Quantitative haptics device for quantitative measurement

Abstract

A device includes a grip. The grip has a body defining a longitudinal axis extending through a distal end and a proximal end. A rod has a shaft having a distal tip and a proximal head. The shaft is slidably engaged with the grip. The rod is slidable relative to the grip toward the distal end such that the distal tip extends beyond the distal end of the grip. A pressure sensing unit is disposed at the proximal end of the grip. An intermediate member is elastically shaped between a first member end and a second member end. A cavity is disposed between a membrane and the second member end. The cavity may include an air-filled cavity. A resistive sensor is disposed on the membrane and configured to output a signal in response to membrane deformation.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority to Singapore Patent Application No. 10202303395P, filed on November 30, 2023, the contents of which are incorporated herein by reference in their entirety for all purposes. Technical Field

[0003] This disclosure relates to an apparatus and system for testing or characterizing materials, and more specifically, to an apparatus and system configured to provide a quantitative determination of the softness of a material. Background Technology

[0004] Human tactile perception of softness provides useful sensory feedback for a variety of applications. Despite continuous technological advancements, achieving human-like softness perception remains challenging due to the complexity of human touch and the fragility of soft materials. Summary of the Invention

[0005] In one aspect, this application discloses an apparatus. The apparatus includes: a grip; a rod; and a pressure sensing unit. The grip has a body having a distal end and a proximal end. The body defines a longitudinal axis extending through the distal end and the proximal end. The rod has a shaft having a distal tip and a proximal head. The shaft is slidably engaged with the grip. The rod is slidable relative to the grip toward the distal end such that the distal tip extends beyond the distal end of the grip. The pressure sensing unit is disposed at the proximal end of the grip. The pressure sensing unit includes an intermediate member, a membrane, a cavity, and a resistive sensor. The intermediate member has a first member end and a second member end. The intermediate member is elastically shaped between the first member end and the second member end. The membrane is coupled to a frame. The cavity is disposed between the membrane and the second member end, and the cavity includes an air-filled cavity. The resistive sensor is disposed on the membrane, wherein the resistive sensor is configured to output a signal in response to membrane deformation.

[0006] The rod can slide toward the proximal end of the grip to push against the first component end of the intermediate component.

[0007] An air-filled cavity can be compressed by the intermediate component in response to the deformation of the intermediate component. Attached Figure Description

[0008] Figure 1A A side view of a schematic diagram of an apparatus according to several embodiments of the present disclosure; Figure 1B for Figure 1A A simplified schematic diagram of the device shown; Figure 2A An exploded perspective view of the device's electronic system is shown; Figure 2B An exploded view of the rest of the sensor assembly is shown; Figure 3A and Figure 3B An alternative embodiment of the intermediate component is illustrated schematically; Figure 4A This is a schematic diagram showing the intermediate components in their default state. Figure 4B This is a schematic diagram of the intermediate component in a deformed state. Figure 5 A schematic diagram of a Wheatstone bridge circuit is shown. Figures 6A to 6C This shows the device in different states; Figure 7 A locking unit according to one embodiment of the device is shown; Figure 8 A locking unit according to another embodiment of the device is shown; Figure 9A and Figure 9B Show Figure 7 Parameter analysis of the locking unit shown; Figure 10A and Figure 10B Compare the experimental analysis results of the flexible pressure sensing unit with the results obtained using a tensile testing machine; Figure 11A A schematic diagram illustrating the positional relationship of the lever relative to the grip; Figure 11B This shows the rod and its proximal end in the default and displacement states. Figure 12A Images and corresponding outline diagrams of several embodiments of the distal tip of the rod are shown; Figure 12B The plots of the mechanical indentation based on theory and finite element analysis are shown, along with a comparison with experimental results. Figure 13 Experimental results, finite element analysis results, and theoretical results of mechanical pressing of different embodiments of the distal tip are shown; and Figure 14 Compare the readings obtained by measuring the softness of various materials using the proposed palpation device. Detailed Implementation

[0009] The following detailed description, with reference to the accompanying drawings, illustrates the details and embodiments of this disclosure for illustrative purposes. Features described in the context of one embodiment may also be applied to the same or similar features in other embodiments, even if not explicitly described in those other embodiments. Additions and / or combinations and / or alternatives described with respect to features in the context of one embodiment may be correspondingly applied to the same or similar features in other embodiments.

