchpads.

Microfluidics is a continually growing field covering a wide range of applications, such as cellular analysis, biomarker quantification, and drug discovery; but in spite of this, the field of microfluidics remains predominately academic. New materials are pivotal in providing tailored properties to improve device integration and decrease prototype turnaround times. In biosensing, nonspecific adsorption in microfluidic systems can deplete target molecules in solution and prevent analytes, especially those at low concentrations, from reaching the detector. Polyethylene glycol diacrylate (PEGDA) mixed with photoinitiator forms, on exposure to ultraviolet (UV) radiation, a polymer with inherent resistance to nonspecific adsorption. Optimization of the polymerized PEGDA (poly-PEGDA) formula imbues this material with some of the same properties, including optical clarity, water stability, and low background fluorescence, that makes polydimethylsiloxane (PDMS) a widely used material for microfluidics. Poly-PEGDA demonstrates less nonspecific adsorption than PDMS over a range of concentrations of flowing fluorescently tagged bovine serum albumin solutions, and poly-PEGDA has greater resistance to permeation by small hydrophobic molecules than PDMS. Poly-PEGDA also exhibits long-term (hour scale) resistance to nonspecific adsorption compared to PDMS when exposed to a low (1 μg/mL) concentration of a model adsorptive protein. Electrophoretic separations of amino acids and proteins resulted in symmetrical peaks and theoretical plate counts as high as 4 × 105/m. Pneumatically actuated, non-elastomeric membrane valves fabricated from poly-PEGDA have been characterized for temporal response, valve closure, and long-term durability. A ∼100 ms valve opening time and a ∼20 ms closure time offer valve operation as fast as 8 Hz with potential for further improvement. Comparison of circular and rectangular valve geometries indicates that the surface area for membrane interaction in the valve region is important for valve performance. After initial fabrication, the fluid pressure required to open a closed circular valve is ∼50 kPa higher than the control pressure holding the valve closed. However, after ∼1000 actuations to reconfigure polymer chains and increase elasticity in the membrane, the fluid pressure required to open a valve becomes the same as the control pressure holding the valve closed. After these initial conditioning actuations, poly-PEGDA valves show considerable robustness with no change in effective operation after 115,000 actuations.Often, localized areas of surface functionalization are desired in biosensing, necessitating site-specific derivatization. Integration of poly-PEGDA with different substrates, such as glass, silicon, or electrode-patterned materials, allows for broad application in biosensing and microfluidic devices. Deposition of 3-(trimethoxysilyl) propyl methacrylate or (3-acryloxypropyl) dimethylmethoxysilane onto these substrates makes bonding to poly-PEGDA possible under UV exposure. Primary deposition of (3-acryloxypropyl) dimethylmethoxysilane, followed by photolithographic patterning, allows for silane removal through HF surface etching in the exposed areas and subsequent deposition of 3 aminopropyldiisopropylethoxysilane on the etched regions. Fluorescent probes are used to evaluate surface attachment methods. Primary attachment via reaction of Alexa Fluor 488 TFP ester to the patterned aminosilane demonstrates excellent fluorescent signal. Initial results with glutaraldehyde were demonstrated but require more optimization before this method for secondary attachment is viable. Fabrication of 3D printed microfluidic devices with integrated membrane-based valves is performed with a low-cost, commercially available stereolithographic 3D printer and a custom PEGDA resin formulation tailored for low non-specific protein adsorption. Horizontal microfluidic channels with designed rectangular cross sectional dimensions as small as 350 µm wide and 250 µm tall are printed with 100% yield, as are cylindrical vertical microfluidic channels with 350 µm designed (210 µm actual) diameters. Valves are fabricated with a membrane consisting of a single build layer. The fluid pressure required to open a closed valve is the same as the control pressure holding the valve closed. 3D printed valves are successfully demonstrated for up to 800 actuations. Poly-PEGDA is a versatile material for microfluidic applications ranging from electrophoretic separations, valve implementation, and heterogeneous material integration. Further improvements in PEGDA resin formulation, in combination with a UV source 3D printer, will provide poly-PEGDA devices that are not only rapidly fabricated (<40 min per device), but that also include pumps and valves and are usable with a variety of detection methods, such as laser-induced fluorescence and immunoassays, for broad application in biosensing.

Thesis is dealing with the creation of robotic worplace and its periphery. The paper is discrabing the robotic function and kinematics. The practical part of the paper shows several types of suggested robotic workplaces followed by solution processing of one selected type, where technical documentation and the calculation of production is made. The end of the paper shows economical and technological evaluation of the selected type of workplace including the price returns.

