Development of an experimental bench to study the

mechanical behavior of coronary stent.

PROJ903-Collective Project

Final Report

Master’s Program: Advanced Mechatronics (AM)

Semester: 9

Year: 2022/2023

Project Owner: Dr. Manuel Lagache

Submitted by: Jihen Guezguez / Ali Lambachri

Date of Submission: 26-01-2023

Summary

The use of science and technology in the medical domain is characterized by its emphasis on resolving issues
involving living biological systems. In reality, as coronary angioplasty technology improved, various designs
emerged. As a result, it is critical to investigate their mechanical behavior. Our collective project goal is to come
up with ways to construct a bench test for studying the mechanical behavior of coronary stents and providing
data to help cardiologists choose the right one.

The purpose of this research is to figure out what standards and requirements are needed to create a stable
and high-precision bench test capable of performing the bending stiffness mechanical tests to evaluate the
coronary stent's elasticity and deformation.

A detailed analysis was conducted and three-points bending stiffness was selected as a methodology for the
first system. And several standards were found for the tests protocols. Finally, a linear point load cell with 3N
capacity was chosen for force sensing.

The medical field relies heavily on the integration of science and technology to address issues related to living
biological systems. As technology in the field of coronary angioplasty has advanced, various designs of enstents
have been developed. It is therefore crucial to study the mechanical behavior of these stents to aid in their
selection. Our project aims to develop a bench test for evaluating the elasticity and deformation of coronary
stents through the use of a bending stiffness mechanical test. We aim to determine the necessary standards
and requirements for creating a reliable and accurate test system. Through our research, we have determined
that a three-point bending stiffness method will be used and specific test protocols have been identified.
Additionally, a linear point load cell with a capacity of 3N will be utilized for force sensing.

Acknowledgments

Incoherence with my workflow,

I would like to express my gratitude for:

Dr. Manuel Lagache, for providing help and support during the whole project and for the collaboration
between the individual project and the collective one.

Mr. Girard Blaise for his help, advice, and his work during the mechanical part section.
Table of Contents

Chapter 1: Introduction............................................................................................................................................1
1.1. Definition of the project.........................................................................................................................1
1.2. Objectives of the project........................................................................................................................1
1.3. Constraints of the project.......................................................................................................................2
1.4. Organization of the report......................................................................................................................3
Chapter 2: Literature review....................................................................................................................................3
2.1. Background information..............................................................................................................................3
2.2. Comparison of concurrent solutions...........................................................................................................3
2.2.1. Flexibility test system methodologies and protocols............................................................................3
2.2.2. Engineering standards of the concurrent solutions..............................................................................6
Chapter 3: Design and Analysis................................................................................................................................7
3.1. Proposed design..........................................................................................................................................7
3.2. Selection design...........................................................................................................................................7
3.2.1. Frame Selection....................................................................................................................................7
3.2.2. Constructions selection........................................................................................................................8
3.2.3. Probes (blade) and fixtures (tubes for stent)........................................................................................8
3.2.4. Force sensor selection..........................................................................................................................9
3.2.5. Motor selection....................................................................................................................................9
3.3. Sensors and actuators...............................................................................................................................10
3.3.1. Force sensor.......................................................................................................................................10
3.3.2. Stepper Motor....................................................................................................................................11
3.3.3. Motor driver.......................................................................................................................................12
3.3.4. Displacement sensor...........................................................................................................................12
3.4. Control and interfaces of the system.........................................................................................................12
3.4.1. Motor stepper control........................................................................................................................12
3.4.2. Load cell amplifier control..................................................................................................................12
3.4.3. Motor control interface......................................................................................................................14
3.4.4. Load cell interface...............................................................................................................................14
3.5. Data management in and around the system...........................................................................................15
3.5.1. Data classification...............................................................................................................................15
 3.5.2. Data Synchronization..........................................................................................................................15
3.6. Over-all architecture..................................................................................................................................17
Chapter 4: Project management............................................................................................................................20
4.1. Project management methods..................................................................................................................20
4.2. Competencies achieved.............................................................................................................................21
Available Tools and Resources..........................................................................................................................21
Difficulties encountered and how overcome them..........................................................................................22
Chapter 5: Cost Analysis.........................................................................................................................................22
Chapter 6: Conclusion............................................................................................................................................23
References..............................................................................................................................................................24
Appendices.............................................................................................................................................................25
presentation of the context and of the objectives of the project

Structure of the report

Relevance of the content

Clarity

Conciseness (analytical mind)

Quality of the bibliography

Conclusion

scientific and personal points of view

feedback on the learning outcomes of the project

Chapter 1: Introduction

During this semester, the collective project course was about to take part in the research project of an
academic staff, to study a limited section of this project, and to propose a solution. The project aims for
developing skills for the 3 main competencies which must be acquired through the master program. First to
design and achieve a mechatronic system, manage a research project, and master the skills required for
research activities.

1.1. Definition of the project

The majority of heart attacks that might end with death are caused by artery diseases such as high-risk
sensitive arterial wall, a systemic disease of the vessel wall that develops in the coronary arteries. As a result,
coronary stents, as shown in figure 1.1, are one of the treatments that may be used to remove plaques that
have formed in the artery walls. Commercial stent development has progressed in recent decades. Coronary
stents come in a variety of designs, each with its own set of mechanical qualities and standards. As a result,
understanding and assessing the mechanical behavior of stents is critical in order to ensure a safe and efficient
deployment during and after the surgery. The goal of our project is to design a test bench for coronary stents.
In this project, we are responsible to create the bench to perform mechanical tests that are extremely crucial in
assisting cardiologists in selecting the best stent for a certain patient instance.

Figure 1.1: Coronary stent inside arterial vessel [1]

1.2. Objectives of the project

The main objective of the project is to design a bench test in order to study the mechanical behavior of
coronary stent. It is a synergetic solution for developing a mechatronic system with compliance to the
engineering standards set for mechanical testing and biomedical devices assessment. The system performs
bending stiffness tests for commercial coronary angioplasty devices. This will be done by characterizing and
measuring some mechanical properties while providing the same conditions as inside the artery.

During the project, we have set two types of objectives The first objectives are related to the optimization of
the system while the second objective is related to the standardization of the testing protocols.