[0010] The term “and / or” includes any and all combinations of one or more of the associated listed items.

[0011] The terms “about” and “approximately” when used with numerical values ​​cover the exact value and a reasonable range of deviations, and the terms “substantially” and “basically” should be understood in a similar manner unless otherwise stated. For example, in the context of various embodiments, the terms “about” and “approximately” when used with numerical values ​​are generally understood by those skilled in the art to cover the exact value and a reasonable range of deviations commonly understood in the relevant art, such as within 10% of the specified value.

[0012] The term "exemplary" is used herein to mean "as an example, instance, or illustration." Any embodiment described as "exemplary" is not necessarily to be construed as preferred or superior to other embodiments.

[0013] As used herein, the singular forms “a,” “an,” and “the” can be interpreted to include the plural forms “one or more” unless the context clearly indicates otherwise.

[0014] The terms “first” and “second” are used in the specification and claims for the sake of brevity and clarity only, and do not necessarily indicate priority or order unless the context requires otherwise.

[0015] Device

[0016] Figure 1AThis illustration schematically depicts a portable quant-haptical device (also referred to as a "device" for simplicity) according to an embodiment of the present disclosure, suitable for the quantitative measurement of softness. Device 100 may include a grip portion 120 having a generally elongated shape. For simplicity, it may be referenced to a longitudinal axis 190 or a longitudinal extension direction, wherein the longitudinal axis 190 is defined by the grip portion 120 or the body of the grip portion 120. The grip portion 120 may be described as having two ends, such as a distal end 110 and a proximal end 130. The distal end 110 and the proximal end 130 may be generally defined as the opposite end portions of the grip portion 120. The grip portion 120 (or the body of the grip portion 120) may extend along the longitudinal axis 190 between the distal end 110 and the proximal end 130. The body of the grip portion 120 is provided with a channel 125 (e.g., Figure 11A The channel generally extends along the longitudinal axis 190 from the distal end 110 of the grip portion 120 to the proximal end 130 of the grip portion 120.

[0017] The device 100 includes a rod 121 disposed in a channel 125. As shown, the channel 125 leads to an opening at the distal end 110 of the grip portion 120. The rod 121 is displaceable relative to the grip portion 120 (or relative to the channel 125) along a longitudinal axis 190. The rod 121 can be described as being in slidable engagement with the grip portion 120.

[0018] The lever 121 includes a shaft 123 having a distal tip 122 and a proximal head 124. The distal tip 122 of the lever 121 can extend beyond the distal end 110 of the grip portion 120. For example, the lever 121 can slide relative to the grip portion 120 toward the distal end 110 so that the distal tip 122 can extend beyond the distal end 110 of the grip portion 120.

[0019] The distal tip 122 of the lever 121 can retract toward the proximal end 130 of the grip 120. For example, the distal tip 122 can be described as retractable relative to the grip 120, thereby reducing the length of the lever 121 extending beyond the distal end of the grip 120.

[0020] According to various embodiments of this disclosure, device 100 includes a sensor assembly 102 disposed at a proximal end 130 of grip portion 120. Sensor assembly 102 may include a limiting mechanism 140 and a pressure sensing unit 160. Sensor assembly 102 may also include an electronic system 180 operatively connected to pressure sensing unit 160. To avoid confusion, various embodiments of device 100 are alternatively represented by simplified block diagrams, for example... Figure 1BThe device shown is an example of a device. As shown, the limiting mechanism 140 and the pressure sensing unit 160 can be arranged at the proximal end 130 of the grip portion 120. The electronic system 180 can be arranged at the proximal end 130 of the grip portion 120.

[0021] Device 100 can be configured to have a generally elongated shape. The grip 120 can be configured in shape and size to allow a user to hold and operate it with one hand, for example, using the thumb and one or more fingers of the same hand. The distal end 110 can be configured in shape and size to have a smaller diameter and / or smaller footprint than the proximal end 130 of device 100. The user can hold device 100 relatively close to the distal end 110 at the grip 120, thereby enabling small movements and more precise positioning of device 100. Except for the distal tip 122 of rod 121 and the distal end 110 of grip 120, the rest of device 100 (or sensor assembly 102) is arranged at or near the proximal end 130 of grip 120, spaced apart from the distal end 110. This configuration allows the user a relatively unobstructed view of the target location at the distal end 110 (or distal tip 122) of device 100.

