A Soft Sensor-Based Three-Dimensional (3-D) Finger Motion Measurement System

Injectable composite hydrogels embedded with gallium-based liquid metal particles for solid breast cancer treatment via chemo-photothermal combination

Photothermal therapy (PTT) holds great promise as a cancer treatment modality by generating localized heat at the tumor site. Among various photothermal agents, gallium-based liquid metal (LM) has been widely used as a new photothermal-inducible metallic compound due to its structural transformability. To overcome limitations of random aggregation and dissipation of administrated LM particles into a human body, we developed LM-containing injectable composite hydrogel platforms capable of achieving spatiotemporal PTT and chemotherapy. Eutectic gallium-indium LM particles were first stabilized with 1,2-Distearoyl-sn‑glycero-3-phosphoethanolamine (DSPE) lipids. They were then incorporated into an interpenetrating hydrogel network composed of thiolated gelatin conjugated with 6-mercaptopurine (MP) chemodrug and poly(ethylene glycol)-diacrylate. The resulted composite hydrogel exhibited sufficient capability to induce MDA-MB-231 breast cancer cell death through a multi-step mechanism: (1) hyperthermic cancer cell death due to temperature elevation by near-infrared laser irradiation via LM particles, (2) leakage of glutathione (GSH) and cleavage of disulfide bonds due to destruction of cancer cells. As a consequence, additional chemotherapy was facilitated by GSH, leading to accelerated release of MP within the tumor microenvironment. The effectiveness of our composite hydrogel system was evaluated both in vitro and in vivo, demonstrating significant tumor suppression and killing. These results demonstrate the potential of this injectable composite hydrogel for spatiotemporal cancer treatment. In conclusion, integration of PTT and chemotherapy within our hydrogel platform offers enhanced therapeutic efficacy, suggesting promising prospects for future clinical applications. STATEMENT OF SIGNIFICANCE: Our research pioneers a breakthrough in cancer treatments by developing an injectable hydrogel platform incorporating liquid metal (LM) particle-mediated photothermal therapy and 6-mercaptopurine (MP)-based chemotherapy. The combination of gallium-based LM and MP achieves synergistic anticancer effects, and our injectable composite hydrogel acts as a localized reservoir for specific delivery of both therapeutic agents. This platform induces a multi-step anticancer mechanism, combining NIR-mediated hyperthermic tumor death and drug release triggered by released glutathione from damaged cancer populations. The synergistic efficacy validated in vitro and in vivo studies highlights significant tumor suppression. This injectable composite hydrogel with synergistic therapeutic efficacy holds immense promise for biomaterial-mediated spatiotemporal treatment of solid tumors, offering a potent targeted therapy for triple negative breast cancers.

Design of a Wearable Real-Time Hand Motion Tracking System Using an Array of Soft Polymer Acoustic Waveguides

Robust hand motion tracking holds promise for improved human-machine interaction in diverse fields, including virtual reality, and automated sign language translation. However, current wearable hand motion tracking approaches are typically limited in detection performance, wearability, and durability. This article presents a hand motion tracking system using multiple soft polymer acoustic waveguides (SPAWs). The innovative use of SPAWs as strain sensors offers several advantages that address the limitations. SPAWs are easily manufactured by casting a soft polymer shaped as a soft acoustic waveguide and containing a commercially available small ceramic piezoelectric transducer. When used as strain sensors, SPAWs demonstrate high stretchability (up to 100%), high linearity (R2 > 0.996 in all quasi-static, dynamic, and durability tensile tests), negligible hysteresis (<0.7410% under strain of up to 100%), excellent repeatability, and outstanding durability (up to 100,000 cycles). SPAWs also show high accuracy for continuous finger angle estimation (average root-mean-square errors [RMSE] <2.00°) at various flexion-extension speeds. Finally, a hand-tracking system is designed based on a SPAW array. An example application is developed to demonstrate the performance of SPAWs in real-time hand motion tracking in a three-dimensional (3D) virtual environment. To our knowledge, the system detailed in this article is the first to use soft acoustic waveguides to capture human motion. This work is part of an ongoing effort to develop soft sensors using both time and frequency domains, with the goal of extracting decoupled signals from simple sensing structures. As such, it represents a novel and promising path toward soft, simple, and wearable multimodal sensors.