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The first objectives include:

 Build a linear actuator capable of moving a carriage that hold the load cell and hit the stent. The
process is including 3D modeling of some components such as the carriage and supports. And then
generating STL files for 3D printing, at the end we will proceed on assembling.
 Generate calculations for the stepper motor control, this includes Multi-physics modeling and
simulations to justify the parameters controlling our motor.
 Find a better solution for holding the stent by modeling a system with two circular rods which is then
should be adjustable to hold different stent shapes and dimensions. This will include some strength of
materials calculations and we expect to reach a final design.
 Find solutions for the design of the experiment related to data retrieved from the force measured and
the displacement of the stent, which will be done after receiving the load cell and the displacement
sensor to use them for the design of the experiment phase.
 Test and validate to be able to focus on minimizing the errors of the readings from the sensors and
control the speed of the motor.

The second objectives we have set were to find relevant standards for Balloon expandable stents. And their
progress will be along with the duration of the project since they are here to evaluate our work. This will
include:

 Find relevant terminology standards for coronary stents.

 Use safety and data collection standards.
 Use test methods and manufacturing standards.

1.3. Constraints of the project

There are some constraints that we had in our project since our system is about assessing coronary stents that
small range diameter (2-4 mm). So, the main problem is how to apply the force to bend the stent as this device
has a mesh structure which means that there is a considerable amount of gap in the stent shape. In addition,
the dimensions and structure of the stent make the force to be applied is challenged in this case. We can sum
up our main constraints and classify them as follow:

 High sensitivity to mechanical vibrations, friction forces, moments, torques, and dynamic forces that
can alter the desired physical output measurements from sensors to a less accurate or damaged
output.
 Data synchronization and the system control (Stepper Motor and Load Cell).
 Geometrical and dimensional constraints for stent fixtures (tube).
 Safety constraints related to components protection.
 Cost and availability constraints associated with high precision bearings and excellent surface finished
for fixtures manufacturing.
 Economic constraints related to the budget we have to purchase the components and devices we will
use.

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 Regarding the other constraints of the overall research project, there are no social or health, or security
impacts of this project. Moreover, the medical signification of the project makes it a good research and
development project that will contribute to the reduction of coronary complications.

1.4. Organization of the report

First of all, the project is about developing an experimental bench for the study mechanical behavior of
coronary stent. It starts by chapter 1 which is an introduction that includes the project context, overall
objectives, and constraints. After that, chapter 2 that related to the literature review about the experimental
bench tests for coronary stents. It starts by the background information the project will be focused on, the
comparison of the concurrent solutions for flexibility test system methodologies and protocols, and finally the
engineering standards for these solutions.

Chapter 3 which is the design section starting with talking about the proposed design of the bench test. In
addition, it introduces the selection design by mentioning the selection sensors and components used. At the
end of this chapter, it introduced the control and interfaces of the system and the data management in and
around the system.

Finally, there is the project management section and the cost analysis for this project before reaching the
conclusion.

Chapter 2: Literature review

2.1. Background information

The goal of our research is to develop an experimental bench for studying the mechanical behavior of coronary
stents. The bending stiffness test is one of the bench tests that we are focused on in our research. The
literature review of this topic is critical for understanding earlier research in the field. Furthermore, it is a
critical step in analyzing a variety of viewpoints, techniques, and technological issues related to our project in
order to form our own perspective and meet the project's criteria. Several bibliographical studies were
analyzed, meetings with other colleagues were scheduled, and the data was then processed to compare earlier
work. In this chapter, we describe the engineering analysis and research that involved in developing the overall
bench test. We also discussed the approaches used to improve the system's dependability and safety, as well
as the precision of tests that will offer data on the mechanical characteristics of current coronary stents.

2.2. Comparison of concurrent solutions

2.2.1. Flexibility test system methodologies and protocols

We were required to design a system that is cable to perform a mechanical test to study the mechanical
behavior of the coronary stent. First, our system is not meant to be developed under specifications fixed by a
client. In addition, there is no specific standardization for in vitro trials we were responsible to identify the
suitable specifications that will characterize this bench test [2] .So, we concentrated on the factors that will
determine how reliable are the tests provided by our system. These conclusions were reached as a result of
past SYMME lab research aimed at evaluating coronary stents using commercially available test machines. We
decided to classify the aspects we have mentioned before into methodologies and test protocols.
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 i. Methodologies

Throughout our bibliographical study, we learned about two projects under progress at the SYMME laboratory.
Our colleagues in AM Master 1 and Master 2 are in charge of these initiatives. Both ideas focus around the
creation of a four-point bending machine for DP988 beams. However, they were not designed to evaluate
stents; rather, their goal was to collect data and compare it to an analytical simulation to solve the problem of
the spring-back phenomena that occurs after unloading the beam during bending tests. The fact that one
project was a continuation of a design for DP988 beams based on three-points bending test drew our attention.
The idea was to figure out why the design of the bending test was modified from three to four points. After
discussing this with our Master 2 colleagues, we discovered that the design was originally based on three-point
bending using a pulley. The design was then converted into a four-point bending test machine with a pulley, as
illustrated in figure 2.1.

Figure 2.1: Four-point bending prototype with pulley [5]

Our colleagues worked to improve this concept by including control actuation and data synchronization. So, we
looked through the differences between the two approaches. In fact, the previous research into the outcomes
of the three-point bending test did not give adequate information regarding the spring-back phenomena.
Because of the larger surface assessment and better visibility of the recoil phenomena, four-point bending was
chosen over three-point bending. This conversation was quite beneficial in learning bending methods and how
they are used.

The fact that most of the methodologies used in previous bench characterizations and evaluations studies for
coronary stents were done using three points bending test in compliance with ASTM F2606 was particularly
fascinating in this comparison. Only one publication [3] attempted to design a new bench with a four-point
bending test. It has been found that the contact location between the blade and the coronary stent has an
impact on the stent evaluation. Instead, four-point bending was used to evaluate a larger area of the stent with
a consistent apparent bending moment. The proposed system included the equipment depicted in figure 2.2,
which included a two-rod fixture.

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 Figure 2.2: Four-point bending apparatus for balloon expandable stents: (a) Overall view (b) Close up view of
bending area [3].

Using melting point wax, this design was able to fix the stent on the rods. The load was measured with a load
cell with a range of 100 mN, and the probes were moved with a motorized stage moving at 10 m/s. The
bending stiffness was then discovered to be the inverse of the bending rigidity, which is equal to the bending
moment M and the stent curvature. The radius was calculated using the angle formed by the rods and the
stent's free length:

1
F B= Eq. (1)
M

Another approach for assessing trackability, conformability, and flexibility [2] of the stent was an assessment
based on dynamometer. A stent-system catheter was subjected to a three-point bending test in which the
stent was fixed in two pulleys from its two extremities. A blade representing the probe attached to the
dynamometer moves until it comes into contact with the stent. A Mark-10 BG2 dynamometer with a range of
10 N and an accuracy of 0.1 N was used to make the measurements.