[0022] The electronic system 180 can be configured in various ways. Figure 2A This exploded perspective view of electronic system 180 is shown for illustrative purposes only and is not intended to be limiting. For example, electronic system 180 may include a printed circuit board (PCB) 181 disposed on a first main surface 157 of cover 156. For example, electronic system 180 may include a microcontroller unit (MCU) 183 in place of the PCB 181. For example, electronic system 180 may include a microcontroller unit 183 mounted on the PCB 181. For example, electronic system 180 may include one or more other chips 182 in place of or supplementing the microcontroller unit 183.

[0023] Coupling the electronic system 180 to the first main surface 157 of the cover 156 provides relatively high flexibility in the arrangement of the electronic system 180 and in the selection of electronic components. For example, the electronic components selected in the electronic system 180 do not have to be the smallest possible electronic components. For example, slightly larger but more cost-effective electronic components can be used without affecting the one-handed operability of the device 100. For example, the electronic system 180 can be arranged in various ways by adding more “layers” of electronic components on the first main surface 157 without significantly increasing the footprint of the device 100.

[0024] The electronic system 180 may also include a Bluetooth module and / or a communication module. The electronic system 180 may include one or more circuit elements, such as, but not limited to, operational amplifiers, resistors, capacitors, wires, batteries, etc. The electronic system 180 may include one or more memory devices, which may be part of a microcontroller chip unit 183, other chips 182, and / or a printed circuit board 181.

[0025] Electronic system 180 may be configured to acquire a signal from pressure sensing unit 160. Microcontroller chip unit 183 and / or a processor forming part of electronic system 180 may be configured to determine a softness measurement value based on the signal. In some examples, electronic system 180 is configured to preprocess the signal. In some examples, electronic system 180 is configured to calculate a result, such as a quantitative measurement value representing softness (e.g., a quantitative softness value). In some examples, electronic system 180 is configured to acquire the signal and store data associated with the signal in memory. In some examples, electronic system 180 is configured to transmit the calculation result to a user interface (e.g., a display) and store the data associated with the signal in memory. In some embodiments, electronic system 180 is configured to transmit the signal to a remote computing unit, which then calculates a quantitative measurement value of softness, such as a quantitative softness value or a softness measurement value expressed in quantitative form.

[0026] Figure 2B An exploded view of the remainder of the sensor assembly 102 is shown, including a pressure sensing unit 160 disposed at the proximal end 130 of the grip portion 120. The pressure sensing unit 160 may be configured as a hybrid device, for example, integrating two or more subsystems that can operate on different operating principles.

[0027] The cover 156 includes one or more support extensions 155, which are coupled to the second flange 151 by one or more fasteners 152. The support extensions 155 allow the cover 156 to be spaced apart from the second flange 151 at a fixed interval.

[0028] The pressure sensing unit 160 may include a push rod 165. A first end 162 of the push rod 165 may be coupled to an elastic element 170. A second end 166 of the push rod 165 may abut against a second main surface 159 of the cover 156.

[0029] An intermediate member 161 is disposed between the cover 156 and the protective cover 154. The protective cover 154 is disposed at the proximal end of the rod 121. In some examples, the protective cover 154 is integrally formed as the proximal end of the rod 121. In some examples, the protective cover 154 is fitted onto the proximal end of the rod 121. The protective cover 154 may be configured to match the intermediate member 161 in size and shape. For example, in some embodiments, the diameter of the protective cover 154 is larger than the rod body 123 of the rod 121. The proximal end 124 may directly or indirectly push against or abut against the intermediate member 161. For example, the proximal end 124 may directly push against the protective cover 154, which in turn pushes against the first member end 167 of the intermediate member 161.

[0030] In use, the distal end 110 of the grip 120 can contact the surface of the target to be tested. The contact between the distal tip 122 of the rod 121 and the target surface allows the rod 121 to slide relative to the grip 120. The distal tip retracts relative to the distal end 110 of the grip 120, while simultaneously the proximal head of the rod 121 extends further relative to the proximal end 130 of the grip 120. The proximal head is pushed against the first member end 167 of the intermediate member 161 by, for example, a protective cover.

[0031] With the distance between the cover 156 and the second flange 151 fixed, the longitudinal displacement of the protective cover 154 toward the cover 156 will cause the pressure sensing unit 160 to generate a signal in response, which can be acquired by the electronic system 180.