Highly Stretchable Printed Poly(vinylidene fluoride) Sensors through the Formation of a Continuous Elastomer Phase

Stretchable piezoelectric stress/strain sensing materials have attracted substantial research interest in the fields of wearable health monitoring, motion capturing, and soft robotics. These sensors require operation under dynamic loading conditions with high strain range, changing strain/loading rates, and varying pre-stretch states, which are challenging conditions for existing sensors to produce reliable measurements. To overcome these challenges, an intrinsically stretchable poly(vinylidene fluoride) (PVDF) sensor is developed through the polymer blending of PVDF and acrylonitrile butadiene rubber (NBR). Through precipitation printing and vulcanization, the resulting PVDF/NBR blends exhibit strong β phase PVDF and a blend morphology with submicron-level phase separation, but also strains up to 544%. Both the blend morphology and the mechanical properties indicate that this PVDF/NBR blend can be considered as a continuous elastomer phase above micron scale. After electric poling and adding electrodes, the PVDF/NBR blends have excellent piezoelectric properties to be used as both stretching mode strain sensors and compression mode stress/force sensors. The stretching mode sensors can measure strain up to 70% without strain rate and pre-stretch dependence, while the compression mode sensors have a loading-rate-independent linear voltage-stress relationship up to 4.8 MPa stress and a negligible pre-stretch dependence. Therefore, the PVDF/NBR sensors can provide accurate and reliable stress/strain measurements when attached to soft structures, which paves the way for sensing and calibration of soft robots under dynamic loading conditions.

Current Progress in Gallium-based Liquid Metals for Combinatory Phototherapeutic Anticancer Applications

A variety of therapeutic approaches using liquid metal (LM) have been intensively investigated, due to its unique physico-chemical properties that include high surface tension, fluidity, shape deformability, thermal conductivity, and electrical conductivity. Among a series of LMs, the relatively lower toxicity and minimal volatility of gallium (Ga)-based LMs (GaLMs) enables their usage in a series of potential biomedical applications, especially implantable platforms, to treat multiple diseases. In addition, the highly efficient conversion of light energy into thermal or chemical energy via GaLMs has led to recent developments in photothermal and photodynamic applications for anticancer treatments. As attractive photothermal agents or photosensitizers, a systematic interpretation of the structural characteristics and photo-responsive behaviors of GaLMs is necessary to develop effective anticancer engineering applications. Therefore, the aim of this review is to provide a comprehensive summary of currently suggested GaLM-mediated photo-therapeutic cancer treatments. In particular, the review summarizes (1) surface coating techniques to form stable and multifunctional GaLM particulates, (2) currently investigated GaLM-mediated photothermal and photodynamic anticancer therapies, (3) synergistic efficacies with the aid of additional interventions, and (4) 3D composite gels embedded with GaLMs particles, to convey the potential technological advances of LM in this field.

Self-Calibrated Multi-Sensor Wearable for Hand Tracking and Modeling

We present a multi-sensor system for consistent 3D hand pose tracking and modeling that leverages the advantages of both wearable and optical sensors. Specifically, we employ a stretch-sensing soft glove and three IMUs in combination with an RGB-D camera. Different sensor modalities are fused based on the availability and confidence estimation, enabling seamless hand tracking in challenging environments with partial or even complete occlusion. To maximize the accuracy while maintaining high ease-of-use, we propose an automated user calibration that uses the RGB-D camera data to refine both the glove mapping model and the multi-IMU system parameters. Extensive experiments show that our setup outperforms the wearable-only approaches when the hand is in the field-of-view and outplays the camera-only methods when the hand is occluded.

Accuracy of Wearable Sensor Technology in Hand Goniometry: A Systematic Review

BACKGROUND

Wearable devices and sensor technology provide objective, unbiased range of motion measurements that help health care professionals overcome the hindrances of protractor-based goniometry. This review aims to analyze the accuracy of existing wearable sensor technologies for hand range of motion measurement and identify the most accurate one.

METHODS

We performed a systematic review by searching PubMed, CINAHL, and Embase for studies evaluating wearable sensor technology in hand range of motion assessment. Keywords used for the inquiry were related to wearable devices and hand goniometry.