Last but not least, a research was conducted to design a standardized bench test for evaluating the mechanical
qualities of coronary stents [4]. The texture analyzer TA.HD.Plus (Texture Technology, Hamilton, Maryland,
USA) [4] was used to perform the flexibility test with a continuous 0.01mm /s deformation mode. Finally, the
bending stiffness was determined to be the required force for achieving 2 mm deformation in the center of the
stent using ASTM F2606 [4].

5
 ii. Bending stiffness test protocol
During our bibliographical research, we realized that testing techniques are lack of standardization and
manufacturers and researchers provided just a few criteria. However, each recommended solution's testing
process used a different technique. The test was done according to the same requirements of three-points
bending test for balloon expandable stents in the prior work of building a standardized bench [4]. The stent
was mounted on two cylinders with 14 mm span and a vertical load was applied with continual compression at
0.01 mm/s until 2 mm deformation was reached. The dynamometer was employed in this design, with the
force applied to the stent center. However, data was obtained and recorded at 0.1 mm intervals until the stent
formed a 140° angle.

2.2.2. Engineering standards of the concurrent solutions

As previously stated, the suggested described benches are not totally standardized. We discovered just one
standard for coronary stents when searching the ISO website and 106 articles of stents standards on the ASTM
website. Only five of them were connected to testing techniques and methodologies that are found in table
2.1. The following articles detailed manufacturing specifications for the device. We only identified one
appropriate standard for three-point bending, ASTM F2606, which was followed by the previous investigations.
Another standard, ASTM F2477, is linked to fatigue testing, which is beyond the scope of testing.

Table 2.1: Concurrent Engineering Standards for coronary stents [5]

Standards Content

ASTM F2516 Standard Test Method for Tension Testing of Nickel-Titanium Super-elastic Materials

ASTM F2079 Standard Test Method for Measuring Intrinsic Elastic Recoil of Balloon-Expandable Stents

ASTM F2477 Standard Test Methods for in vitro Pulsatile Durability Testing of Vascular Stents

ASTM F2606 Standard Guide for Three-Point Bending of Balloon Expandable Vascular Stents and Stent
Systems

ISO 25539-2 Cardiovascular Implants — Endovascular Devices — Part 1: Vascular Stents Fatigue
Strength Under Compression and Torsion Load

Chapter 3: Design and Analysis

3.1. Proposed design

As we mentioned in the objectives above, we are focusing in our project on developing a bending stiffness
bench test. Like any other mechatronic system, the bench test we are aiming to reach will be characterized by

6
the integration of a physical system composed of a support for the stent and a support for the probe. This
mechanical system is composed of an actuator (our own actuator) to move the probe and apply the force on
the stent. We will use a force sensor to measure the applied force and we will integrate a displacement sensor
in order to measure the deformation of the stent. The force sensor used is connected to the probe through an
Aluminum extrusion and its output is conditioned with the help of an amplifier. At the same time, a stepper
motor which represent our actuator it is controlled with a motor driver. For data acquisition, an Arduino is used
to read the output voltage from the force sensor and process it to determine bending stiffness and record data.
Regarding the displacement sensor, until now we did not reach it.

3.2. Selection design

3.2.1. Frame Selection

First of all, in order to enhance the quality of our physical amount measurements, the bench test we designed
must be mounted in a stable frame. As a result, we should think about what kind of material we will utilize for
our frame. As a result, we determined that building the frame out of aluminum is the best option because it
will help us attain more stability. Nonetheless, maintaining such stability without compromising product quality
is a difficulty. Creating and manufacturing a closed cubic frame will then meet this criterion and it will provide a
choice of unique bearings that are widely available on the online market. After researching various materials
such as steel, we decided on aluminum extrusion for our frame. We established a comparison between several
qualities of steel and aluminum [5], weighing and rating each property as indicated in table 3.1.

Table 3.1: Comparison between frame with 1-10 scale (1 referring to bad and 10 referring to excellent)

Frame Cost Availability Manufacturability Performanc Weight Sustainability ∑

Design e
total

Steel 7 6 5 5 2 4 29

Aluminum 5 8 7 8 5 7 40

As a result of this comparison, it is evident that aluminum is the better choice due to its low weight. Aluminum
is a light metal, roughly a third the weight of steel, with a specific weight of 2.7g/cm3 [5]. In terms of strength,
it may adjust to the needs of the application by changing the alloy composition.

Another advantage of aluminum extrusions is that they are currently accessible in various sizes at the Polytech
Annecy mechanical workshop. We discussed the possibilities of getting the frame from aluminum extrusions
after meeting with Mr. Blaze Girard at the workshop. Finally, he offered his assistance with various machining
techniques that will be required throughout the frame's construction.

7
3.2.2. Constructions selection
Regarding the construction that was selected for holding the frame, supports, components (motor, load cell,
etc.) and other, we considered the parameters that can alter the stability of our system. For this reason, we
have compared between the types of construction and arrangements and their viscous damping ratio as shown
in table 3.2. The damping ratio of bolted can reach 10%, which represent a good shock absorbance.

Table 1.2: Damping ratios obtainable with different types of construction/arrangement

3.2.3. Probes (blade) and fixtures (tubes for stent)

For the fixtures that we will use, we have found some interesting ASTM standards which provides
recommendations about probes and fixtures. In a guide for bending test equipment [3], we have found
different standards depending on the material being tested. For instance, ASTM C1161 standard provides some
recommendations about the probes and fixtures. It was reported that loading probes and fixtures must have a
cylindrical shape with independent articulations. In addition, it suggested a list of configurations to refer to
while selecting the suitable dimensions of spans as shown in table 3.3.

Table 3.3: The standard lists three different configuration options ASTM C1161

Configuration Support Span Loading Span Roller Diameter

A 20 mm 10 mm 2 to 2.5 mm

B 40 mm 20 mm 4.5 mm

C 80 mm 40 mm 9 mm

Since our specimen length is between 8 and 38 mm and from 2.5 to 4.0 mm diameter [3], we are in the case
between A and B configurations, which define our fixtures and probes dimensions.

3.2.4. Force sensor selection

To begin, we used the results from various documents dedicated to literature review research and the
comparison of concurrent solutions. For instance, we discovered that the maximum bending stiffness of the
8
majority of commercial stents was between 532 and 995 mN. [6]. In addition, the greatest force recorded in
the "Standardized bench test assessment of coronary stents: Biomechanical properties" paper [4] was 1.3 N,
and these numbers were a useful signal for selecting the appropriate sensor range for our design.