[0032] Figure 3A and Figure 3B Several embodiments of the intermediate member 161 are schematically illustrated. The intermediate member 161 includes a frame 163. The frame 163 supports a membrane 164 between a push post 165 and an elastic member 170. The push post 165 extends longitudinally from one end of the frame 163. The elastic member 170 is arranged at the opposite end of the frame 163. The intermediate member 161 includes a membrane 164 supported by the frame 163. The push post 165 extends longitudinally from the frame 163 to abut against a second main surface 159 of the cover 156. The frame 163 provides support for the periphery or edge of the membrane 164, such that the membrane 164 (e.g., in...) Figure 4A In the default state 202 shown, the elastic element 170 is arranged laterally relative to the longitudinal axis 190. When the elastic element 170 is pushed by the proximal head 124, the elastic element 170 will absorb part of the force. At the same time, the elastic element 170 will compress the cavity 200 (e.g., a cavity of air or other gaseous substance) located between the elastic element 170 and the membrane 164. In response, the membrane 164 may deform (e.g., Figure 4B The deformation state shown is 204.

[0033] Refer again Figure 3AIn some embodiments, the elastic element 170 includes a compression spring 171. (See also...) Figure 3B In some embodiments, the elastic element 170 includes an elastically deformable foam 172. For example, the elastic element 170 may include one or more elastic materials, rubber, and / or elastic recovery elements. Examples of the elastic element 170 may include (but are not limited to) a coil spring, a leaf spring, etc.

[0034] Displacement of rod 121 along longitudinal axis 190 will not cause deformation or displacement of membrane 164 of the same or similar magnitude (displacement / distance) along longitudinal axis 190. Displacement of rod 121, such as displacement of proximal head 124, is mitigated by at least two intermediate buffer structures. For example, some kinetic energy from the displacement of rod 121 / proximal head 124 can be absorbed by elastic element 170. For example, some kinetic energy from the displacement of rod 121 (or proximal head 124) can also be further absorbed by compressible air or gaseous material in cavity 200.

[0035] In some embodiments, such as Figure 4B and Figure 4B As shown, the membrane 164 can be supported by the frame 163 of the intermediate member 161 and longitudinally spaced from the elastic member 170. A cavity 200 is located between the membrane 164 and the elastic member 170. The cavity 200 can be configured to contain a compressible gaseous substance, such that the height or volume of the cavity 200 can vary depending on the magnitude of the force applied to the cavity 200 by the pusher 165.

[0036] Figure 4A and Figure 4B An embodiment is shown in which cavity 200 can be filled with a volume of air or other gaseous substance. Cavity 200 can be arranged to be adjacent to and in physical contact with elastic member 170 via second member end 168. Membrane 164 can form a surface of cavity 200, wherein membrane 164 is spaced apart from elastic member 170.

[0037] like Figure 4A As shown, a Wheatstone bridge circuit (also referred to as Wheatstone bridge 190) can be arranged on a membrane 164, wherein wires 194 connect the Wheatstone bridge 190 to the electronic system 180. Figure 4A The intermediate member 161 is shown prior to the mechanical pressing of the distal tip 122 of rod 121 into the target surface. A membrane 164 is relatively flat in shape and is arranged substantially laterally across frame 163. Correspondingly, a plurality of resistors 169 constituting the Wheatstone bridge 190 are arranged on a relatively flat plane. Figure 4BThe diagram illustrates an intermediate component 161 during a mechanical pressing event (e.g., testing a target surface using device 100). A membrane 164 deforms in response to a force applied to the push post 165, buffered by the elastic element 170 and the cavity 200. The respective resistance values ​​of the plurality of resistors 169 change accordingly, thereby allowing signals to be obtained from the Wheatstone bridge 190.

[0038] Figure 5 The Wheatstone bridge circuit is schematically shown, which includes four piezoresistive elements. During mechanical pressing, the Wheatstone bridge 190 is configured to change the resistance through each piezoresistive element in response to the deformation of the diaphragm 164.

[0039] For example, when the elastic element 170 is compressed and undergoes a relatively large deformation, force will be transmitted through the elastic element 170 to act on the air-filled cavity 200. The air-filled cavity 200 will undergo a relatively small deformation. The pressure in the cavity 200 will further deform the diaphragm 164. In response to the deformation of the diaphragm 164, the Wheatstone bridge arranged on the diaphragm 164 can deform, thereby causing a change in the resistance of the strain gauges in the Wheatstone bridge circuit. The change in resistance of the strain gauges on the diaphragm 164 corresponds to the pressure sensed by the pressure sensing unit 160.

