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High-speed fluidic processing circuits for dynamic control of haptic and robotic systems.

ABSTRACT: Fluidic logic circuits simplify system design for soft robotics by eliminating bulky components while enabling operation in a range of hostile environments that are incompatible with electronics but at the expense of limited computational capabilities and response times on the order of seconds. This paper presents a four-terminal fluidic transistor optimized for fast switching times, reduced component count, low unit cost, and high reproducibility to achieve complex fluidic control circuits while maintaining flow rates of liters per minute. A ring oscillator using three fluidic transistors achieves oscillation frequencies up to a kilohertz with full signal propagation, tolerating billions of cycles without failure. Fundamental processor circuits like a full adder and a 3-bit analog-to-digital converter require just seven transistors each. A decode circuit drives a high-resolution soft haptic display with refresh times below the human perception threshold for latency, and an electronics-free control circuit performs closed-loop position control of a pneumatic actuator with disturbance rejection, demonstrating the value across domains.

SUBMITTER: Stanley AA

PROVIDER: S-EPMC10990265 | biostudies-literature | 2024 Apr

REPOSITORIES: biostudies-literature

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High-speed fluidic processing circuits for dynamic control of haptic and robotic systems.

Stanley Andrew A AA Roby Erik S ES Keller Sean J SJ

Science advances 20240403 14

Fluidic logic circuits simplify system design for soft robotics by eliminating bulky components while enabling operation in a range of hostile environments that are incompatible with electronics but at the expense of limited computational capabilities and response times on the order of seconds. This paper presents a four-terminal fluidic transistor optimized for fast switching times, reduced component count, low unit cost, and high reproducibility to achieve complex fluidic control circuits whil ...[more]

PMID: 38569043

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Project description:Medical training simulators can provide a safe and controlled environment for medical students to practice their physical examination skills. An important source of information for physicians is the visual feedback of involuntary pain facial expressions in response to physical palpation on an affected area of a patient. However, most existing robotic medical training simulators that can capture physical examination behaviours in real-time cannot display facial expressions and comprise a limited range of patient identities in terms of ethnicity and gender. Together, these limitations restrict the utility of medical training simulators because they do not provide medical students with a representative sample of pain facial expressions and face identities, which could result in biased practices. Further, these limitations restrict the utility of such medical simulators to detect and correct early signs of bias in medical training. Here, for the first time, we present a robotic system that can simulate facial expressions of pain in response to palpations, displayed on a range of patient face identities. We use the unique approach of modelling dynamic pain facial expressions using a data-driven perception-based psychophysical method combined with the visuo-haptic inputs of users performing palpations on a robot medical simulator. Specifically, participants performed palpation actions on the abdomen phantom of a simulated patient, which triggered the real-time display of six pain-related facial Action Units (AUs) on a robotic face (MorphFace), each controlled by two pseudo randomly generated transient parameters: rate of change [Formula: see text] and activation delay [Formula: see text]. Participants then rated the appropriateness of the facial expression displayed in response to their palpations on a 4-point scale from "strongly disagree" to "strongly agree". Each participant ([Formula: see text], 4 Asian females, 4 Asian males, 4 White females and 4 White males) performed 200 palpation trials on 4 patient identities (Black female, Black male, White female and White male) simulated using MorphFace. Results showed facial expressions rated as most appropriate by all participants comprise a higher rate of change and shorter delay from upper face AUs (around the eyes) to those in the lower face (around the mouth). In contrast, we found that transient parameter values of most appropriate-rated pain facial expressions, palpation forces, and delays between palpation actions varied across participant-simulated patient pairs according to gender and ethnicity. These findings suggest that gender and ethnicity biases affect palpation strategies and the perception of pain facial expressions displayed on MorphFace. We anticipate that our approach will be used to generate physical examination models with diverse patient demographics to reduce erroneous judgments in medical students, and provide focused training to address these errors.

Dataset Information

High-speed fluidic processing circuits for dynamic control of haptic and robotic systems.

Publications

High-speed fluidic processing circuits for dynamic control of haptic and robotic systems.

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