To measure the bending force, we decided to use a load cell. A comparison of load cells and various force
sensors guided our decision and we observed a comparison of the advantages and disadvantages of these load
cells versus compression force sensors in terms of performance. There is a significant variation in accuracy
between load cells with less than 0.1 percent error, according to reports (full scale). While conventional
compression force sensors have a maximum accuracy of 5% (full scale), this difference in precision has
convinced us to use a load cell as our bending fore sensor.

The range, sensitivity, and accuracy of the load cell had to be chosen next. In addition, the hysteresis of the
load cell was taken into account because we are concerned with conducting loading and unloading procedures.
Furthermore, we have corrected various load cell operating settings based on test methods discovered in
previous standardized bench prototypes.

3.2.5. Motor selection

The aim of our design is to apply a force on the center of the specimen (stent). For this reason, we had to think
about the suitable way to move the probe which will hit the stent center after applying the force. Linear
actuators were the most suitable one for the protocol test that our design need to comply by moving in a
vertical axis perpendicular to the axis of the stent. However, in our project, we aimed to build our own actuator
and by using a stepper motor which let the screw rotate and the carriage within the screw will move
horizontally.

The duration of the experiment must be between 60 s and 180s and the force will be applied on the stent until
it reaches 2,5mm maximum deformation. This duration and displacement values were chosen based on the
test protocols that was fixed in most of the documents we have analyzed. The reason why this specific duration
and displacement was recommended is to assess the deformation of the stent with low duty cycle in order to
monitor and visualize this deformation clearly. These specifications have led us to select a motor with the low
duty cycle.

During the experiment, we will bend the stent until it reaches approximately 2 to 2.5 mm. Then, we can
calculate and adjust the speed of the actuator during the experiment. For instance, in the case of 180 seconds
duration, the speed will be:
2.5
V= =0.013 mm /sec Eq. (2)
180
Therefore, we need to have a stepper motor which can be controlled to reach this specific speed.

3.3. Sensors and actuators

3.3.1. Force sensor

After our search, we obtained many load cells with various ranges, geometries, accuracies, resolutions, and
diameters and these requirements and specifications depends on the load cell. Because the goal of the design
is to evaluate the bending stiffness of the specimen while applying a force on its center, we concentrated on
testing the load cells that measure linear applied force in our situation. The essential criteria for load cells that
9
we identified are nonlinearity, which is regarded the output of weakness, hysteresis, repeatability, creep, and
temperature impact of the load cells.

The load cell we have chosen is RS 414-0821from Tedea Huntleigh as it shown is appendix 1, it is an Aluminum
single-point strain gauge designed for direct mounting in scales with reduced capacity. It has a range from 0 to
3N, and it has an absolute accuracy of 0.0067 % from rated output. The sensor has an analog output from 0 to
0,9 mV/V which will need signal conditioning to perform the readout. More information is available in the
datasheet of the sensor [7].

This single load cell we chose is a strain gauge, it is based on an Aluminum beam, where there is a configuration
of two content resistors and two-variable ones connected to form a half Wheatstone bridge as shown in figure
3.1. The functioning principle of the sensor uses the change of resistance due to the deformation of the beam
under a single point force. The change in the resistors causes a change in the voltage output of the bridge after
being unbalanced, and this voltage is proportional to the amount of force that was applied to the beam.

Figure 3.1: Half Wheatstone bridge [8]

3.3.2. Stepper Motor

To perform the bending of the stent, we need to apply a force on its center. For this reason, we need an
actuator that can move the load cell with a carriage on a sliding table. Last semester, we have selected an
electrical linear actuator RS PRO 177-4814, which has 4000 N load capacity which is way covering the weight of
the load cell which is 0.07kg. It has also 4.2 mm/s maximum velocities which we need to control. However,
after discussions we did with different persons in the Symme laboratory, we found that this actuator won't be
efficient in terms of accuracy. Our system must be able to perform the bending test for an average duration of
120 seconds, and for a displacement of 2.5 mm. This protocol of testing has made me think about building a
sliding table and using a stepper motor for the actuation.

After a discussion with Mr. Luc Mareshal, and Mr. Camilo Hernandez about the feasibility of this kind of
displacement with high accuracy and resolution that must be in terms of micrometers, we have selected
RS:535-0401 as shown in appendix 2, which has a 5 mm and it operates with 0 to 2.8 V, and has 0.9-degree
step angle over 400 steps. It has ±5% Step Angle Accuracy, a decent, and a holding torque respectively of 24
and 44 N. More specifications are shown in the datasheet [9].

This hybrid stepper motor enables precise and controlled movements with electrical devices. Stepper motors
are brushless assemblies that divide a full motor rotation into several smaller, equal steps, for greater precision
10
and higher efficiency at lower speeds. A hybrid stepper design combines both permanent magnet and variable
reluctance motor technology to maximize power in small devices. This actuator will be mounted on a sliding
table consisting of a screw driver of 8 mm, and the connection will be assured with a coupler.

3.3.3. Motor driver

We have chosen the “Micro-step DM542 CNC Digital Driver 2-Phase Stepper Motor Digital Driver Stepper
Motor” [10] motor driver shown in figure in order to control the stepper motor which is cheap, available, and
compatible with Arduino. The reason of selecting this motor driver is because of its ability to be configurable on
different modes. For instance, it has the ability to provide from 400 steps per pulse to 25000 steps per pulse.
This feature will help us controlling the steps of our motor with better precision and

3.3.4. Displacement sensor

Until now, we did not decide what displacement sensor we will use in our test. However, by referring to the
literature and what done before, we will use a CCD camera. This camera will use a Python code which convert
the image into points and measure the displacement.

3.4. Control and interfaces of the system

In this part of the product lifecycle, it was very important to recall our design requirements and identify the
parameters surrounding the system functionalities in order to control them in addition to the interfaces that
will be enable the user of monitoring and visualizing the results.

As it was mentioned in the previous sections, we are including a load cell as a sensor and the stepper motor as
an actuator. This requires the implementation of control and interfaces at different levels. For the drive means,
it will be using “Micro-step DM542 CNC Digital Driver 2-Phase” motor driver with Arduino Uno in order to
control the speed and the direction of the stepper motor. Moreover, we will use the load cell amplifier (HX711)
connected to the same Arduino.

3.4.1. Motor stepper control

In this section, we have focused on controlling the stepper motor we are using so that it can move for a
predetermined duration and a predetermined course. For this reason, we have selected DM 542 motor driver
that we have mentioned before.