[0040] In other embodiments, various circuits, such as voltage divider circuits, operational amplifier (Op-Amp) based circuits, differential amplifier circuits, and oscillator-based circuits, may be used as alternatives to the Wheatstone bridge 190. As used herein, the term "resistive sensor" is used generically to refer to other types of sensors that can output a signal in response to changes in resistance.

[0041] Refer again Figure 2B The device 100 includes a limiting mechanism 140 that works in conjunction with the pressure sensing unit 160. The limiting mechanism 140 can be arranged at the proximal end 130 of the grip portion 120 and is located between the pressure sensing unit 160 and the grip portion 120. The relatively large parts of the device 100 can be entirely located at the proximal end 130 of the grip portion 120, so that the rest of the device 100 (e.g., the grip portion 120) has a relatively compact and slim shape, thereby facilitating one-handed gripping and operation by the user.

[0042] The limiting mechanism 140 may include a first flange 141 and a second flange 151. The first flange 141 is fixed to the proximal end 130 of the grip portion 120. The second flange 151 is fixed to the cover 156. The first flange 141 and the second flange 151 may be spaced apart from each other along a longitudinal axis 190. The first flange 141 and the second flange 151 may be coupled together by bolts 142 and a plurality of elastic compressible elements 143, for example, providing a certain degree of elastic spacing variation between the first flange 141 and the second flange 151. The bolts 142 may be secured with their respective nuts 145. Figure 6A , Figure 6B and Figure 6C The elastically variable gap between the first flange 141 and the second flange 151 is shown. With reference to the first flange 141, the configuration of the bolt 142 and nut 145 allows the second flange 151 to slide along the bolt parallel to the longitudinal axis 190, thereby limiting the displacement of the rod 121 relative to the grip 120.

[0043] Figure 6A The first state 212 is shown, in which one or more support extensions 155 extend longitudinally through the second flange 151 to abut against the first flange 141, thereby defining a minimum longitudinal displacement position of the cap 156 relative to the second flange 151. This minimum longitudinal displacement position is characterized by allowing a sufficient range of indentation depth between the distal tip 122 and the sample during mechanical pressing. The first flange 141 acts as a stop to prevent excessive indentation of the distal tip 122 that could potentially damage the sample.

[0044] Figure 6B The second state 214 is shown, such as the fully extended state, in which one or more support extensions 155 can be hooked and abutted against the second flange 151 to define the maximum longitudinal displacement position of the cover 156 relative to the second flange 151, while ensuring that the cover 156 does not completely detach from the second flange 151.

[0045] Figure 6C The third state 216 is shown, such as the pre-locked state, in which the locking unit 144 has not yet been wedged into the hole set by the first flange 141.

[0046] like Figure 7As shown, the limiting mechanism 140 may further include a locking unit 144. The locking unit 144 may be in the form of a partial "sleeve" arranged with respect to the lever 121, extending into and beyond the grip portion 120. The locking unit 144 may have a gradually increasing diameter along its longitudinal direction, extending from the first flange 141 to the second flange 151. The first flange 141 may be provided with a hole 146, sized to partially accommodate the smaller end of the locking unit 144. For example, the locking unit 144 may have a tapered shape, with its narrower distal end sliding relative to the hole 146, while its wider proximal end cannot pass through the hole 146. The proximal end of the locking unit 144 may be fixedly coupled to the second flange 151. When the cap 156 is pushed toward the distal end under excessive force, the locking unit 144 will wedge or lock into the hole 146 provided in the first flange 141.

[0047] The device 100 includes three spring-loaded bolts 142 and a locking unit 144. The three spring-loaded bolts 142 may be radially symmetrically distributed about a longitudinal axis. The plurality of spring-loaded bolts 142 are equidistantly distributed on the first flange 141 / second flange 151 to provide a uniform elastic force in response to the contact force applied during mechanical pressing. The locking unit 144 may be a partial sleeve arranged about the rod 121. The locking unit 144 and the rod 121 may extend longitudinally through the grip portion 120. The locking unit 144 may be part of the limiting mechanism 140, preventing excessive displacement of the rod 121 relative to the grip portion 120 by wedging or locking the locking unit 144 into a corresponding hole 146 in the first flange 141.