L’objectif de ce travail était de concevoir et réaliser par impression un capteur acoustique capacitif résonant bas coût. Il s’inscrit dans le cadre d’un projet collaboratif de recherche intitulé « Spinnaker », défini par la société Tagsys RFID qui souhaite intégrer ce capteur afin d’améliorer la géolocalisation des étiquettes RFID. Ce travail a débuté par la conception et l’optimisation du design en utilisant la simulation par éléments finis (COMSOL) ainsi que des plans d’expériences (DOE : Design of Experiment). Cette première étape a permis de déterminer les paramètres optimaux et démontrer que les performances obtenues étaient conformes aux spécifications. Nous avons ensuite développé les différentes briques technologiques nécessaires à la réalisation des prototypes en utilisant conjointement l’impression 2D par inkjet et l’impression 3D. Nous avons vérifié la fonctionnalité de ces capteurs à l’aide de mesures électriques capacitives et acoustiques par vibrométrie laser. Nous avons démontré la sélectivité en fréquence des capteurs réalisés et comparé les résultats expérimentaux à ceux obtenus par simulation. Enfin, nous avons enfin exploré la « voie piezoélectrique » qui nous semble être une alternative intéressante au principe capacitif. En l’absence d’encre piézoélectrique commerciale imprimable par jet de matière, nous avons formulé une encre imprimable à base du co-polymère PVDF-TrFE et démontré le caractère piézoélectrique des couches imprimées. Les résultats sont prometteurs mais des améliorations doivent encore être apportées à cette encre et au procédé d’impression avant de pouvoir fabriquer des premiers prototypes
The objective of this work was to design and fabricate a low cost resonant capacitive acoustic sensor using printing techniques. It falls within the frame of a collaborative research project named “Spinnaker”, set up by TAGSYS RFID, a French company, which has planned to integrate this sensor to improve the geolocalization of their RFID tags. This work started with the design and optimization of the sensor using finite element modeling (COMSOL) and design of experiments (DOE). This first step has enabled the identification of the optimum set of parameters and demonstrated that the output responses were in accordance with the specifications. Then, we have developed the different technological building blocks required for the fabrication of the prototypes using jointly the 2D inkjet printing technique and 3D printing method. The functionality of the sensors has been characterized using both capacitive and acoustic measurements using laser Doppler vibrometer. Experimental results showed that sensitivity and selectivity were within the specifications and in good agreement with the modeling results. Finally, we investigated the piezoelectric approach which could be an interesting option to the capacitive one. Since no inkjet printable piezoelectric ink is commercially available, stable inkjet printable polyvinylidene fluoride-trifluoroethylene (PVDF-TrFE) ink has been developed. PVDF-TrFE layers were then successfully printed and characterized. The results were quite promising, however further improvements of the ink and printing process are required before stepping towards piezoelectric based device fabrication