Most of the specifications are pretty self-explanatory, but one of them might seem a bit strange. The voltage is
rated. Since we were using a stepper motor that is different than the one, we have ordered. We were supposed
to check the data sheet, but it was not available on internet. The only information about the motor
specification we have found is that it operates under 12 V DC and has 1.8 degrees steps. For this reason, we
had to find another alternative to calculate the voltage and the current needed for the motor to operates. After
conducting some researches, we have found that the voltage rating is not the maximum voltage that the
stepper motor can handle, nor is it the operating voltage that the manufacturer recommends to use in a
specific design. The voltage rating is actually just a mathematical calculation. For the current, we start usually
looking up the specifications for the stepper motor and locate the peak current limits of the motor. After that,
we multiply the peak current by 0.707 to determine the maximum current in RMS. This is the maximum run
current. According to the datasheet of the RS stepper motor we have ordered, the peak current is 1.68 A.
Therefore, the maximum current after rounding to 0.1 is:
Imax=0.707∗1.68=¿ 1.1 A Eq (3)

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When reading the stepper motor specifications, the current is the key parameter we need to pay attention to,
not the voltage. After conducting some tests, we have found that we could easily drive this motor with a 20 V,
as long as our motor driver limits the current. Once we have specified the current requirements, we have
selected the power supply up to 36V. Since we are micro stepping the motor, we need to double the current
requirements, as we will often have two coils engaged simultaneously.

Micro stepping energizes the stepper motor winding in a manner that further subdivides the number of
positions between poles. The micro stepping controller DM 542 is capable of dividing a full step into 256 micro
steps. In the case of the motor, we are currently using has 1.8 degrees. This would result in 51,200 steps in one
revolution (.007 deg/step). As in the half-step mode, micro stepping reduces torque by about 30% compared to
full-step mode. However, this would not affect the movement of the load cell because it is very light 110g.

Concerning the connection of the stepper motor, the driver and the Arduino. We have started by connecting
first the DM 542 driver with the motor in order to test both of them before including the Arduino board. The
stepper motor has two coils resulting on four wires that we have connected to the four inputs of the driver.
The output of drivers that consists of 6 outputs, pulse signal +/- for sending the pulses, the direction signal +/-
for stetting the direction and enable signal +/- for enabling and disabling the movement. After supplying the
motor driver with 20 V as it is the minimum operating voltage, and connecting the positive enabling signal to
the ground and the pulses signal to the 20 V the motor has started rotating.

The next step was to add the Arduino board to the electrical hardware, by connecting the outputs of the driver
into the digital inputs and outputs of the Arduino as shown in figure 3.2

Figure 3.2: Hardware connection of stepper motor [11].

After this, we were supposed to make some calculations in order to write program capable of enabling one
direction of the motor for a predetermined duration 180 s and a predetermined distance 2.5 mm. The code we
have used was very simple and contains only one loop that send pulses to the motor every 100 ms as shown in
Appendix 15.

12
3.4.2. Load cell amplifier control

First of all, this design uses a standard Arduino Uno connected to HX711 amplifier which this microchip is
specially made for amplifying the signals from load cells and reporting them to another microcontroller. The
load cells plug into the Arduino which records the load cell measurement. Load cells are specially shaped metal
parts that have strain gauges glue to them. The strain gauges are resistors that change their resistance when
they are bent. When the metal part bends, the resistance of the load cell changes (the HX711 measures this
small change in resistance accurately). Also, we need wires in various colors for connecting all the parts. Figure
3.2 represents the load cell and the Arduino connection to the amplifier.

Figure 3.3: Load cell and the Arduino connection to the amplifier [12]

The HX711 load cell amplifier is used to get measurable data out from a load cell and strain gauge [12]. It is a
small breakout board for the HX711 IC that allows you to easily read load cells to measure weight. By
connecting the amplifier to the microcontroller (Arduino), we will be able to read the changes in the resistance
of the load cell and with some calibration we will be able to get very accurate weight measurements.

The HX711 has two wire interfaces for communication and the Arduino pins should work and numerous
libraries have been written making it easy to read data from the HX711.

Regarding the load cell, it uses a four wire Wheatstone bridge to connect to the amplifier. These are commonly
colored red, black, white, and green [12]. Each color corresponds to the conventional color coding of load cells:

 Red (Excitation+ or VCC)

 Black (Excitation- or GND)
 White (Amplifier+, Signal+, or Output+)
 Green (A-, S-, or O-)

Features:

 Operation Voltage: 2.7V-5V

13
  Operation Current: < 1.5mA
 Sample rate: 10Hz
 Simultaneous 50 and 60Hz supply rejection

3.4.3. Motor control interface

In order to interface the stepper motor and control it with the motor driver and Arduino, we need to use a
suitable interface. After discussing with 2 groups that are working on 4 points bending machine, we have
concluded that we will use UGS Universal G-code Sender interface [13] shown in appendix 3, is the most
popular option. It has a free CNC controller that can be connected to a laptop. It provides more oversight of the
actuator, and real time visualization of the path.

In the official website of UGS, we have found how to run the platform, and we have checked its functioning in
the SYMME lab, with our colleagues from M2 who are working on the design of 4 points bending machine.

The UGS has also a digital read out panel as shown in appendix 4. This panel displays information about the
state of the machine, which will be in our case the probe connected to the actuator. In other word, this panel
will give us information about the coordinates of the probe, feed rate, and feed the speed. In addition, it has
several functions such as coordinates of the machine (probe) and the current work such as resting the work
and changing the coordinates.

3.4.4. Load cell interface

To interface our load cell, we have thought about different options. The first option was to use the interface
that exist already at the SYMME lab. This interface is now used by several students working on load cells. At the
mechanical room at the SYMME lab, has some machines that use load cells. All of them are interfacing with
Quick Sensor which is a platform developed locally by SYMME laboratory. This interface has the ability to
retrieve data from the amplifier connected to the load cell. And then, it can visualize these data as shown in
figure 3.3.

14
 Figure 3.4: Load cell control interface done in SYMME Lab [5]

In figure 3.3, the load cell control interface was given from a project of 4-point bending machine. Here there
are the measurements of the 2 load cells used on the right side and on the left side there is the displacement
sensor. However, in our case, we have the data from force sensor on one side and on the other side there is
the displacement sensor must be used (CCD Camera). And the data will be synchronized in real time.

3.5. Data management in and around the system

3.5.1. Data classification

In our design that consist of 2 tests, we are dealing with different data. For the bending stiffness machine, we
have 2 different types of data. The force measured with load cell and the data measured by the displacement
force which will be in our case a CCD camera (appendix 4).

3.5.1.1. Data acquisition and visualization of the load cell

As we have specified before, we will use a load cell that measure the force applied on the stent. This data will
be directly retrieved from the amplifier that amplify the output voltage of the load cell measured that will be
ranged between 0 and 0.9 mV/V.

