Biomechatronic Systems

Unit 3: Sensors and Actuators

Mehdi Delrobaei
Winter 2024
Sensors in Biomechatronics

• Mechatronic Sensors: Any

electrical/electronics/electro-
mechanical device that converts
physical quantities (such as
pressure and temperature) to
electrical signals (either analogue
or digital).
• Bio-sensors: Any device that
converts a biological response to
an electrical signal. Advanced
biosensors are enzyme-based,
tissue-based, immunosensors,
DNA biosensors, and thermal and
piezoelectric biosensors. 2
Types of Mechatronic Sensors

• Switches
• Resistive
• Magnetic
Environment
• Optical/Laser/Infrared
Smart Device Environment
• Ultrasound/RFID
• Capacitive/Inductive
• Chemical
• Others:
- Vision
- MEMS
- GPS

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Sensors: Introduction
 Switches

• The simplest type of sensors

• Pushbutton, slide, toggle, rotary,
Hall, lever,
Smart DIP, micro, …
Device
• Objectives: enable power, sense a
contact, sense limit of travel, and
human interface.

4
Sensors: Switches
Source: Google Images
 Switch Interface

• The interfacing converts a switch action into a digital logic

low/high (Digital Input).
• Interfacing to mechanical switches requires a “debouncing”
hardware.
Smart Device
• Debouncing a switch in software is also very common.

Sensors: Switches
Source: labbookpages.co.uk 5
Resistive Sensors

• A variable resistor, sensitive

to a physical phenomenon.
• Types: potentiometer,
Smart Device
Environment
thermistor, photo-cell,
strain gage, and flex
sensors.

Source:Sensors: 6
Google Images Resistive
Resistors Interfacing

Environment
Smart Device Environment

Potentiometer as a position sensor

Simple interface

Strain gage interface

Source:Sensors: 7
Google Images Resistive
Linear Variable Differential Transformers (LVDT)

Environment
Environment

Simple interface

Source: honeywell.com
8
Sensors: Resistive
Hall-Effect (Magnetic)

Environment
Environment

Source: electronicshub.org
Sensors: Resistive
electronics-tutorials.ws 9
Optical Encoders

• One of the most precise position sensors.

• Output pulses proportional to the angle of rotation.
Environment

Output of the photo-switch

Source: Google Images

10
Optical Encoder
Encoders

Source: Wearable Robots

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Optical Encoder
Quadrature Encoders

Source: creative-robotics.com
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Optical Encoder
dynapar.com
Comparison of Position Sensors

Source: Wearable Robots

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Optical Encoder
Infrared Sensors

• Distance and motion sensors

using infrared beam.
• IR rangefinders calculate the
sensor-object Environment
Smart Device distance through Environment
the process of triangulation.

ReflectiveSource:
Sensors14 Images
Google
Laser Rangefinders

• Long distance measurement;

• Use a laser beam to determine
the distance and operates on
Smart Device
the time of flight principle. Environment

Reflective Sensors15
Source: Google Images
Ultrasonic Rangefinders

• To detect obstacles by utilizing the

propagation of high-frequency
Environment
sound waves.
Smart Device Environment

16
Source: Google Images
Ultrasonic Sensors
Radio-Frequency Sensors

• To use radio-waves to detect digital data encoded in RFID tags.

Environment
Smart Device Environment

ReflectiveSource:
Sensors17 Images
Google
Inductive Sensors
• An inductive proximity sensor detects metal objects, with no
need to a physical contact.
• A high-frequency magnetic field is generated by an oscillation
circuit. If a metal object approaches the field, the induction
current Environment
Smartflow causes a load on the oscillation. The
Device sensor detects
Environment
this change and outputs a detection signal.

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Reflective Sensors
Source: machinedesign.com/
Capacitive Sensors

Environment
Smart Device Environment

ReflectiveSource:
Sensors19
Google Images
MEMS Sensors

• Accelerometer
• Gyroscope
• Magnetometer
• Pressure sensors
Smart Device
Environment
Environment
Pressure Wire

Smart Contact Lens (Pressure Sensor)

IMU

ReflectiveSource:
Sensors20
Google Images
MEMS Sensors: Accelerometer

Smart Device Environment

21
Reflective Sensors
Source: instrumentationtoday.com
Other Sensors (Imaging)

Environment
PET Scan

CT Scan
MRI and fMRI

ReflectiveSource:
Sensors22 Images
Google
Electrical Actuators

23
Types of Electrical Actuators

• Solenoids
• DC Motors
– PMDS
– Servo motors
– Stepper Motors
– BLDC
– Vibrating Motors
• Linear Actuators
• Shape Memory Material
• Artificial Muscles

24
Solenoids

25
DC Motors

26
Types of Gear Boxes
(Spur)

(Worm – Helical)

(Planetary) (Harmonic Drive)

27
Servo Motors

1- DC Motor
2- Gear Head
3- Potentiometer
4- Control Circuit

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Servo Motor
Source: www.micromo.com/
Stepper Motors

Stepper 29
Motor
Source: Google Image
Brushless DC Motors

• A synchronous electric
motor powered by DC
power and electronically
commutated.
• Advantages:
• Better speed versus torque
characteristics
• High dynamic response
• High efficiency
• Long operating life due to a
lack of electrical and friction
losses
• Noiseless operation
• Higher speed ranges
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Vibrating Actuators

• Tactile stimuli for navigation

• Haptic feedbacks
• Vibratory analgesia

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Linear Actuators

Lead Screw

Ball Screw

Belt Drive

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Linear Actuator
Source: Google Image
Linear Actuators: Voice Coil
• Voice coil actuators are direct drive
mechanisms that provide precise positioning.
The mechanism simply comprises a permanent
magnet core and a coil winding. If a current is
applied to the coil, a force would be generated.

• Medical applications: middle ear implantable

hearing device, power ventricular assist device

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Linear Actuator
Source: Google Image
Linear Actuators: Piezoelectric and Pneumatic
Bellow Actuator (Pneumatic) • Piezo materials expand or contract
when an electrical voltage is applied,
generating motion and force.

• Piezo actuators use this motion to

provide very short strokes with high
frequency and fast response.

Piezoelectric Actuator

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Linear Actuator
Source: Google Image
 Shape Memory Material

 Shape-Memory Alloy (SMA,

also smart metal, memory
metal, muscle wire)
 Alloys: nickel-titanium (NiTi),
copper-aluminium-nickel,
and, zinc-copper-gold-iron
 Shape-memory polymer
(SMP)
 Magnetic shape-memory
alloy

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Shape Memory Material: Active Endoscope

36
Artificial Muscles

Pneumatic Artificial Muscle

Carbone-Nanotube Artificial Muscle

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