Tese de mestrado integrado em Engenharia Biomédica e Biofísica (Engenharia Clínica e Instrumentação Médica), Universidade de Lisboa, Faculdade de Ciências, 2020
Nos últimos anos tem-se vindo a registar um aumento do interesse, por parte da comunidade científica, pela área dos exosqueletos, onde novos modelos e conceitos são constantemente apresentados, com o objetivo de desenvolver a próxima geração de dispositivos. Uma das razões que pode vir a justificar este aumento de interesse, por parte da comunidade científica, é o aumento da esperança média de vida. De acordo com a organização mundial de saúde, a percentagem de população mundial com mais de 60 anos aumentará de 11% para 22%, entre 2000 e 2050. Com o aumento da esperança média de vida, espera-se também um aumento da incidência de doenças associadas ao envelhecimento que, em muitos dos casos, podem levar a incapacidades motoras. Como tal, é necessário desenvolver dispositivos capazes de assistir indivíduos que se encontrem nestas situações. Uma possível medida a implementar, seria o desenvolvimento de exosqueletos dedicados à reabilitação, assim como dispositivos capazes de assistir indivíduos com deficiências locomotoras, no seu dia-a-dia. Com a perspetiva do aumento da esperança média de vida, é também importante adotar medidas de prevenção, de modo a evitar complicações no futuro, ao nível do sistema locomotor, especialmente para pessoas com trabalhos mais físicos. Estas complicações poderiam ser potencialmente reduzidas com a aplicação de exosqueletos nos variados locais de trabalho, com vista a melhorar a postura e desempenho dos trabalhadores, auxiliando-os nas suas tarefas diárias. Independentemente do objetivo para qual o exosqueleto está a ser desenvolvido, é essencial que o mesmo tenha uma boa estratégia de controlo. Existem várias estratégias de controlo, sendo uma delas o controlo baseado na força/torque aplicado pelo utilizador. Neste tipo de controlo, como o nome indica, a força/torque aplicado pelo exosqueleto é proporcional à leitura de sensores que se encontram entre o utilizador e o exosqueleto, que indiretamente interpretam a intenção do utilizador. Estes sensores são normalmente sensores de eletromiografia (EMG) e/ou sensores de força. Para além de uma boa estratégia de controlo é também importante monitorizar as forças de interação entre o exosqueleto e o utilizador. A incorreta aplicação de forças, por parte do exosqueleto, pode levar à alteração do padrão natural de ativação dos músculos, sendo por sua vez contraprodutivo no caso da fisioterapia, por exemplo. Por outro lado, forças que são incorretamente aplicadas podem também desencadear fadiga, desconforto e, em último caso, colocar em risco a segurança do utilizador. Como tal, a monitorização das forças aplicadas pelo exosqueleto é algo verdadeiramente importante, que pode ser executado através da implementação de sensores de força. A partir da informação apresentada, é possível concluir que a integração de sensores de EMG e força nas interfaces dos exosqueletos é uma possível estratégia a adaptar, quando o objetivo é otimizar o desempenho dos mesmos. No entanto, não existem muitos casos de exosqueletos com este tipo de sensores incorporados. Uma das razões que pode vir a justificar este fenómeno é a geometria deste tipo de sensores, que se encontram atualmente no mercado, ser fixa e de difícil customização, o que influencia diretamente o design do exosqueleto. Para além da geometria dos sensores, na maioria dos casos, quando o objetivo é fabricar sensores de alta resolução, o processo de fabrico é constituído por múltiplas etapas, o que pode dificultar a escalabilidade de manufatura, aumentando o custo de fabrico, o que em última instância comprometerá o design e o processo de fabricação dos exosqueletos. Com o objetivo de encontrar alternativas aos sensores convencionais, alguns desenvolvimentos têm sido feitos numa tentativa de incorporar a tecnologia de impressão 3D ao mundo dos sensores. Uma das grandes vantagens desta simbiose é a possibilidade de poder, numa só etapa, produzir e integrar o sensor, sem limitações de design, no local desejado, neste caso na interface do exosqueleto. Como tal, o objetivo deste trabalho seria o desenvolvimento de uma interface de um exosqueleto, impressa em 3D, com sensores de EMG e de força incorporados, também impressos em 3D. O exosqueleto que será utilizado provirá de um projeto em desenvolvimento pelo grupo Brussels Human Robotics Research Center, BruBotics, mais especificamente pelo projeto BioMot. Neste projeto em específico, devido à complexidade do objetivo estipulado, apenas os sensores de EMG e de força, impressos em 3D, foram desenvolvidos e testados. Para além dos sensores, um estudo sobre a deformação dos músculos da parte inferior da perna, durante ciclo de marcha, foi também realizado, de modo a facilitar o futuro design da interface do exosqueleto. Um sensor de EMG é constituído por dois elétrodos condutores, isolados por um material não condutor, de modo a possibilitar a captação dos sinais elétricos provenientes dos músculos, que, por sua vez, refletem a intenção do utilizador. Como tal, para produzir este tipo de sensores, utilizando técnicas de impressão 3D, mais especificamente, técnicas de impressão FDM (modelagem por deposição fundida), é preciso: um material condutor (neste caso semicondutores, devido à inexistência de filamentos condutores, para este tipo de impressão 3D) e um material não condutor. Para este projeto foram utilizados: o filamento semicondutor Proto-pasta conductive PLA (Protoplant, Inc., USA) e o filamento não condutor Ultimaker TPU 95A (Ultimaker B.V., The Netherlands). Com estes dois materiais foi possível, com algumas limitações, produzir um sensor EMG funcional, que poderá, possivelmente, vir a ser integrado num exosqueleto, em trabalho futuro. É necessário, no entanto realizar primeiro um estudo intensivo, de modo a compreender as restrições de funcionamento deste mesmo sensor. Relativamente aos sensores de força, o seu design/modo de funcionamento, foi baseado num condensador de elétrodos paralelos. De forma a produzir este tipo de sensor, é necessário um material semicondutor (dado, mais uma vez, a inexistência de materiais condutores para o tipo de técnica de impressão 3D que será utilizado) e um material não condutor. A ideia seria imprimir um sensor com duas finas placas semicondutoras, separadas por outra fina placa não condutora, denominado de dielétrico. Neste tipo de sensores, quando uma força é aplicada, a distância entre as placas semicondutoras diminui, induzindo um aumento da capacidade do condensador, sendo que este aumento será proporcional à força aplicada ao sensor, permitindo assim o seu registo. Com o objetivo de desenvolver este tipo de sensor, foi necessário primeiro desenvolver um sistema capaz de captar, e posteriormente transferir para um computador, as variações da capacidade do sensor de forma a possibilitar a sua posterior análise. Para além do sistema de registo, foi também necessário testar vários tipos de materiais e as várias definições de impressão, de modo a selecionar quais os mais adequados para a impressão deste sensor, dado que. Neste caso, os materiais e as definições de impressão mais adequadas, seriam as que conferissem ao dielétrico a maior flexibilidade possível dado que, quanto maior a flexibilidade do dielétrico, maior a variação da capacidade, e, como tal, maior resolução dos sinais captados. Após o desenvolvimento de um sistema de registo, e da escolha dos materiais mais adequados ao objetivo deste projeto, um sensor capacitivo foi produzido. As placas condutoras foram impressas com o filamento PI-ETPU 95-250 Carbon Black (Palmiga Innovation, Sweden) e o dielétrico com o filamento não condutor NinjaFlex 85A (Fenner Inc., USA). Ao contrário das placas condutoras, o dielétrico foi impresso com um preenchimento concêntrico ocupando apenas 50% do espaço, conferindo deste modo uma maior flexibilidade ao sensor. Com a produção do sensor completa, o mesmo foi testado. A partir dos resultados dos testes realizados, foi possível verificar um aumento da capacidade do sensor quando sujeito à aplicação de uma força, sendo que este aumento foi proporcional à magnitude da força aplicada. Apesar dos resultados terem sido bastante positivos, o sensor demonstrou ter uma elevada histerese, como tal, antes da implementação destes sensores em exosqueletos, os mesmos terão de ser rigorosamente testados, com vista a melhor compreender as suas limitações e modular, se possível, a resposta dos sensores tendo em conta a sua histerese, dependência do tempo de aplicação das forças, entre outros fatores. Após o desenvolvimento dos dois tipos de sensores, foi crucial compreender qual o melhor local para os aplicar, de modo a otimizar a informação proveniente dos sinais, por eles captados. Seguindo esta ordem de pensamentos, um algoritmo foi desenvolvido de modo a melhor compreender a deformação da superfície da parte inferior da perna, e como tal dos músculos que a constituem, durante o ciclo de marcha. Esta informação é especialmente relevante aquando da implementação dos sensores de EMG, dado que os locais onde os mesmos devem ser colocados, correspondem à zona mais proeminente dos músculos que estão a ser avaliados, que naturalmente estão sujeitos a maiores níveis de deformação. Para compreender quais os vários locais de deformação da parte inferior da perna, vários varrimentos de imagem (scans) de vários indivíduos, em várias fases do ciclo de marcha, foram obtidos, e comparados entre si, através do algoritmo desenvolvido, nestes scans as parte mais proeminentes dos músculos em estudo foram assinaladas com marcadores. O algoritmo desenvolvido tem a capacidade de identificar, com algum erro associado, os marcadores, alinhar os diversos scans das várias fases do ciclo de marcha, com base na localização espacial desses mesmos marcadores e segmentar transversalmente os scans, nas zonas mais proeminentes dos músculos. A análise da deformação é feita a partir do raio de curvatura deste segmento em zonas especificas previamente estipuladas. Apesar do algoritmo precisar de alguns melhoramentos, de forma a possibilitar uma avaliação pormenorizada e exata da deformação da superfície da parte inferior da perna, foi possível concluir, a partir dos resultados de saída do algoritmo, que as maiores deformações ocorrem nos limites dos músculos e não nas zonas mais proeminentes dos músculos (apesar de existir um deslocamento espacial das mesmas zonas). Esta informação será bastante relevante para a construção da interface do exosqueleto, mais especificamente para a escolha dos materiais, mais rígidos ou mais flexíveis por exemplo, e onde os corretamente colocar, de modo a assegurar o constante contacto entre o utilizador e os sensores, enquanto a eficiência do exosqueleto é assegurada.
There has been an increasing interest on the research of exoskeletons in the last years, with novel designs and concepts emerging to develop the next generation of devices. One of many research areas, involved in the optimization of the exoskeletons’ performance, is the integration of sensors, more specifically Electromyography (EMG) sensors and force sensors, into the exoskeleton’s interfaces, being the interfaces, the exoskeleton’s component responsible for the power transmission from the exoskeleton to the user’s biological structures. The integration of sensors into the exoskeletons’ interfaces can potentially improve the exoskeleton’s control, comfort, safety, and ergonomics. However, the integration of the sensors that are currently on the market into the exoskeletons’ interfaces has complications such as the sensors’ fixed geometry, lack of customisation and fabrication costs. One alternative to these conventional sensors is combining the 3D printing technology to the sensor’s world and produce 3D printed orthosis embedded with 3D printed sensors, where an integrated manufacturing strategy can be adopted, allowing the production of customized interfaces. Therefore, the goal of this project was to develop and test 3D printed EMG and force sensors to be integrated, in future work, into the cuffs of 3D printed orthotic devices. To help the design of these orthotic devices, an analysis of the deformation of the lower limb muscles, during the gait cycle will was also performed. In this project a working 3D printed EMG sensor, along with a 3D printed capacitance-based force sensor were successfully produced, also an efficient reading system for the force sensor was developed. Besides the 3D printed sensors, an algorithm, able to detect possible deformations, and measure those same deformations, was developed. From the algorithm’s results, it was possible to conclude the existence of variations in the muscle’s limits due to changes in the gait cycle positions.