[0048] In other embodiments, such as Figure 8 As shown, the limiting mechanism 140 may include multiple locking units 144 and corresponding multiple holes 146. The multiple locking units 144 (and corresponding multiple holes 146) may be radially symmetrically distributed about the longitudinal axis 190 on the first flange 141 and the second flange 151.

[0049] The device 100 may include a plurality of spring-loaded bolts 142 and a plurality of locking units 144. In this example, each of the three locking units 144 is partially covered by a sleeve. The three locking units 144 are equidistant from each other to provide uniform support for securing the device 100, for example, the locking units 144 are regularly distributed relative to the first flange 141 and / or the longitudinal axis 190.

[0050] The bending stiffness of this tapered "sleeve" (also known as a wedge-shaped cantilever beam) is mainly determined by the dimensions of the tapered structure and the width of its root. Figure 9AThe diagram shows the presence of multiple geometric parameters. These parameters include radii: r1, r2, r3, and r4, and heights: h1 and h2. r2 and r3 are key parameters determining the bending stiffness of this conical structure. Through comprehensive mechanical analysis... Figure 9B The diagram shows that the larger the radii r2 and r3, the higher the bending stiffness of the structure. When r2 and r3 satisfy a certain linear relationship, their changes no longer affect the bending stiffness of the structure. It is worth noting that when the two radii satisfy a certain linear relationship, their changes will no longer affect the bending stiffness of the structure.

[0051] Experiments and Applications

[0052] In addition, the mechanical characteristics of the pressure sensing unit 160 are analyzed. Figure 10A The results of a 200-cycle performance test on the pressure sensing unit 160 are shown, demonstrating its performance compared to a standard tensile testing machine (…). Figure 10B The magnitude and trend of the force obtained have good consistency.

[0053] Reference Figure 11A The device 100 also includes a rod 121 slidably engaged with the grip portion 120. For example, the grip portion 120 may be provided with a hollow channel 125, allowing the rod 121 to slide relative to the grip portion 120 within the channel 125. The rod 121 includes a distal tip 122, a shaft 123, and a proximal head 124. The rod 121 is slidable such that the distal tip 122 extends beyond the distal end 110 of the grip portion 120. The rod 121 is arranged in and extends through the channel 125. The proximal head 124 may be made of an elastic material to provide feedback in the longitudinal and lateral directions in response to external forces, such as mechanical indentation events.

[0054] The distal tip 122 and proximal head 124 may reduce the compressive stability of the rod 121. For example... Figure 11B As illustrated, buckling instability may be further exacerbated when contact force is transmitted from the distal tip 122 to the relatively flexible or deformable pressure sensing unit 160. The presence of the locking unit 144 ensures that the lever 121 is held in place during operation. The corresponding distal tip 122 of the lever 121 can be any of a variety of shapes and geometries, such as, but not limited to, conical, hemispherical, cylindrical, etc.

[0055] Figure 12A Three different tip prototypes are shown: conical, spherical (hemispherical), and cylindrical. Mechanical analysis of the different tip shapes is performed based on the Hertz model. For the spherical (hemispherical) tip, Figure 12BThe results from Hertzian theory demonstrate good agreement between the finite element analysis (FEA) and theoretical results. During indentation, material deformation remains relatively uniform, thus minimizing the risk of damage to the target. Under the same hardness / softness conditions, the indentation force required for a round tip falls between that required for a cylindrical tip and that required for a conical tip.

[0056] like Figure 13 As shown, the cylindrical tip requires the greatest force, while the conical tip requires the least. Furthermore, the conical tip can be considered as a cylindrical tip with a near-infinite apical surface area. Based on the analysis of cylindrical and conical indentation in the classical Hertzian model, an empirical formula is established to predict the force distribution of tips with different gradients during the indentation process. The finite element analysis results show good agreement with both experimental and theoretical results.

[0057] Figure 14 Three functional tests were performed using a prototype of device 100. Three different softness conditions were employed (in descending order of softness): (i) an open palm; (ii) the back of a clenched fist; and (iii) an acrylic plate. Through these functional tests, the prototype of device 100 demonstrated its ability to distinguish between samples with relatively large differences in softness (e.g., an open palm versus an acrylic plate). The prototype also experimentally verified its ability to distinguish between different areas of the same object (e.g., an open palm versus the back of a clenched fist).