RESULTS

Of the 71 studies, 11 met the inclusion criteria. Ten studies evaluated gloves and 1 evaluated a wristband. The most common types of sensors used were bend sensors, followed by inertial sensors, Hall effect sensors, and magnetometers. Most studies compared wearable devices with manual goniometry, achieving optimal accuracy. Although most of the devices reached adequate levels of measurement error, accuracy evaluation in the reviewed studies might be subject to bias owing to the use of poorly reliable measurement techniques for comparison of the devices.

CONCLUSION

Gloves using inertial sensors were the most accurate. Future studies should use different comparison techniques, such as infrared camera-based goniometry or virtual motion tracking, to evaluate the performance of wearable devices.

Smart Eutectic Gallium-Indium: From Properties to Applications

Eutectic gallium-indium (EGaIn), a liquid metal with a melting point close to or below room temperature, has attracted extensive attention in recent years due to its excellent properties such as fluidity, high conductivity, thermal conductivity, stretchability, self-healing capability, biocompatibility, and recyclability. These features of EGaIn can be adjusted by changing the experimental condition, and various composite materials with extended properties can be further obtained by mixing EGaIn with other materials. In this review, not only the are unique properties of EGaIn introduced, but also the working principles for the EGaIn-based devices are illustrated and the developments of EGaIn-related techniques are summarized. The applications of EGaIn in various fields, such as flexible electronics (sensors, antennas, electronic circuits), molecular electronics (molecular memory, opto-electronic switches, or reconfigurable junctions), energy catalysis (heat management, motors, generators, batteries), biomedical science (drug delivery, tumor therapy, bioimaging and neural interfaces) are reviewed. Finally, a critical discussion of the main challenges for the development of EGaIn-based techniques are discussed, and the potential applications in new fields are prospected.

Research on Monocular-Vision-Based Finger-Joint-Angle-Measurement System

The quantitative measurement of finger-joint range of motion plays an important role in assessing the level of hand disability and intervening in the treatment of patients. An industrial monocular-vision-based knuckle-joint-activity-measurement system is proposed with short measurement time and the simultaneous measurement of multiple joints. In terms of hardware, the system can adjust the light-irradiation angle and the light-irradiation intensity of the marker by actively adjusting the height of the light source to enhance the difference between the marker and the background and reduce the difficulty of segmenting the target marker and the background. In terms of algorithms, a combination of multiple-vision algorithms is used to compare the image-threshold segmentation and Hough outer- and inner linear detection as the knuckle-activity-range detection method of the system. To verify the accuracy of the visual-detection method, nine healthy volunteers were recruited for experimental validation, and the experimental results showed that the average angular deviation in the flexion/extension of the knuckle was 0.43° at the minimum and 0.59° at the maximum, and the average angular deviation in the adduction/abduction of the knuckle was 0.30° at the minimum and 0.81° at the maximum, which were all less than 1°. In the multi-angle velocimetry experiment, the time taken by the system was much less than that taken by the conventional method.

Minimizing the wiring in distributed strain sensing using a capacitive sensor sheet with variable-resistance electrodes

Strain mapping over a large area usually requires an array of sensors, necessitating extensive and complex wiring. Our solution is based on creating multiple sensing regions within the area of a single capacitive sensor body by considering the sensor as an analogical transmission line, reducing the connections to only two wires and simplifying the electronic interface. We demonstrate the technology by using piezoresistive electrodes in a parallel plate capacitor that create varying proportions of electromagnetic wave dissipation through the sensor length according to the interrogation frequency. We demonstrate, by a sensor divided into four virtual zones, that our cracked capacitive sensor can simultaneously record strain in each separated zone by measuring the sensor capacitance at a high frequency. Moreover, we confirm that by changing the frequency from high to low, our sensor is able to measure the local strain amplitudes. This sensor is unique in its ability to monitor strain continuously over a large area with promoted spatial resolution. This sensing technology with a reduced number of wires and a simple electronic interface will increase the reliability of sensing while reducing its cost and complexity.