The Additive Manufacturing has been developing more and more, providing numerous advantages to the industry. Among such advantages is the use of materials with conductive properties combined with 3D printing techniques, which enables development of new devices embedded in plastic elements. One of the industries where Additive Manufacturing methods can be applied most successfully is the automotive industry. The electrification of cars, connected cars, autonomous driving, equipment enriched with sensors for better comfort are some of the challenges that this industry faces. Thus, innovation is made in the sense of developing new products to meet the presented challenges, always focusing on the user. Thus, this Master Thesis aims to study, explore and expand these concepts and apply them to the development of a touch sensor, as well as to understand what are the problems of compatibility and electromagnetic interference that can be encountered in automotive environment, specifically, in a smart door for a car. This work begins with the study of Additive Manufacturing methods, the types of measurements for a touch sensor, the sensor designs, and the electromagnetic compatibility and interference issues relevant for such sensors. Useful tools are developed to calculate the sensor capacitance, inductance and resonant frequency. Also, a script is developed to obtain the structural parameters for the resonant frequencies in desired ranges. These tools made it possible to develop a macro to automate creation of 3D structures in CST Studio Suite and thus to be able to simulate such structures for a large set of obtained parameters. Based on the simulations, we designed two sensor structures operating at the desired frequencies and, with the 3D structures ready, moved on to the experimental measurements, producing a PCB prototype for each structure. Thus, by completing these procedures it was concluded that the experimental measurements allowed us to test the developed tools and models and to validate the entire study.
A Manufatura Aditiva tem vindo a desenvolver-se cada vez mais, proporcionando inúmeras vantagens à indústria. Dentro delas a utilização de um material com propriedades condutoras e aliado a técnicas de impressão 3D, permite desenvolver novos dispositivos embutidos/incorporados numa peça de plástico. Uma das indústrias que mais se pode aplicar métodos de Manufatura Aditiva é a indústria automóvel. A eletrificação dos automóveis, os carros conetados, condução autónoma, a sonorização dos equipamentos e o conforto são alguns dos desafios que esta indústria enfrenta. Assim, a inovação faz-se no sentido de desenvolvimento de produtos para responder aos desafios apresentados, sempre com o foco no utilizador. Assim, esta Dissertação de Mestrado tem como objetivo estudar, explorar e expandir estes conceitos e aplicá-los ao desenvolvimento de um sensor de toque, além de perceber quais os problemas de compatibilidade e interferências eletromagnéticas num ambiente automóvel, mais concretamente numa porta inteligente para um carro. O trabalho iniciou-se com o estudo dos métodos de Manufatura Aditiva, tipos de medidas para um sensor de toque, design, compatibilidade e interferência eletromagnética destes sensores. Desenvolveram-se ferramentas para auxílio dos cálculos de capacitância, indutância e frequência de ressonância. Também se elaborou um script para obtenção dos parâmetros das frequências de ressonância nas gamas desejadas. Estas ferramentas possibilitaram o desenvolvimento de uma macro para criar as estruturas 3D num simulador e, assim, poder simular os parâmetros obtidos. Com as simulações alcançaram-se duas estruturas nas frequências desejadas e com as estruturas 3D criadas passámos à medição experimental, produzindo uma Printed Circuit Board (PCB) para cada estrutura. Assim, com estes processos, concluiu-se que as nossas medições experimentais permitem validar as ferramentas desenvolvidas, assim como todo o estudo e teoria desenvolvida.
Mestrado em Engenharia Eletrónica e Telecomunicações

Soft actuators and sensors are currently used in many industrial applications due to their capability to produce an accurate response. Researchers have studied dielectric electroactive polymers (DEAPs) because these types of structures can be utilized as actuators and as sensors being able to convert electrical energy into mechanical and vice versa. However, production of this kind of structures is complex and in general involve several steps that are time consuming. Customization of these types of structures will be ideal to enhance the performance of the devices based on the specific application. 3D printing technologies have emerged as innovative manufacturing processes that could improve fabrication speed, accuracy, and consistency with low cost. This additive manufacturing technique allows for the possibility of increased device complexity with high versatility.