[0058] One useful application of device 100 is for monitoring and assessing patients with scleroderma. Scleroderma, also known as systemic sclerosis, is a rare autoimmune disease characterized by hardening and tightening of the skin and connective tissue. It belongs to the category of rheumatic diseases and can affect internal organs, blood vessels, and the digestive tract. The word "scleroderma" originates from the Greek words for "hard" (sclero) and "skin" (derma). One of its main symptoms is thickening and hardening of the skin, particularly affecting the hands and face. Therefore, quantitative palpation or measurement of tissue softness can serve as a valuable component in assessing and monitoring patients with scleroderma.

[0059] According to one approach, the proposed device 100 is used to characterize skin softness measurements in healthy individuals. Measurements include softness assessments of different skin sites within the same individual, and / or softness measurements of the same skin sites across different individuals. The device 100 is used to test skin softness in patients with scleroderma. Overall skin stiffness is categorized based on the existing modified Rodnan skin score, thereby enabling early screening for scleroderma. Because the device 100 can acquire quantitative softness measurements, a library of quantitative data can be collected, and this quantitative database can be used to provide digital or data-based diagnostic methods. The existing modified Rodnan skin score can be optimized accordingly for more accurate scleroderma screening.

[0060] The proposed device 100 enables quantitative measurement of skin softness without damaging the target surface. This is particularly useful for determining skin softness in patients with pre-existing skin conditions. Simultaneously, the device integrates a mechanical safety protection mechanism that does not rely on a battery-powered sensor to prevent excessive force from being applied to the target surface; that is, the safety protection mechanism remains effective regardless of battery status. Advantageously, the structure cleverly integrates anti-buckling functionality with the safety protection function, while simultaneously enabling the near-instantaneous and automatic determination of a quantitative value of the target surface softness.

[0061] This application discloses several embodiments of a device including a grip, a rod, and a pressure sensing unit. The grip has a body having a distal end and a proximal end, and the body defines a longitudinal axis extending through the distal and proximal ends. The rod has a shaft having a distal tip and a proximal head, and the shaft is slidably engaged with the grip. The rod is slidable relative to the grip toward the distal end such that the distal tip extends beyond the distal end of the grip. The pressure sensing unit is disposed at the proximal end of the grip. The pressure sensing unit includes an intermediate member, a membrane, a cavity, and a resistive sensor. The intermediate member has a first member end and a second member end. The intermediate member is elastically shaped between the first member end and the second member end. The membrane is coupled to a frame. The cavity is disposed between the membrane and the second member end, and the cavity includes an air-filled cavity. The resistive sensor is disposed on the membrane, wherein the resistive sensor is configured to output a signal in response to membrane deformation.

[0062] The device can be in the form of a rod that can slide toward the proximal end of the grip to push against the first component end of the intermediate component.

[0063] The device can be in the form of an air-filled cavity that can be compressed by the intermediate member in response to the deformation of the intermediate member.

[0064] The device may further include a first flange, a second flange, and a cover. The first flange is fixedly coupled to the grip. The second flange is fixedly coupled to the rod. The cover is fixedly coupled to the support, wherein the first flange is variably spaced from the second flange, and the cover is spaced from the second flange along the longitudinal axis at a fixed cover-second flange spacing.

[0065] The device may be in the form of a cover comprising a plurality of legs extending parallel to a longitudinal axis, each of the plurality of legs being coupled to a second flange.

[0066] The device may also include a plurality of fasteners, each of which includes a hook-shaped end. The hook-shaped end is configured to engage each of the plurality of legs against a second flange.

[0067] The device may also include a sleeve. The sleeve is fixedly coupled to the second flange and is configured to define a minimum distance between the second flange and the proximal end of the grip, the minimum distance being defined along the longitudinal axis.

[0068] The device can be in the form of a gripping part having a channel that extends from the distal end to the proximal end.

[0069] The device can be in the form of a rod arranged in a channel, with a sleeve arranged about the portion of the rod extending beyond the grip.

[0070] The sleeve may include a wedge element. This wedge element can be wedged into the channel to define a minimum spacing.

[0071] The device may also include a plurality of resilient compressible elements, which may be arranged between the second flange and the proximal end of the grip. The plurality of resilient compressible elements may be biased to increase the distance between the second flange and the proximal end of the grip, the distance being defined along a longitudinal axis.