3D-Printed Soft Pneumatic Robotic Digit Based on Parametric Kinematic Model for Finger Action Mimicking

A robotic digit with shape modulation, allowing personalized and adaptable finger motions, can be used to restore finger functions after finger trauma or neurological impairment. A soft pneumatic robotic digit consisting of pneumatic bellows actuators as biomimetic artificial joints is proposed in this study to achieve specific finger motions. A parametric kinematic model is employed to describe the tip motion trajectory of the soft pneumatic robotic digit and guide the actuator parameter design (i.e., the pressure supply, actuator material properties, and structure requirements of the adopted pneumatic bellows actuators). The direct 3D printing technique is adopted in the fabrication process of the soft pneumatic robotic digit using the smart material of thermoplastic polyurethane. Each digit joint achieves different ranges of motion (ROM; bending angles of distal, proximal, and metacarpal joint are 107°, 101°, and 97°, respectively) under a low pressure of 30 kPa, which are consistent with the functional ROM of a human finger for performing daily activities. Theoretical model analysis and experiment tests are performed to validate the effectiveness of the digit parametric kinematic model, thereby providing evidence-based technical parameters for the precise control of dynamic pressure dosages to achieve the required motions.

Visual-inertial hand motion tracking with robustness against occlusion, interference, and contact

State-of-the-art technologies for hand (and finger) motion tracking do not always provide accurate and robust tracking. For example, severe occlusions can affect tracking with vision sensors, electromagnetic interference affects tracking with inertial measurement units (IMUs) and compasses, and ambiguous mechanical contact can affect tracking with soft sensors (i.e., the inability to distinguish motion-induced deformation). Here, we report a visual-inertial skeleton tracking (VIST) framework that provides robust and accurate hand tracking in a variety of real-world scenarios. Our proposed VIST framework comprises a sensor glove with multiple IMUs and passive visual markers as well as a head-mounted stereo camera. VIST also uses a tightly coupled filtering-based visual-inertial fusion algorithm to estimate the hand/finger motion and autocalibrates hand/glove-related kinematic parameters simultaneously while taking into account the hand anatomical constraints. Our VIST framework exhibits good tracking accuracy and robustness, affordable material cost, lightweight hardware and software, and durability to permit washing. We validate our VIST framework through quantitative and qualitative experiments in real-world conditions. Our approach to hand tracking has the potential to enrich not only human-robot interaction applications (e.g., direct humanoid hand teleoperation, hand-based collaborative robot programming, and drone swarm control) but also the user experience in many virtual reality and augmented reality applications.

Hand Gesture Recognition Using EGaIn-Silicone Soft Sensors

Exploiting hand gestures for non-verbal communication has extraordinary potential in HCI. A data glove is an apparatus widely used to recognize hand gestures. To improve the functionality of the data glove, a highly stretchable and reliable signal-to-noise ratio sensor is indispensable. To do this, the study focused on the development of soft silicone microchannel sensors using a Eutectic Gallium-Indium (EGaIn) liquid metal alloy and a hand gesture recognition system via the proposed data glove using the soft sensor. The EGaIn-silicone sensor was uniquely designed to include two sensing channels to monitor the finger joint movements and to facilitate the EGaIn alloy injection into the meander-type microchannels. We recruited 15 participants to collect hand gesture dataset investigating 12 static hand gestures. The dataset was exploited to estimate the performance of the proposed data glove in hand gesture recognition. Additionally, six traditional classification algorithms were studied. From the results, a random forest shows the highest classification accuracy of 97.3% and a linear discriminant analysis shows the lowest accuracy of 87.4%. The non-linearity of the proposed sensor deteriorated the accuracy of LDA, however, the other classifiers adequately overcame it and performed high accuracies (>90%).

Development and Evaluation of an Adaptive Multi-DOF Finger with Mechanical-Sensor Integrated for Prosthetic Hand

To realize the adaptive grasping of objects with diverse shapes and to capture the joint angles of the finger, a multi degree of freedom (DOF) adaptive finger for prosthetic hand is proposed in this paper. The fingers are designed with three joints. The maximum rotation angle of the finger joints is 90°. The angle at which the finger joints bend can be captured. Firstly, the prototype design, forward kinematics and force analysis of phalanges are described in detail. In order to achieve an adaptive motion pattern similar to that of the human hand, this paper investigates the optimization of the torsion spring stiffness coefficient so that the metacarpophalangeal (MCP) joints, proximal interphalangeal (PIP) joints, and distal interphalangeal (DIP) joints of the bionic finger meet a motion ratio of approximately 3:3:1. Then, in order to realize the joint angle measurement in the process of grasping an object, the mechanical-sensor integrated finger joint is designed, and the composition, angle measurement principle and measurement circuit are introduced in detail. Finally, joint angle measurement, movement law evaluation and object grasping experiments are performed to verify the validity of the designed finger. The experimental results show that the root-mean-square (RMS) of the DIP, PIP and MCP angle measurement errors are 0.36°, 0.59° and 0.32°, respectively. The designed finger is able to grasp objects with different shapes stably.