This research studied the potential of 3D printing technologies to produce DEAPs, soft actuators, and flexible sensors. The study presents novel designs of these composite flexible structures, utilizing the most flexible conductive and nonconductive materials available for fused deposition modeling, achieving versatility and high performance in the produced devices. Produced DEAP actuators showed an actuation and electric resistivity higher than other electroactive structures like shape memory alloys and ferroelectric polymers. In addition, this research describes the electromechanical characterization of a flexible thermoplastic polyurethane, (TPU), produced by additive manufacturing, including measurement of the dielectric constant, percentage radial elongation, tensile proprieties, pre-strain effects on actuation, surface topography, and measured actuation under high voltage. DEAP actuators were produced with two different printing paths, concentric circles and lines, showed an area expansion of 4.73% and 5.71% respectively. These structures showed high resistance to electric fields having a voltage breakdown of 4.67 kV and 5.73 kV respectively. Those results are similar to the resistant of the most used dielectric material “VHB 4910”.

The produced soft pneumatic actuators were successfully 3D printed in one continuous process without support material. The structures were totally sealed without the use of any sealing material or post process. Computational simulations were made to predict the response of the designed structures under different conditions. These results were compared with experimental results finding that the theoretical model is able to predict the response of the printed actuators with an error of less than 7%. This error is satisfactorily small for modeling 3D printed structures and can be further minimized by characterization of the elastomeric material. Besides that, two different grippers were designed based on the opening and closing movements of single bellows actuators. The functionality of both designs was simulated and tested, finding that both designs are capable lifting a heavier rigid structure.

Finally, this study presents a computational simulation of a 3D printed flexible sensor, capable of producing an output signal based on the deformation caused by external forces. Two different sensors were designed and tested, working based on a capacitance and resistance change produced by structural deformation. Computational analysis indicate the capacitance sensor should undergo change of capacitance from 3 to 8.5 pF when is exposed to 30 kPa; and the resistance sensor should experience an increase from 101.8 to 103 kΩ when is exposed to 30 kPa.

