excerpt from the book:

Biomechatronics, Popovic, Academic Press, Elsevier, 2019. (No of pages 668)

ISBN 978-0-12-812939-5
https://doi.org/10.1016/C2016-0-04132-3
Copyright © 2019 Elsevier Inc. All rights reserved.

Chapter 4, Pages 81-107

Sensors: Natural and Synthetic Sensors

Kathleen A. Lamkin-Kennard*, Marko B. Popovic†

*ROCHESTER INSTITUTE OF TECHNOLOGY, ROCHESTER, NY, UNITED STATES †WORCESTER

POLYTECHNIC INSTITUTE, WORCESTER, MA, UNITED STATES

Abstract

In biomechatronics, the goal is to replicate the structure and function of human sensory systems to
provide feedback for motion control. In this chapter, the basic structure of the human peripheral nervous
system is presented along with descriptions of natural sensors. Synthetic sensors seek to replicate the
function of natural sensors. A discussion of synthetic sensors follows. The chapter concludes with a
discussion of integrated sensor systems commonly used in the development of robotic and mechatronic
devices.

CHAPTER OUTLINE

4.1 Introduction .............................................................................................................................. 82

4.2 Natural Sensors ......................................................................................................................... 82

4.2.1 The Nervous System .................................................................................................................82

4.3 Sensory Receptors ..................................................................................................................... 83

4.4 Sensory Receptors Classified by Stimulus Type Detected ………................................................... 84

4.4.1 Chemoreceptors .......................................................................................................................84

4.4.2 Mechanoreceptors ...................................................................................................................87

4.4.3 Thermoreceptors ......................................................................................................................88

4.4.4 Nociceptors ..............................................................................................................................88

4.4.5 Electromagnetic Receptors ...................................................................................................... 89

 4.5 Sensory Receptors Classified by Stimulus Location ...................................................................... 89

4.5.1 Proprioceptors ..........................................................................................................................89

4.5.2 Interoceptors ............................................................................................................................89

4.5.3 Extroreceptors ..........................................................................................................................90

4.6 Synthetic Biological Sensors ........................................................................................................ 90

4.6.1 Overview and Challenges .......................................................................................................... 90

4.7 Synthetic Sensors ....................................................................................................................... 90

4.7.1 Chemical Sensors .......................................................................................................................91

4.7.2 Electric Sensors ..........................................................................................................................94

4.7.3 Optical Sensors ..........................................................................................................................94

4.7.4 Mechanical Sensors ...................................................................................................................96

4.7.5 Thermal Sensors ........................................................................................................................98

4.8 Sensor Fusion and Integration ..................................................................................................... 98

4.9 Integrated Systems for Obtaining Sensory Feedback ................................................................... 99

4.9.1 Force Plates ................................................................................................................................99

4.9.2 Motion Capture Systems .......................................................................................................... 101

4.9.3 VO2/CO2 Sensors .....................................................................................................................103

4.9.4 Electrocardiography .................................................................................................................104

4.9.5 Electromyography ....................................................................................................................104

4.10 Conclusions and Future Perspective ........................................................................................ 105

References ..................................................................................................................................... 105

Further Reading ............................................................................................................................. 107

Biomechatronics. https://doi.org/10.1016/B978-0-12-812939-5.00004-5

© 2019 Elsevier Inc. All rights reserved.

[chapter content intentionally omitted]

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