For visualizing the data, we have thought about multiple ideas for how to display the data through Arduino:

 Eternal
o LED Display

o SD Card

 Computer

15
 o Quick Sensor

o Excel

 PLX-DAQ

 "GoBetwino" Function

Since we will use the quick sensor interface developed by the SYMME laboratory as we mentioned before, we
had to ask different students working with it. We have learned that Quick Sensor has the ability to store the
data retrieved from load cell in a CSV file. In addition, we need to provide a visualization of these data in real
time as shown appendix 5 from the experiment of 4 points bending machine.

This key feature will allow us to manage the data coming from the load cell and will be the results that we are
aiming to provide for cardiologists in order to interpret them. This was a positive aspect for the project because
the majority of my colleague students had experience with Quick Sensor interface. Appendix 6 is a sample of
the data stored from 4 load cells and three displacement sensors.

3.5.1.2. Data acquisition and visualization of the displacement sensor

For the displacement sensor, which will be in our case a CCD camera, data acquisition will be done the same
way as the load cell using Quick Sensor interface. We will store the data in the same file as shown in appendix
9. And the data can be also visualized using the same interface as shown in appendix 7 from the same project
of 4 points bending machine.

3.5.2. Data Synchronization

Our bench test will be collecting data from 2 sensors at the same time, the first one is the data coming from the
load cell. And the second one is the data coming from the CDD camera. In order to show the relationship
between the force applied, and the deformation of the stent. We need to synchronize these data.

16
We are currently understudying and planning for this step of the design development. We thought about an
algorithm that can perform the readout of the sensors and synchronize the retrieved data. The idea is to
consider the sampling time of the slowest sensor and the readout process that are summarized in the following
flow chart in figure 3.7.

17
 Figure 3.5: Summarized diagram about the sampling time of the slowest sensor and the readout process.

3.6. Over-all architecture

First of all, during our work in the mechanical part of the design until reaching the final proposed one, we
started by the first design approach and start improving it until reaching the final one we have reached.

Here we will talk about each of the geometric parts related to the components we will use for the test taking
into consideration their dimensions and how we will implement them in the test mechanism. The geometric
parts of the bench test we proposed were observed by 3D-modeling using SolidWorks.

Starting with the first approach we had reached, as shown in figure 3.8, we did several updates and
enhancement by several discussions with the project owner and Mr. Blaise. First, we replace the 4 frames that
represent our base of the bench test by a 1 Aluminum frame of width 66 mm and length 155 mm in order to
have more rigid and stable base. We got this part from the workshop of Mr. Girard Blaise and we took the rest
of the components dimensions based on this frame.

Figure 3.6: First approach architecture

Regarding this approach, the main issue that we will update it is that we will decrease the distance between
the screw and the base in order to avoid rotation of the carriage that is connected and fixed within the screw.
So, for this reason we will reduce the length of the support and let the carriage move on the surface of the
base frame. At the same time, on the carriage, load cell support that represents a block where the load cell will
be mounted on it. However, there is no need to fix the whole load cell on the certain beam or rod rather we
can only fix it on one end and keep it free on the second side. At the end, we end up by the final approach of
the bench design as shown in the figure 3.9.

18
 Figure 3.7: Second approach architecture

On this frame, we will use 2 ball screw supports (figure 2) in order to hold and fix the screw driver in the both
ends. We had search and found several types of supports but at the end we chose the best one after
discussions done with the project owner Dr. Manuel Lagache and Mr. Blaise and we ordered them. At the same
time, the 2 supports will be fixed on the frame using screw/nut and ball bearing is within the support in order
to avoid vibration and errors, as shown in appendix 8 that represents the supports we chose to use. In addition,
figure 3 represents the 3D-modeling drawing of the chosen supports.

The screw driver that we ordered, is of diameter 8 mm including a nut that will fit within it, as shown in
appendix 9.

Regarding the motor (stepper motor) that will be used in our design, it will be fixed on the base by using a
motor support we designed by 3D-modeling taking into consideration the dimension of the motor. In addition,
based on the datasheet of the stepper motor that will be used, the diameter of the shaft is 5 mm. So, the
coupler we ordered 5 mm*5 mm will be used to connect the screw (8 mm) of 2 ends 5 mm and the motor (5
mm), as shown in appendix 10.

Regarding the load cell support and carriage, after several discussions done with the project owner and Mr.
Blaise, we end up by designing a part that will be mount and fix on the nut that is mount within the screw
driver taking into consideration the datasheet of the load cell and the place where the screw driver will pass
through this carriage. Dr. Manuel Lagache advise us to print this support after finalizing its sketch by using 3D-
printing and then we will manufacture it. So, by the help of Dr. Luc Marechal, a professor in Polytech, we print
it and Mr. Blaise will manufacture it next week. Appendix 11 represents the carriage that we designed and
printed it. In addition, appendix 12 represents the 3D-modeling assembly of the carriage and the nut where
the load cell will be mounted.

After that, there is the design where the stent will be fixed and mounted which is the stent holder part. First of
all, our mechanism is that we will fix the stent in a specific way where the load cell will hit the center of the
stent using a blade that will be mounted on the load cell. As the previous approach, we will use the Aluminum
frames as used for constructing the bench frame. The base frame of the stent holder that it is horizontal is fixed
on the base surface by drilling it at the center and let it pass within the screw driver. Then, 2 vertical frames will
be mount on the base frame that both of them can move horizontally and on each of these 2 vertical frames,
also we will mount 2 vertical frames that both of them can move vertically. On these 2 vertical frames, the
stent will be fixed. Figure 3.8 represents the main mechanism of the stent holder.

19
 Figure 3.8: Stent Holder-3D-Modeling

The second section of the design that we have proposed is for supporting the stent. It is composed of 5
Aluminum profiles in an H shape as shown in figure 3.8. The bottom section is fixed to make a base and the
upper section can slide off the fixed section to have adjustable support for different shapes of stents. The
support has two plastic tubes where the stent is held. The principle functioning of these tubes is to simulate
the elongation state that the stent has in a real living blood vessel. According to {Citation}y and, it was reported
that holding the stent in a V support can generate a bending deformation that alters the final results of the
stent assessment. Therefore, it is important to take into consideration this additional load related to the initial
conditions of the test. Both designs have confirmed that holding the stent in a tube mimicking the living blood
vessel is the most optimal solution.

Chapter 4: Project management

4.1. Project management methods

In this part, we will explain the project management methods used to reach the outcomes we got, cover all
requirements, and achieve our project objectives. From the beginning of the semester, we managed and
organized our work in a proper way which helped us to finish what we are responsible for. After we did the
kick-off meeting with Dr. Christine Galez and we knew that we will still working on the same project, we
continue our progress of our design and put a new plan of work for this semester.