[EN] The main objective of this thesis is the development of new sensors and actuators using Printed Electronics technology. For this, conductive, semiconductor and dielectric polymeric materials are used on flexible and/or elastic substrates. By means of suitable designs and application processes, it is possible to manufacture sensors capable of interacting with the environment. In this way, specific sensing functionalities can be incorporated into the substrates, such as textile fabrics. Additionally, it is necessary to include electronic systems capable of processing the data obtained, as well as its registration. In the development of these sensors and actuators, the physical properties of the different materials are precisely combined. For this, multilayer structures are designed where the properties of some materials interact with those of others. The result is a sensor capable of capturing physical variations of the environment, and convert them into signals that can be processed, and finally transformed into data. On the one hand, a tactile sensor printed on textile substrate for 2D gesture recognition was developed. This sensor consists of a matrix composed of small capacitive sensors based on a capacitor type structure. These sensors were designed in such a way that, if a finger or other object with capacitive properties, gets close enough, its behaviour varies, and it can be measured. The small sensors are arranged in this matrix as in a grid. Each sensor has a position that is determined by a row and a column. The capacity of each small sensor is periodically measured in order to assess whether significant variations have been produced. For this, it is necessary to convert the sensor capacity into a value that is subsequently digitally processed. On the other hand, to improve the effectiveness in the use of the developed 2D touch sensors, the way of incorporating an actuator system was studied. Thereby, the user receives feedback that the order or action was recognized. To achieve this, the capacitive sensor grid was complemented with an electroluminescent screen printed as well. The final prototype offers a solution that combines a 2D tactile sensor with an electroluminescent actuator on a printed textile substrate. Next, the development of a 3D gesture sensor was carried out using a combination of sensors also printed on textile substrate. In this type of 3D sensor, a signal is sent generating an electric field on the sensors. This is done using a transmission electrode located very close to them. The generated field is received by the reception sensors and converted to electrical signals. For this, the sensors are based on electrodes that act as receivers. If a person places their hands within the emission area, a disturbance of the electric field lines is created. This is due to the deviation of the lines to ground using the intrinsic conductivity of the human body. This disturbance affects the signals received by the electrodes. Variations captured by all electrodes are processed together and can determine the position and movement of the hand on the sensor surface. Finally, the development of an improved 3D gesture sensor was carried out. As in the previous development, the sensor allows contactless gesture detection, but increasing the detection range. In addition to printed electronic technology, two other textile manufacturing technologies were evaluated.
[ES] La presente tesis doctoral tiene como objetivo fundamental el desarrollo de nuevos sensores y actuadores empleando la tecnología electrónica impresa, también conocida como Printed Electronics. Para ello, se emplean materiales poliméricos conductores, semiconductores y dieléctricos sobre sustratos flexibles y/o elásticos. Por medio de diseños y procesos de aplicación adecuados, es posible fabricar sensores capaces de interactuar con el entorno. De este modo, se pueden incorporar a los sustratos, como puedan ser tejidos textiles, funcionalidades específicas de medición del entorno y de respuesta ante cambios de este. Adicionalmente, es necesario incluir sistemas electrónicos, capaces de realizar el procesado de los datos obtenidos, así como de su registro. En el desarrollo de estos sensores y actuadores se combinan las propiedades físicas de los diferentes materiales de forma precisa. Para ello, se diseñan estructuras multicapa donde las propiedades de unos materiales interaccionan con las de los demás. El resultado es un sensor capaz de captar variaciones físicas del entorno, y convertirlas en señales que pueden ser procesadas y transformadas finalmente en datos. Por una parte, se ha desarrollado un sensor táctil impreso sobre sustrato textil para reconocimiento de gestos en 2D. Este sensor se compone de una matriz formada por pequeños sensores capacitivos basados en estructura de tipo condensador. Estos se han diseñado de forma que, si un dedo u otro objeto con propiedades capacitivas se aproxima suficientemente, su comportamiento varía, pudiendo ser medido. Los pequeños sensores están ordenados en dicha matriz como en una cuadrícula. Cada sensor tiene una posición que viene determinada por una fila y por una columna. Periódicamente se mide la capacidad de cada pequeño sensor con el fin de evaluar si ha sufrido variaciones significativas. Para ello es necesario convertir la capacidad del sensor en un valor que posteriormente es procesado digitalmente. Por otro lado, con el fin de mejorar la efectividad en el uso de los sensores táctiles 2D desarrollados, se ha estudiado el modo de incorporar un sistema actuador. De esta forma, el usuario recibe una retroalimentación indicando que la orden o acción ha sido reconocida. Para ello, se ha complementado la matriz de sensores capacitivos con una pantalla electroluminiscente también impresa. El resultado final ofrece una solución que combina un sensor táctil 2D con un actuador electroluminiscente realizado mediante impresión electrónica sobre sustrato textil. Posteriormente, se ha llevado a cabo el desarrollo de un sensor de gestos 3D empleando una combinación de sensores impresos también sobre sustrato textil. En este tipo de sensor 3D, se envía una señal que genera un campo eléctrico sobre los sensores impresos. Esto se lleva a cabo mediante un electrodo de transmisión situado muy cerca de ellos. El campo generado es recibido por los sensores y convertido a señales eléctricas. Para ello, los sensores se basan en electrodos que actúan de receptores. Si una persona coloca su mano dentro del área de emisión, se crea una perturbación de las líneas de los campos eléctricos. Esto es debido a la desviación de las líneas de campo a tierra utilizando la conductividad intrínseca del cuerpo humano. Esta perturbación cambia/afecta a las señales recibidas por los electrodos. Las variaciones captadas por todos los electrodos son procesadas de forma conjunta pudiendo determinar la posición y el movimiento de la mano sobre la superficie del sensor. Finalmente, se ha llevado a cabo el desarrollo de un sensor de gestos 3D mejorado. Al igual que el desarrollo anterior, permite la detección de gestos sin necesidad de contacto, pero incrementando la distancia de alcance. Además de la tecnología de impresión electrónica, se ha evaluado el empleo de otras dos tecnologías de fabricación textil.
[CA] La present tesi doctoral té com a objectiu fonamental el desenvolupament de nous sensors i actuadors fent servir la tecnologia de electrònica impresa, també coneguda com Printed Electronics. Es va fer us de materials polimèrics conductors, semiconductors i dielèctrics sobre substrats flexibles i/o elàstics. Per mitjà de dissenys i processos d'aplicació adequats, és possible fabricar sensors capaços d'interactuar amb l'entorn. D'aquesta manera, es poden incorporar als substrats, com ara teixits tèxtils, funcionalitats específiques de mesurament de l'entorn i de resposta davant canvis d'aquest. Addicionalment, és necessari incloure sistemes electrònics, capaços de realitzar el processament de les dades obtingudes, així com del seu registre. En el desenvolupament d'aquests sensors i actuadors es combinen les propietats físiques dels diferents materials de forma precisa. Cal dissenyar estructures multicapa on les propietats d'uns materials interaccionen amb les de la resta. manera El resultat es un sensor capaç de captar variacions físiques de l'entorn, i convertirles en senyals que poden ser processades i convertides en dades. D'una banda, s'ha desenvolupat un sensor tàctil imprès sobre substrat tèxtil per a reconeixement de gestos en 2D. Aquest sensor es compon d'una matriu formada amb petits sensors capacitius basats en una estructura de tipus condensador. Aquests s'han dissenyat de manera que, si un dit o un altre objecte amb propietats capacitives s'aproxima prou, el seu comportament varia, podent ser mesurat. Els petits sensors estan ordenats en aquesta matriu com en una quadrícula. Cada sensor té una posició que ve determinada per una fila i per una columna. Periòdicament es mesura la capacitat de cada petit sensor per tal d'avaluar si ha sofert variacions significatives. Per a això cal convertir la capacitat del sensor a un valor que posteriorment és processat digitalment. D'altra banda, per tal de millorar l'efectivitat en l'ús dels sensors tàctils 2D desenvolupats, s'ha estudiat la manera d'incorporar un sistema actuador. D'aquesta forma, l'usuari rep una retroalimentació indicant que l'ordre o acció ha estat reconeguda. Per a això, s'ha complementat la matriu de sensors capacitius amb una pantalla electroluminescent també impresa. El resultat final ofereix una solució que combina un sensor tàctil 2D amb un actuador electroluminescent realitzat mitjançant impressió electrònica sobre substrat tèxtil. Posteriorment, s'ha dut a terme el desenvolupament d'un sensor de gestos 3D emprant una combinació d'un mínim de sensors impresos també sobre substrat tèxtil. En aquest tipus de sensor 3D, s'envia un senyal que genera un camp elèctric sobre els sensors impresos. Això es porta a terme mitjançant un elèctrode de transmissió situat molt a proper a ells. El camp generat és rebut pels sensors i convertit a senyals elèctrics. Per això, els sensors es basen en elèctrodes que actuen de receptors. Si una persona col·loca la seva mà dins de l'àrea d'emissió, es crea una pertorbació de les línies dels camps elèctrics. Això és a causa de la desviació de les línies de camp a terra utilitzant la conductivitat intrínseca de el cos humà. Aquesta pertorbació afecta als senyals rebudes pels elèctrodes. Les variacions captades per tots els elèctrodes són processades de manera conjunta per determinar la posició i el moviment de la mà sobre la superfície del sensor. Finalment, s'ha dut a terme el desenvolupament d'un sensor de gestos 3D millorat. A l'igual que el desenvolupament anterior, permet la detecció de gestos sense necessitat de contacte, però incrementant la distància d'abast. A més a més de la tecnologia d'impressió electrònica, s'ha avaluat emprar altres dues tecnologies de fabricació tèxtil.
Ferri Pascual, J. (2020). Tactile and Touchless Sensors Printed on Flexible Textile Substrates for Gesture Recognition [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/153075
TESIS