[0072] The device may also include an electronic system. This electronic system may be disposed on the cover, wherein the electronic system may be configured to acquire signals from a resistive sensor and determine a softness measurement.

[0073] The device may include a spring as an intermediate component.

[0074] The device may include an intermediate member comprising a resilient intermediate member.

[0075] The device may be in the form of a distal tip having or including a hemispherical tip.

[0076] The device may be in the form of a distal tip having or including a flat tip.

[0077] The device may be in the form of a distal tip having or including a tapered tip.

[0078] The device can be in the form of a resistive sensor including a Wheatstone bridge circuit.

[0079] All examples described herein, whether apparatus, methods, materials, or products, are shown for illustrative and understanding purposes and are not intended to be limiting or exhaustive. Modifications can be made by those skilled in the art without departing from the scope of the claimed invention.

Claims

1. An apparatus comprising: A grip portion having a main body having a distal end and a proximal end, the main body defining a longitudinal axis extending through the distal end and the proximal end; A rod having a shaft having a distal tip and a proximal head, the shaft being slidably engaged with a grip, the rod being slidable relative to the grip toward the distal end such that the distal tip extends beyond the distal end of the grip; as well as A pressure sensing unit is disposed at the proximal end of the grip portion, the pressure sensing unit comprising: An intermediate member having a first member end and a second member end, wherein the intermediate member is elastically shaped between the first member end and the second member end; A membrane, which is coupled to a frame; A cavity, the cavity being disposed between the membrane and the end of the second member, the cavity including an air-filled cavity; and A resistive sensor is disposed on the membrane, wherein the resistive sensor is configured to output a signal in response to membrane deformation.

2. The device of claim 1, wherein the rod is slidable toward the proximal end of the grip to push against the first member end of the intermediate member.

3. The apparatus of claim 2, wherein the air-filled cavity can be compressed by the intermediate member in response to deformation of the intermediate member.

4. The apparatus according to claim 3, further comprising: A first flange is fixedly coupled to the grip portion; A second flange is fixedly coupled to the rod; as well as A cover, which is fixedly coupled to the support, wherein the first flange is variably spaced apart from the second flange, and the cover is spaced apart from the second flange along the longitudinal axis at a fixed cover-second flange spacing.

5. The device of claim 4, wherein the cover includes a plurality of legs extending parallel to the longitudinal axis, each of the plurality of legs being coupled to the second flange.

6. The apparatus of claim 5 further comprises a plurality of fasteners, each of the plurality of fasteners including a hook end configured to engage a respective leg of the plurality of legs against the second flange.

7. The apparatus according to any one of claims 4 to 6, further comprising a sleeve fixedly coupled to the second flange and configured to define a minimum distance between the second flange and the proximal end of the grip, the minimum distance being defined along the longitudinal axis.

8. The device of claim 7, wherein the gripping portion is provided with a channel extending from the distal end to the proximal end.

9. The device of claim 8, wherein the rod is arranged in the channel and the sleeve is arranged about the proximal end of the rod extending beyond the grip.

10. The apparatus of claim 9, wherein the sleeve includes a wedge element that can be wedged into the channel to define the minimum spacing.

11. The apparatus according to any one of claims 4 to 10, further comprising a plurality of resiliently compressible elements disposed between the second flange and the proximal end of the grip, the plurality of resiliently compressible elements being biased to increase the distance between the second flange and the proximal end of the grip, the distance being defined along the longitudinal axis.

12. The apparatus according to any one of claims 4 to 11, further comprising an electronic system disposed on the cover, wherein the electronic system is configured to acquire the signal from the resistive sensor and determine a softness measurement.

13. The apparatus according to any one of claims 1 to 12, wherein the intermediate member comprises a spring.

14. The apparatus according to any one of claims 1 to 12, wherein the intermediate member comprises an elastic intermediate member.

15. The device according to any one of claims 1 to 14, wherein the distal tip is provided with a hemispherical tip.

16. The device according to any one of claims 1 to 14, wherein the distal tip is provided with a flat tip.

17. The device according to any one of claims 1 to 14, wherein the distal tip is provided with a tapered tip.

18. The apparatus according to any one of claims 1 to 17, wherein the resistive sensor comprises a Wheatstone bridge circuit.

Images