ASAMS: An Adaptive Sequential Sampling and Automatic Model Selection for Artificial Intelligence Surrogate Modeling

Surrogate Modeling (SM) is often used to reduce the computational burden of time-consuming system simulations. However, continuous advances in Artificial Intelligence (AI) and the spread of embedded sensors have led to the creation of Digital Twins (DT), Design Mining (DM), and Soft Sensors (SS). These methodologies represent a new challenge for the generation of surrogate models since they require the implementation of elaborated artificial intelligence algorithms and minimize the number of physical experiments measured. To reduce the assessment of a physical system, several existing adaptive sequential sampling methodologies have been developed; however, they are limited in most part to the Kriging models and Kriging-model-based Monte Carlo Simulation. In this paper, we integrate a distinct adaptive sampling methodology to an automated machine learning methodology (AutoML) to help in the process of model selection while minimizing the system evaluation and maximizing the system performance for surrogate models based on artificial intelligence algorithms. In each iteration, this framework uses a grid search algorithm to determine the best candidate models and perform a leave-one-out cross-validation to calculate the performance of each sampled point. A Voronoi diagram is applied to partition the sampling region into some local cells, and the Voronoi vertexes are considered as new candidate points. The performance of the sample points is used to estimate the accuracy of the model for a set of candidate points to select those that will improve more the model’s accuracy. Then, the number of candidate models is reduced. Finally, the performance of the framework is tested using two examples to demonstrate the applicability of the proposed method.

Metacarpal Arc Motion: Comparison of Different Measurement Methods

Introduction The range of motion of the carpometacarpal (CMC) joints is difficult to assess in clinical practice.

Materials and Methods The purpose of this study was to measure a precise range of motion measurement of the metacarpal arc during maximum palmar flexion of the fifth CMC joint in healthy persons with three different methods: optical, electrogoniometrical, and sonographical.

Results The metacarpal arc motion measured with the optical technique was 24.9 degrees (standard deviation [SD]: 6.2 degrees), with the electrogoniometric technique was 24.3 degrees (SD: 3.6 degrees) and with sonography was 25.1 degrees (SD: 3.5 degrees), with no differences between left and right hand for all methods.

Conclusion This study shows that different techniques can be used for the measurement of the metacarpal arc motion. With these techniques, it is possible to assess the metacarpal arc in patients with fractures to the CMC joints to evaluate posttraumatic function und rehabilitation progress. This study shows level of evidence as III.

Wearable Hand Module and Real-Time Tracking Algorithms for Measuring Finger Joint Angles of Different Hand Sizes with High Accuracy using FBG Strain Sensor

This paper presents a wearable hand module which was made of five fiber Bragg grating (FBG) strain sensor and algorithms to achieve high accuracy even when worn on different hand sizes of users. For real-time calculation with high accuracy, FBG strain sensors move continuously according to the size of the hand and the bending of the joint. Representatively, four algorithms were proposed; point strain (PTS), area summation (AREA), proportional summation (PS), and PS/interference (PS/I or PS/I_α). For more accurate and efficient assessments, 3D printed hand replica with different finger sizes was adopted and quantitative evaluations were performed for index~little fingers (77 to 117 mm) and thumb (68~78 mm). For index~little fingers, the optimized algorithms were PS and PS/I_α. For thumb, the optimized algorithms were PS/I_α and AREA. The average error angle of the wearable hand module was observed to be 0.47 ± 2.51° and mean absolute error (MAE) was achieved at 1.63 ± 1.97°. These results showed that more accurate hand modules than other glove modules applied to different hand sizes can be manufactured using FBG strain sensors which move continuously and algorithms for tracking this movable FBG sensors.