Additive Manufacturing (AM) is gaining tremendous interest in the soft robotics field because of the possibility to manufacture i) soft structures, ii) structures with embedded sensors and actuators, and iii) structures made up of several materials characterized by different degrees of stiffness. All these advantages fit very well with soft robotic pillars such as bio-inspiration and design freedom. In the present work, Material Extrusion (MEX) technology, well known for being a low-cost AM technology, has been employed for the fabrication of soft robots with embedded sensors and actuators: a remarkable reduction in assembly tasks, manufacturing steps, manufacturing time, and cost has been achieved. First, 3D printed sensors have been manufactured and characterized: sensors based on piezoresistive and capacitive principle were studied and 3D printed, proving that they can be easily integrated into soft structures. The sensors have been characterized for the force (sensitivity of 0.088 mV/(V∙ g) ), temperature (sensitivity of 0.011 Ω/(°C) ) and liquid sensing (sensitivity of 0.79 pF/mm) showing performances comparable with sensors manufactured in a traditional way. Afterwards, several MEX-based soft robots have been proposed: three major actuation systems have been exploited (pneumatic, shape memory alloys, and electromagnetic) and several studies have been performed to correlate the final soft robot performance to MEX process parameters. A way to improve the adhesion between soft and stiff materials, analyzing several parameters, was discovered: an improvement of 48% in the adhesion (Young’s modulus) was achieved compared to the best result found in scientific literature. Moreover, a custom-made MEX setup for the silicone extrusion was developed and used in conjunction with a custom-made cartesian pick and place robot (CPPR) for the fabrication of silicone skin with embedded SMA actuators. Finally, a multi-material MEX machine was employed for the fabrication of a soft robotic finger equipped with a piezoresistive and capacitive sensors, fabricated in a monolithic way: the custom-made CPPR was used for the integration of the SMA actuator during the manufacturing process. In this way, a soft robot equipped with sensing units and actuation systems has been manufactured in a single-shot cycle, without recurring to any additional manual assembly tasks.

碩士
國立中央大學
能源工程研究所
104
Near-field electrospinning (NFES) is a newly-established technique by electrically charged a polymer solution to produce the site addressable one-dimensional (1D) fibers or two-dimensional (2D) aligned fibrous meshes. Nevertheless, the direct electrospinning of fibers into controllable is still a nascent technology. In this thesis, a new integration of paper-based self-powered sensors (PBSSs) and three-dimensional (3D) architectures of NFES electrospun polyvinylidene fluoride (PVDF) micro/nano fibers (MNFs) is demonstrated in a direct-write and in-situ poled manner. Owing to the principle of piezoelectricity, the uni-poled dipole moment will be accumulated across the electrospun fibers and the output voltage and current could reach to 4V and 100 nA respectively. Furthermore, the additive manufacture of 3D printed technique is applied to fabricate the sinusoidal wavy substrate and NFES electrospun fibers in the 3D topology. This 3D architecture is capable of greatly enhancing the piezoelectric output. Finally, the proposed piezoelectrically integrated 3D architecture is applied to the self-powered sensors such as foot pressure measurement, human motion monitoring and finger-induced power generation. The proposed technique has the potential to advance the existing electrospinning technologies in constructing 3D structures for biomedical and wearable electronics.

abstract: The American Diabetes Association reports that diabetes costs $322 billion annually and affects 29.1 million Americans. The high out-of-pocket cost of managing diabetes can lead to noncompliance causing serious and expensive complications. There is a large market potential for a more cost-effective alternative to the current market standard of screen-printed self-monitoring blood glucose (SMBG) strips. Additive manufacturing, specifically 3D printing, is a developing field that is growing in popularity and functionality. 3D printers are now being used in a variety of applications from consumer goods to medical devices. Healthcare delivery will change as the availability of 3D printers expands into patient homes, which will create alternative and more cost-effective methods of monitoring and managing diseases, such as diabetes. 3D printing technology could transform this expensive industry. A 3D printed sensor was designed to have similar dimensions and features to the SMBG strips to comply with current manufacturing standards. To make the sensor electrically active, various conductive filaments were tested and the conductive graphene filament was determined to be the best material for the sensor. Experiments were conducted to determine the optimal print settings for printing this filament onto a mylar substrate, the industry standard. The reagents used include a mixture of a ferricyanide redox mediator and flavin adenine dinucleotide dependent glucose dehydrogenase. With these materials, each sensor only costs $0.40 to print and use. Before testing the 3D printed sensor, a suitable design, voltage range, and redox probe concentration were determined. Experiments demonstrated that this novel 3D printed sensor can accurately correlate current output to glucose concentration. It was verified that the sensor can accurately detect glucose levels from 25 mg/dL to 400 mg/dL, with an R2 correlation value as high as 0.97, which was critical as it covered hypoglycemic to hyperglycemic levels. This demonstrated that a 3D-printed sensor was created that had characteristics that are suitable for clinical use. This will allow diabetics to print their own test strips at home at a much lower cost compared to SMBG strips, which will reduce noncompliance due to the high cost of testing. In the future, this technology could be applied to additional biomarkers to measure and monitor other diseases.
Dissertation/Thesis
Masters Thesis Bioengineering 2017