First of all, as we are continuing our project from the previous semester, we start by collecting all data and
information we have and start by them. We started by the report which is included all the work we did and

20
information we have. In addition, we updated the project objectives and planned for the project work of this
semester.

During the carry out of the collective project, we are in need of different methods and tools that will guide us
and assist us on different phases of the project. First method we had followed is the V cycle one because it is
more useful for designs that has a significant complications and constraints as our project consists of
developing a bench test related to biomedical instrumentations which considered our challenge.

Second, we started by the Free-plane chart management tool that we used in the previous semester in order to
organize our project and we updated it based on what we reach and finish. This map served as a
representation of ideas and brainstorming picture which improve our communication skills because both of us
use the same map and organize the project sections. Appendix 13 represents the map drawing of our project.

Moreover, we planned for our project and scheduled it by tracking our tasks, deliverables, and activities using
Trello software. In this software, we started by storing all the activities and tasks we worked on in order to
achieve our objectives and each task will be specified into To do, Doing, and Done with the dates. Also, we
wrote a description on each activity in order to keep a trace of whatever we did and this give us more flexibility
and feasibility on writing the final report. Appendix 14 represents our project tasks we write down at the
beginning of the semester with the end date of each activity and inside each one there is a description of the
activities done.

Furthermore, we put into practice our scientific and technological knowledge as well as our thinking skills such
as reasoning and drawing conclusions in order to take part in the research project by studying one of its
bottlenecks and to propose solutions. In addition, deepen our knowledge and foster our skills when necessary
through lectures, discussions with staff and peers and through on-line learning. Also, we developed our human
skills to be able to work as a team member of a research project and implemented project management tools.

Moreover, we used Microsoft Teams application for our online meetings with the project owner Dr. Manuel
Lagache and between us, we are sharing documents, screen, and organizing meeting.

At the end and after filling all what we need to write about, the report was finalized.

4.2. Competencies achieved

During our project, there were several technical skills and scientific background required to succeed and
achieve our goal. At the same time, several requirements and competencies should be taken into
consideration.

The first competency is to design and achieve a mechatronic system. It is done by implementing an integrated
process of multi-physics and multi-technology modeling, simulation, and design. In this part, we used Cameo
software from the previous semester and made some updates on it. The use of this tool was helpful in
organizing and linking the requirements with the use cases by splitting the design into blocks. For instance, the
BDD diagram has blocks which can be translated to classes containing methods, variables, and other
specifications. We updated the BDD diagram that we have used in the previous semester and add what
changes had happened. In addition, the requirement diagram is still the same as we discuss it with the project
owner Dr. Manuel Lagache that he tells us it enough. Appendix 15 represents the BDD and the requirements

21
diagrams. Also, we used SolidWorks for 3D-modeling for the design we reached and these modeling are
detailed in the previous section.

This competency is also achieved by choosing, designing and implementing the required sensors and
instrumentation. We understood the fundamentals of sensors and differentiated the sensors relevant with the
problem we had to solve and implemented them. Moreover, we designed, implemented, and validated the
instrumentation necessary for the project and used data acquisition software for sensors and actuators.
Furthermore, we analyzed the problem to solve, defined the specifications of the needed sensors and
instrumentation, and chose the solution from an argued discussion. After doing several meetings with the
project owner Dr. Manuel Lagache and by referring to the literature review, we have selected the sensors and
actuators we will be used in our proposed design for the bending test. Regarding the bench test design, we
checked with Mr. Girard Blaise the implementation of the components we will used in a feasible way.

The second competency is to manage a research project by organizing our activities as a team. It is done by
using project management tools, planning my activities in the framework of the project, reporting clearly to my
project owner and to my team at intermediate meetings. In addition, by planning for meetings with the project
owner along the project, preparing the meeting agenda, and writing clear meeting reports.

Last but not least, the third competency is to master the skills required for research activities. It is done by
using bibliographical tools to find and classify literature relevant for the issues raised by the project and by
providing a comprehensive, well organized, and easily reusable bibliography in the final report. Moreover, by
spreading scientific knowledge and applying the principles of professional ethics. We wrote a clear and concise
report and cited correctly bibliographic references in the report and in the presentation file. Also, we worked in
an international environment by having a good command of the English language, being able to consider
different approaches of work, and being able to adapt my behavior to suit the requirements of an international
work group. Furthermore, we managed uncertainty and challenges by knowing and applying the main
principles of the problem-solving process: define the problem, gather facts, generate alternate options,
evaluate and implement most appropriate option, monitor solution, and evaluate result.

Available Tools and Resources

The search engines we used during collecting my information and documents are: Google, Google Scholar,
Wiley, and Science Direct. In addition, we used Zotero to save the documents and to cite my references we
used and found during our search.

Difficulties encountered and how we overcome them

There are some difficulties that we encountered during our work in the project. First one is lack of resources
which most of the components and sensors included in our bench design are not available. So we planned to
order them but during the time of waiting to receive the ordered components, we found other alternative to
do our test and validate the work by borrowing an actuator and a stepper motor from Dr. Camilo Hernander. In
addition, we faced some difficulties due to virtual meetings we did with the project owner because explaining
behind a screen rather than face-to-face is time consumed and bit difficult. However, he had done 2 meetings
with the project owner at Polytech which helped us a lot. Finally, time limitation which the period set to work

22
for the collective project was on the same time of the final exams and other project. However, we managed
our time and distribute our work.

Chapter 5: Cost Analysis

After choosing most of the components and parts that we will use in our bench design, here is the cost analysis
and bill of materials. In table 5.1, we detailed the parts that will be validate for ordering and other available
parts.

Table 5.1 Bill of materials

Equipment Name Price Total Price Quantity Material

Tedea Model 1004 load cell 74.88 euro 74.88 euro 1 Aluminum

e-motion screw leader 29.90 euro 29.90 euro 1 Steel

e- motion supports 3 euro 15 euro 5 Steel

e-motion Coupler 5x5 mm 8.4 euro 8.4 euro 1 Aluminium

Aloy

RS Pro High Torque Hybrid 72.42 euro 72.42 euro 1

Stepper Motor

Micro-step DM542 CNC Digital 24.32 euro 24.32 euro 1

Driver 2-Phase Stepper Motor
Digital Driver Stepper Motor

HX711 Amplifier 9.32 euro 9.32 euro 1

Arduino UNO Available in the Available in the 1

lab lab

Aluminum Frames Available in the Available in the 1 Aluminum

lab lab 6063

Fixtures and Probes From the From the 3

workshop workshop

23
Chapter 6: Conclusion

In this project, we have been investigating the possible solutions that can be implemented in our system. As we
have mentioned before, our project aimed to develop a bench test following the concurrent standards. We
have found that there are two types of bending methodologies standards. They are related to the application
of the test, the material of the specimen, and other parameters. Three-point bending was the most used
methodology in all the studies, simulations, and standardized benches dedicated to assessing coronary stents’
flexibility.