A Survey on Hand Pose Estimation with Wearable Sensors and Computer-Vision-Based Methods

Real-time sensing and modeling of the human body, especially the hands, is an important research endeavor for various applicative purposes such as in natural human computer interactions. Hand pose estimation is a big academic and technical challenge due to the complex structure and dexterous movement of human hands. Boosted by advancements from both hardware and artificial intelligence, various prototypes of data gloves and computer-vision-based methods have been proposed for accurate and rapid hand pose estimation in recent years. However, existing reviews either focused on data gloves or on vision methods or were even based on a particular type of camera, such as the depth camera. The purpose of this survey is to conduct a comprehensive and timely review of recent research advances in sensor-based hand pose estimation, including wearable and vision-based solutions. Hand kinematic models are firstly discussed. An in-depth review is conducted on data gloves and vision-based sensor systems with corresponding modeling methods. Particularly, this review also discusses deep-learning-based methods, which are very promising in hand pose estimation. Moreover, the advantages and drawbacks of the current hand gesture estimation methods, the applicative scope, and related challenges are also discussed.

A Three-dimensional Finger Motion Measurement System of a Thumb and an Index Finger Without a Calibration Process

Various wearable systems have been investigated to measure hand motion, but some challenges remain. Many systems require a calibration process to map sensor signals to actual finger joint angles by the principle of measuring the length change of the finger, or bending sensors. Also, few studies have investigated how to measure thumb motion accurately using the wearable systems. This paper proposes an exoskeleton system with linear Hall sensors to measure three-dimensional hand motion without a calibration process. The calibration process is avoided by measuring finger joint angles through an absolute rotation measurement. A new wearing method with lower parts underneath the hand joints and rubber bands is proposed to fix the structure to the hand and adapt it for various hand sizes. As the thumb has a complex biomechanical feature at carpometacarpal (CMC) joint, a new measuring method of the CMC joint is proposed to directly calculate the orientation of the metacarpal. The prototype of the thumb and index finger was manufactured, and the performance was verified experimentally by using an optical motion capture system.

Direct Wiring of Eutectic Gallium-Indium to a Metal Electrode for Soft Sensor Systems

For wider applications of liquid metal-based stretchable electronics, electrical interface has remained a crucial issue due to its fragile electromechanical stability and complex fabrication steps. In this study, a direct writing-based technique is introduced to form the writing paths of conductive liquid metal (eutectic gallium-indium, eGaIn) and electrical connections to off-the-shelf metal electrodes in a single process. Specifically, by extending eGaIn wires written on a silicone substrate, the eGaIn wires were physically connected to five different metal electrodes, of which stability as an electrical connection was investigated. Among the five different surface materials, the metal electrode finished by electroless nickel immersion gold (ENIG) was reproducible and had low contact resistance without time-dependent variation. In our experiments, it was verified that the electrode part made by an ENIG-finished flexible flat cable (FFC) was mechanically (strain, ≤100%; pressure, ≤600 kPa) and thermally (temperature, ≤180 °C) durable. By modifying the trajectories of eGaIn wires, soft sensor systems composed of 10 sensing units were fabricated and tested to measure finger joint angles and ground reaction forces, respectively. The proposed method enables eGaIn-based soft sensors or circuits to be connected to typical electronic components through FFCs or weldable surfaces, using only off-the-shelf materials without additional mechanical or chemical treatments.

Stretchable Pressure Sensor with Leakage-Free Liquid-Metal Electrodes

Nowadays, with the development of wearable devices, stretchable pressure sensors have been widely adopted in all kinds of areas. Most of the sensors aim to detect small pressure, such as fingertip tactile sensing, but only a few are focused on high-pressure sensing, such as foot pressure sensing during men’s walking. In this work, a liquid metal-based stretchable sensor for large-pressure measurement is investigated. This sensor is fully stretchable because it is made of soft materials. However, when the soft sensor is subjected to high pressure, the liquid metal easily leaks from microchannels because it maintains the liquid state at room temperature. We therefore propose to fabricate liquid metal-based leakage-free electrodes to handle the liquid-metal leak. Parametric studies are conducted to compare this sensor with liquid-metal-only electrodes and leakage-free electrodes. The leakage-free electrodes increase the measurement ranges from 0.18, 0.18, and 0.15 MPa to 0.44 MPa, with higher linearity and precision. The improvement in the liquid-metal electrode enables the sensors to work stably within 0.44 MPa pressure and 20% strain. In addition, we integrate two capacitors, namely, a working capacitor and a reference capacitor, into one sensor to reduce the influence of parasitic capacitance brought about by external interference. This stretchable capacitive sensor capable of working under a wide range of pressure with good repeatability, sensitivity, and linearity, exhibits great potential use for wearable electronics. Finally, the method for fabricating leakage-free electrodes shows great value for hyperelastic electronics manufacturing and micromachine technology.

