Stroke causes neurological pathologies, including gait pathologies, which are diagnosed by gait analysis. However, existing gait analysis devices are difficult to use in situ or are disrupted by external conditions. To overcome these drawbacks, a flexible capacitance sensor was developed in this study. To date, a performance comparison of flexible sensors with different dimensions has not been carried out. The aim of this study was to provide optimized sensor dimension information for gait analysis. To accomplish this, sensors with seven different dimensions were fabricated. The dimensions of the sensors were based on the average body size and movement range of 20- to 59-year-old adults. The sensors were characterized by 100 oscillations. The minimum hysteresis error was 8%. After that, four subjects were equipped with the sensor and walked on a treadmill at a speed of 3.6 km/h. All walking processes were filmed at 50 fps and analyzed in Kinovea. The RMS error was calculated using the same frame rate of the video and the sampling rate of the signal from the sensor. The smallest RMS error between the sensor data and the ankle angle was 3.13° using the 49 × 8 mm sensor. In this study, we confirm the dimensions of the sensor with the highest gait analysis accuracy; therefore, the results can be used to make decisions regarding sensor dimensions.

Harnesses can be used in various applications, such as entertainment, rescue operations, and medical applications. Because users are supported on the harness for a long time, they should feel comfortable wearing the harnesses. However, existing commercial harnesses are uncomfortable to wear and cause continuous serious pain. Therefore, in this study, a new pant-type harness with a fabric air pocket to reduce the applied pressure on the body, especially in the groin, is proposed. Keeping this in mind, we have designed and developed the pant-type harness. In addition, we performed pressure and contact area measurement experiments using the harness developed, pressure sensor, and a human mannequin. Peak and mean pressures and contact areas near the groin and waist were measured in the experiments. From the results, when air is injected in the air pockets, the peak pressure and contact area near the waist increased, and the peak pressure near the groin decreased. This means that the pressure applied on the human mannequin near the groin reduces because of the increased contact area near the waist, which is achieved by multi-layered air pockets. In this study, we proposed the optimal design of a novel pant-type harness that can address the limitations of existing harnesses. The proposed harness can be used for a prolonged time in applications, such as virtual reality entertainment, rescue operations, and rehabilitation.

Tactile sensing can enhance robotic grasping by providing contact information unavailable from vision or control signals alone. However, implementing tactile sensing in robotic hands is often constrained by external wiring, data-acquisition hardware, power requirements, and limited fingertip space. This study presents a self-contained capacitive tactile fingertip module for adding wireless multi-point contact sensing to robotic grippers. The module integrates a 3 × 1 array of thin flexible capacitive sensors, a capacitance-to-digital converter, a Bluetooth-enabled microcontroller, and an onboard battery within a compact fingertip-shaped housing. It can be mounted in place of an existing fingertip and operates independently of the robotic hand controller. Individual sensors characterized before module integration responded near-linearly to normal compression up to 2.5 N, with an approximately 8% relative capacitance change at 2.5 N and R² = 0.99, and were evaluated over 100 repeated compression cycles. In proof-of-concept grasping tests with an empty PET bottle, a water-filled PET bottle, and a water-filled aluminum tumbler, the assembled module produced distinguishable capacitance changes at the mid- and proximal-position sensors, providing relative information on contact location and local loading rather than calibrated force. These results demonstrate the feasibility of wireless tactile sensing in robotic grasping using a compact standalone fingertip module.