University of Technology Sydney. Faculty of Engineering and Information Technology.
The future vision of advanced manufacturing is one of connected smart manufacturing equipment that takes advantage of data capture and analysis systems to optimise operations. Australia's manufacturing sector is a vital component of the economy. A key to progress is the application of advanced manufacturing technologies, systems and processes. Additive Manufacturing (AM), also known as 3D printing, is an advanced manufacturing technology that plays a significant role in the fourth industrial revolution (Industry 4.0). In recent years, manufacturers in the mining sector have been looking to leverage advanced manufacturing technologies to help improve productivity, efficiency and safety. Gravity Separation Spirals (GSS) are vital to mineral processing operations in the mining sector for separating mineral-rich slurry into its different density components, particularly when high throughput is required. GSS have traditionally been manufactured in moulds, using a manual process that is subject to numerous inherent drawbacks, including significant tooling costs, limited customisation, and the risk of worker exposure to hazardous materials. A multi-partner project is underway to develop a bespoke 3D printer to print an upgraded and customisable GSS. By embedding Internet of Things sensors inside the GSS, it is possible to remotely determine the operation conditions, perform predictive maintenance, and use the collected data to optimise the production output. The research in this thesis is focused on developing the required sensors that can be embedded in the printed spiral. These sensors can be either 3D printed or conventional sensors. Research also focuses on the sensor placement problem to determine the ideal location to place sensors so as to maximise the information gain whilst simultaneously considering the 3D printing process, and the required structural integrity. In order to print the structure with the sensors inline, a novel radial slicing algorithm has been devised to slice helical objects, along with a path planning algorithm for radial robot-based 3D printing. Experiments using conductive filament have shown how the devised 3D printed sensors can be used to measure, with acceptable accuracy, the required physical quantities, such as strain, temperature, and vibration. The design of the traditional 3D strain sensor has been improved to compensate for temperature changes. A partial pipe flow meter has been developed based on ultrasonic velocity measurement and capacitance level sensing. Experimental results showed that this sensor performed better than a conventional flow meter. The devised voxel-based sensor placement approach has been shown to propose ideal locations that consider various competing objectives.

碩士
國立交通大學
光電系統研究所
107
In this study, we used a common desktop ink-jet printer to fabricate electrode of capacitive pressure sensor and replaced ink with PEDOT:PSS solution. In addition, ZnO nanowires were synthesized on Silicon substrate by Vapor-Liquid-Solid method. After that, we doped ZnO nanowires to photoreactive resin and used SLA 3D printer to fabricate dielectric layer with ZnO nanowires. We expected the piezoelectric properties of ZnO nanowires could be helpful to increase the sensitivity of capacitive pressure sensor. The sensitivity of device was the highest at a concentration of 1 wt% of ZnO nanowires, was 9.1 x 10^(-3) kPa^(-1), and enhanced the sensitivity about 5.7 times with respect to pure resin device. The limit of detection was 49 Pa, and the capacitance didn’t distort through 400 compression/release cycles. The response time was 0.25 s and the relaxation time was 0.375 s. The device can be produced with simple, quick and personal method because we used ink-jet printer and SLA printer. This pressure sensor will be more convenient to be applied in electronic skin, wearable devices and touch devices in the future.

This thesis present the fabrication of 2 types of soft wearable electrical devices, utilizing the 3D printing technique. The devices are capable to detect human heart pulse waves and sound waves for health evaluation and speech recognition.

Increase in population and limited resources have created a growing demand for a futuristic living environment where technology enables the efficient utilization and management of resources in order to increase quality of life. One characteristic of such a society, which is often referred to as a ‘Smart City’, is that the people are well informed about their physiological being as well as the environment around them, which makes them better equipped to handle crisis situations. There is a need, therefore, to develop wireless sensors which can provide early warnings and feedback during calamities such as floods, fires, and industrial leaks, and provide remote health care facilities. For these situations, low-cost sensor nodes with small form factors are required. For this purpose, the use of a low-cost, mass manufacturing technique such as inkjet printing can be beneficial due to its digitally controlled additive nature of depositing material on a variety of substrates. Inkjet printing can permit economical use of material on cheap flexible substrates that allows for the development of miniaturized freeform electronics. This thesis describes how low-cost, inkjet-printed, wireless sensors have been developed for real-time monitoring applications. A 3D buoyant mobile wireless sensor node has been demonstrated that can provide early warnings as well as real-time data for flood monitoring. This disposable paper-based module can communicate while floating in water up to a distance of 50 m, regardless of its orientation in the water. Moreover, fully inkjet-printed sensors have been developed to monitor temperature, humidity and gas levels for wireless environmental monitoring. The sensors are integrated and packaged using 3D inkjet printing technology. Finally, in order to demonstrate the benefits of such wireless sensor systems for health care applications, a low-cost, wearable, wireless sensing system has been developed for chronic wound monitoring. The system called ‘Smart Bandage’ can provide early warnings and long term data for medical diagnoses. These demonstrations show that inkjet printing can enable the development of low-cost wireless sensors that can be dispersed in the environment or worn on the human body to enable an internet of things (IoT), which can facilitate better and safer living.

Робота публікується згідно наказу ректора від 29.12.2020 р. №580/од "Про розміщення кваліфікаційних робіт вищої освіти в репозиторії НАУ"
Prosthetics is a recovery of the got out of shape and functions of separate bodies or parts of a body. Prosthetic engineering is engaged in development and production of artificial technical means of recovery. The disabled people who transferred such amputation lose first of all an opportunity to self-service, and in most cases also lose a profession. Therefore purpose of prosthetics of upper extremities: return of the disabled person to a possibility of self-service and to work. As artificially it is difficult to reproduce all functionality of a healthy human hand at the present stage of technical development, the main objective of prosthetic engineering is a creation of an engineering device capable as much as possible to fill the lost functions, that is to return to the disabled person an opportunity to make the main household movements. Such movements are: gripper and manipulation of a subject.