Classification of Therapeutic Hand Poses Using Convolutional Neural Networks

Measurement of finger active range of motion (ARoM) is essential to quantify outcomes accurately after hand surgery and during rehabilitation. Currently, finger ARoM is measured by a hand-held goniometer, which introduces measurement error. Moreover, this method is time-consuming. To speed up and simplify this process, we developed a system to measure the ARoM automatically. However, to assess the ARoM for all joints, different hand poses are required. The goal, then, is to design a classifier that achieves accurate and automatic discovery of the hand pose. According to the detected pose, the system will apply the appropriate algorithm to measure the ARoM for all fingers. Furthermore, this will enable a camera capture control system to provide the best view by moving the camera as required by each algorithm. A critical part of the system is the classifier because it controls the accuracy and compute time of the measurement. In this paper, we describe a study of different classifiers for hand pose and include results. The best classifier achieves 99% accuracy in classifying 400 test samples from five previously unseen human subjects with a compute time of 8ms per sample.

Consistent and Reproducible Direct Ink Writing of Eutectic Gallium-Indium for High-Quality Soft Sensors

Given the need for stretchable sensors, many studies have been conducted on eutectic gallium-indium, which has superior properties as a conductive ink. However, it has remained a challenge to manufacture sensors in a consistent and reproducible manner because conventional mold-based fabrication still depends highly on manual techniques. To overcome this limitation, the direct ink writing was used in this study, focusing on improving the stability of writing by exploring issues related to failure and ensuring the consistency of the microchannel by selecting appropriate process variables, including the syringe material. As a result, multiple sensors produced under the same manufacturing conditions had similar behaviors. This fabrication technique improved the accuracy of manufacturing a microchannel, and its behavior was predicted successfully by a simple mathematical model, which was confirmed by nondestructive inspections of the microchannel. In developing a one-piece glove-type sensor without an assembly process, the efficiency of the fabrication technique was also emphasized.

A Wearable Detector for Simultaneous Finger Joint Motion Measurement

This paper presents a wearable and stretchable detector for simultaneous finger joint motion measurement, providing the feasible technical solutions to solve the problems existing in the current devices. The sensor array installed in the detector consists of 14 custom-made bending sensors and an inertial measurement unit with high accuracy. The glove support for a sensor array, which is made of three silicone materials with different elasticity, not only overcomes the drawbacks of cloth support, but also addresses the compatibility between the stretch substrate and the inelastic sensing components. Besides, two-section electrical connection avoids the problems caused by the external wires in traditional solutions to enhance the durability of glove. The experiment results indicated that the wearable detector offers a good user experience by exerting a small force on fingers. The device also shows a strong durability as it worked properly after tens of thousands of bending. The measurement tests on a single sensor demonstrated that two kinds of sensors are both with high accuracy. Besides, the hand goniometric system has an excellent performance in terms of hand motion detection. The measurement error of the device in subjects with different hand sizes is within a reasonable range. The good properties of the sensory detector allow it to be applied in clinical applications.

Cytotoxicity of Gallium-Indium Liquid Metal in an Aqueous Environment

Eutectic gallium-indium alloy (EGaIn) liquid metal is highly conductive, moldable, and extremely deformable and has attracted significant attention for many applications, ranging from stretchable electronics to drug delivery. Even though EGaIn liquid metal is generally known to have low toxicity, the toxicity of the metal, rather than a salt form of Ga or In, has not been systematically studied yet. In this paper, we investigate the time-dependent concentration of the ions released from EGaIn liquid metal in an aqueous environment and their cytotoxicity to human cells. It is observed that only the Ga ion is dominantly released from EGaIn when no external agitation is applied, whereas the concentration of the In ion drastically increases with sonication. The cytotoxicity study reveals that all human cells tested are viable in the growth media with naturally released EGaIn ions, but the cytotoxicity becomes significant with sonication-induced EGaIn releasates. On the basis of the comparative study with other representative toxic elements, that is, Hg and Cd, it could be concluded that EGaIn is reasonably safe to use in an aqueous environment; however, it should be cautiously handled when any mechanical agitation is applied.