We were more focused on the theoretical part of the project where we identified the different parameters that
surround the bench test activities. The main results of the first part of the project were related to material and
components selection. This step was very important for us to set the requirements and specifications of the
bench that will allow us to comply with the standards of stent testing as mentioned before in ASTM F2606 that
governs the guidelines assessment of three-point bending of balloon expandable vascular stents and stent
systems.

This semester, we had a clear picture of the overall architecture of the system and we were able to achieve the
realization of the theoretical architecture that was planned in the previous semester. We have achieved a 3D
design proposition that has been corrected and improved several times before achieving a final design that
comprises a sliding table composed of a screw leader of 8 mm diameter driven by a stepper motor. The
screwdriver has a nut connected to support in a rectangular shape that holds the load cell and applies a single
point force on the stent. The stent that will be assessed is held in a tube made of Silicone in an elongation state
in order to disable the generation of bending before starting the assessment.

24
References
[1] “What You Need To Know About A Heart Stent,” Central Georgia Heart Center, Sep. 30, 2016.
https://centralgaheart.com/need-know-heart-stent/ (accessed May 17, 2022).
[2] R. Rieu et al., “Assessment of the trackability, flexibility, and conformability of coronary stents: A
comparative analysis,” Catheter. Cardiovasc. Interv., vol. 59, no. 4, pp. 496–503, 2003, doi:
10.1002/ccd.10583.
[3] “Development of Test Procedures and Comparative Mechanical Property Testing of Balloon Expandable
Stents .” https://www.jstage.jst.go.jp/article/aem/1/0/1_173/_article/-char/ja/ (accessed May 17, 2022).
[4] M. Bonin, P. Guerin, J. M. Olive, F. Jordana, and F. Huchet, “Standardized bench test evaluation of
coronary stents: Biomechanical characteristics,” Catheter. Cardiovasc. Interv., vol. 92, no. 7, pp. E465–
E470, 2018, doi: 10.1002/ccd.27912.
[5] “Materials and Process Selection for Engineering Design | Mahmoud M. Fa.”
https://www.taylorfrancis.com/books/mono/10.1201/9781003006091/materials-process-selection-
engineering-design-mahmoud-farag (accessed May 17, 2022).
[6] “Clinical Imaging of the High-Risk or Vulnerable Atherosclerotic Plaque | Circulation Research.”
https://www.ahajournals.org/doi/full/10.1161/hh1601.095596 (accessed May 17, 2022).
[7] “1004-00.3-JW00-RS | Cellule de Charge Tedea Huntleigh par Compression 0.3kg, 110 mm | RS
Components.” https://fr.rs-online.com/web/p/jauges-de-contraintes/4140821?cm_mmc=FR-PLA-DS3A-_-
google-_-CSS_FR_FR_Automatisme_et_Contr%C3%B4le_de_process_Whoop-_-(FR:Whoop!)
+Jauges+de+contraintes+(2)-_-4140821&matchtype=&aud-821594433763:pla-
325163747474&gclid=EAIaIQobChMI5c2q56Kn9gIVlIXVCh1vtAt-EAYYASABEgIc4vD_BwE&gclsrc=aw.ds
(accessed May 17, 2022).
[8] “Strain Gauges | Electrical Instrumentation Signals | Electronics Textbook.”
https://www.allaboutcircuits.com/textbook/direct-current/chpt-9/strain-gauges/ (accessed May 17,
2022).
[9] “RS PRO Stepper Motor, 2.8V, 5mm Shaft Dia. | RS Components.”
https://fr.rs-online.com/web/p/moteurs-pas-a-pas/5350401 (accessed May 17, 2022).
[10] “Pilote numérique CNC Microstep DM542 Moteur pas à pas à pas 2 phases Digital Driver Moteur pas à
pas à pas 20-50 V DC Max 4,2 A pour Nema 17, Nema 23 et Nema 34, Remplace M542 M542H :
Amazon.fr: Commerce, Industrie et Science.” https://www.amazon.fr/Pilote-num%C3%A9rique-
Microstep-Digital-Remplace/dp/B08GCFNQF2/ref=sr_1_1?__mk_fr_FR=%C3%85M%C3%85%C5%BD
%C3%95%C3%91&crid=AX5DLUVOWYS1&keywords=DM542+POLISI3D&qid=1652795730&s=industrial&s
prefix=dm542+polisi3d%2Cindustrial%2C134&sr=1-1 (accessed May 17, 2022).
[11] Robokits, “Control Nema Stepper Motor With Arduino and Micro Stepping Drive,” Instructables.
https://www.instructables.com/Control-Nema-Stepper-Motor-With-Arduino-and-Micro-/ (accessed May
30, 2022).
[12] Xukyo, “Mesure de force avec Arduino et le module HX711 • AranaCorp,” AranaCorp, Oct. 26, 2020.
https://www.aranacorp.com/fr/utilisation-dun-capteur-de-force-avec-arduino-et-un-module-hx711/
(accessed May 17, 2022).
[13] “UGS.” https://winder.github.io/ugs_website/ (accessed May 17, 2022).
[14] “Cellule de Charge RS PRO par Compression 0.3kg, 110 x 10 x 33 mm | RS Components.” https://fr.rs-
online.com/web/p/jauges-de-contraintes/2042767 (accessed Jan. 04, 2022).
[15] “UGS.” https://winder.github.io/ugs_website/ (accessed Jan. 19, 2022).

25
Appendices

Appendix 1: Tedea Model 1004 load cell [14]

26
Appendix 2: Stepper Motor

27
Appendix 3: UGS interface [15]

Appendix 4: UGS Digital read-out platform [20]

28
Appendix 5: Force sensor data visualization

Appendix 6: Excel file of data collected from load cells and laser sensors

29
Appendix 7: The data visualization of the displacement sensor of 4 points bending machine using Quick Sensor
interface

Appendix 8: Ball screw supports

30
Appendix 9: Screw Driver with nut

Appendix 10: The Coupler 5*5 mm

Appendix 11: Carriage-3D-Printing

31
Appendix 12: Carriage-3D-Modeling

32
Appendix 13: Free Plane

Appendix 14: Trello

33
34
Appendix 15: BDD Diagram/Requirement Diagram

35
36
Appendix 16

37
38
39