Functional range of motion in the metacarpophalangeal joints of the hand measured by single axis electric goniometers

BACKGROUND

The functional range of motion (fROM) of the metacarpophalangeal (MCP) joints during the performance of activities of daily living (ADL) has not yet been established. This study aimed to determine the fROM of all five digits and verify the accuracy and reproducibility of dynamic angle measurement using a single-axis electric goniometer (EG) during ADL movements of the hand.

METHODS

This was a cross-sectional study. In EG suitability testing, we first confirmed the angles of a three-dimensional calibration device 10 times, and then compared EG readings with those determined by tomosynthesis images. Next, we determined the fROM of the MCP joints by evaluating all five digits of the dominant hands of 10 healthy adults performing 16 ADL. Intra-rater reproducibility of MCP joint data during task performance was assessed in two healthy adults.

RESULTS

Static measurements of the triangular object showed variance to be within one degree in 39 of 40 trials. Differences between angles measured by the EG and those depicted by radiograph were a range of plus or minus five degrees in 88 of 96 digits. The fROM values for the thumb and index, middle, ring, and little fingers were -7.5 to 35.3, 10.6 to 67.8, 4.0 to 79.9, 3.0 to 83.9, and 2.9-91.4 degrees of flexion, respectively. Flexion angle in the fROM of the index finger was significantly smaller than those of the ring and little fingers. The flexion and extension angles of the thumb were significantly smaller than those of the four ulnar fingers. The intra-rater correlation coefficients of two participants were high at 0.94 and 0.93, respectively.

CONCLUSIONS

The method adopted in this study exhibited excellent accuracy and reproducibility and was therefore considered suitable for the real-time establishment of fROM flexion-extension angles of the MCP joints for all five digits. Our data are useful as a target arc of motion in the treatment of MCP joint disease or injury.

Fabrication Approaches to Interconnect Based Devices for Stretchable Electronics: A Review

Stretchable electronics promise to naturalize the way that we are surrounded by and interact with our devices. Sensors that can stretch and bend furthermore have become increasingly relevant as the technology behind them matures rapidly from lab-based workflows to industrially applicable production principles. Regardless of the specific materials used, creating stretchable conductors involves either the implementation of strain reliefs through insightful geometric patterning, the dispersion of stiff conductive filler in an elastomeric matrix, or the employment of intrinsically stretchable conductive materials. These basic principles however have spawned a myriad of materials systems wherein future application engineers need to find their way. This paper reports a literature study on the spectrum of different approaches towards stretchable electronics, discusses standardization of characteristic tests together with their reports and estimates matureness for industry. Patterned copper foils that are embedded in elastomeric sheets, which are closest to conventional electronic circuits processing, make up one end of the spectrum. Furthest from industry are the more recent circuits based on intrinsically stretchable liquid metals. These show extremely promising results, however, as a technology, liquid metal is not mature enough to be adapted. Printing makes up the transition between both ends, and is also well established on an industrial level, but traditionally not linked to creating electronics. Even though a certain level of maturity was found amongst the approaches that are reviewed herein, industrial adaptation for consumer electronics remains unpredictable without a designated break-through commercial application.

Touch Locating and Stretch Sensing Studies of Conductive Hydrogels with Applications to Soft Robots

Soft robots possess great potential in environmental adaptations, while their environmental sensing abilities are critical. Conductive hydrogels have been suggested to possess sensing abilities. However, their application in soft robots is lacking. In this work, we fabricated a soft and stretchable gel material, introduced its sensing mechanisms, and developed a measurement setup. Both experimental and simulation studies indicate strong nonlinearity of touch locating on a square touch panel with Cartesian coordinates. To simplify the touch locating, we proposed a touch locating system based on round touch panels with polar coordinates. Mathematical calculations and finite element method (FEM) simulations showed that in this system the locating of a touch point was only determined by its polar radius. This was verified by experimental studies. As a resistor, a gel strip's resistance increases with stretching. To demonstrate their applications on soft robots, a 3D printed three-fingered soft gripper was employed with gel strips attached. During finger bending for rod grasping, the resistances of the gel strips increased, indicating stretching of the soft material. Furthermore, the strain and stress of a gel strip increased with a decrease of the rod diameter. These studies advance the application of conductive hydrogels on soft robots.