Search Results (29)

The AMTI VIVO™ six degree of freedom joint simulator allows reproducible preclinical testing of joint endoprostheses under specific kinematic and loading conditions. When testing total knee endoprosthesis, the articulating femoral and tibial components are each mounted on an actuator with two and four degrees of freedom, respectively. To approximate realistic physiological conditions with respect to soft tissues, the joint simulator features an integrated virtual ligament model that calculates the restoring forces of the ligament apparatus to be applied by the actuators. During joint motion, the locations of the ligament insertion points are calculated depending on both actuators’ coordinates. In the present study, we demonstrate that unintended elastic deformations of the actuators due to the specifically high contact forces in the artificial knee joint have a considerable impact on the calculated ligament forces. This study aims to investigate the effect of this structural compliance on experimental results. While the built-in algorithm for calculating the ligament forces cannot be altered by the user, a reduction of the ligament force deviations due to the elastic deformations could be achieved by preloading the articulating implant components in the reference configuration. As a proof of concept, a knee flexion motion with varying ligament conditions was simulated on the VIVO simulator and compared to data derived from a musculoskeletal multibody model of a total knee endoprosthesis. Full article

In rock blasting for mining production, stress waves play a major role in rock fracturing, along with explosive gases. Better energy distribution improves fragmentation and safety, lowers production costs, increases productivity, and controls ore losses and dilution. Blast outcomes vary significantly depending on the choice of the explosive and the properties of the rock mass encountered. This study analyzes the effects of rock mass and explosive properties on blast outcomes via numerical simulation using data from the case study, and later validates the simulation results from the field blast fragmentation. The findings suggest that, for a given set of rock properties, the choice of explosive has a major influence on the resulting fragmentation. Strong explosives (high VOD and detonation pressure) favor large fracture extents in hard rocks, while weaker explosives offer a better distribution of explosive energy and fractures. The presence of rock structures such as rock contacts and joints influences the propagation of stress waves and fractures depending on the structures’ material properties, the intensity and orientations, and the direction and strength of the stress wave. When the stress wave encounters a contact depending on its direction, it is enhanced when traveling from soft to hard and attenuates in the opposite direction. The ability of the stress wave to cause fracturing on the opposite side of the contact depends on the intensity of the transmitted wave and the strength of the rock. Transmitted wave intensity is a function of the strength of the incident wave and the impedance difference between the interface materials. The presence of joints in the rock mass affects the propagation of the stress wave, mainly depending on the infill material properties and the angle at which the stress wave approaches the joint. Less compressible, higher stiffness joints transmit more energy. More energy is also transmitted in the areas where the stress wave hits the joint perpendicularly. Joints parallel to the free face offer additional fracturing on the opposite side of the joint. Other parameters, such as the joint width, continuity, fracture frequency, and the distance from the charge, enhance the effects. To achieve effective fragmentation, the blast design should mitigate the effect of variability in the rock mass via explosive selection and pattern design to ensure adequate energy distribution within the limits of geometric design. Full article

Degenerative diseases and injuries that compromise hand movement reduce individual autonomy and tend to cause financial and psychological problems to their family nucleus. To mitigate these limitations, over the past decade, hand exoskeletons have been designed to rehabilitate or enhance impaired hand movements. Although promising, these devices still have limitations, such as weight and cost. Moreover, the movements performed are not kinematically compatible with the joints, thereby reducing the achievements of the rehabilitation process. This article presents the biomimetic design of a soft hand exoskeleton actuated using artificial tendons designed to achieve low weight, volume, and cost, and to improve kinematic compatibility with the joints, comfort, and the sensitivity of the hand by allowing direct contact between the hand palm and objects. We employed two twisted string actuators and Bowden cables to move the artificial tendons and perform the grasping and opening of the hand. With this configuration, the heavy part of the system was reallocated to a test bench, allowing for a lightweight set of just 232 g attached to the arm. The system was triggered by the myoelectric signals of the biceps captured from the user’s skin to encourage the active participation of the user in the process. The device was evaluated by five healthy subjects who were asked to simulate a paralyzed hand, and manipulate different types of objects and perform grip strength. The results showed that the system was able to identify the intention of movement of the user with an accuracy of 90%, and the orthosis was able to enhance the ability of handling objects with gripping force up to 1.86 kgf. Full article

Flexible joints are widely used in ‘soft’ touching and holding, and they represent the main component of ultra-short radius drilling tools. The analysis of contact and motion characteristics is an essential issue in the design and development stage of flexible joints. In this study, a collision dynamics model of a ball cage flexible joint (BCFJ), which is suitable for the characteristics of small clearance and large load, is established. The model contains a nonlinear stiffness coefficient and can describe the contact force between the ball key and the raceways. Moreover, the computational procedure for the dynamic analysis of BCFJ with clearance is established, and the dynamic simulation for collision and contact between ball, cage, outer race, and inner race was carried out. By numerical calculation, the variation of contact force on the five contact points of the ball key and ball cage is discussed, and the influence of ball cage clearance on contact force between ball key, ball seat, and ball cage is obtained. The results indicate that the effects of the ball cage clearance on the contact force cannot be ignored, which is the main cause for the vibration of the flexible joint system, and the amplitude of the contact force will gradually increase with the increase of the clearance. The proposed model and procedure can analyze the dynamic behavior of flexible joints with small clearance and large load, providing a basis for further research on wear prediction and safety evaluation of the BCFJ with clearance. Full article

In recent years, there has been an increase in the development of medical robots to enhance interventional MRI-guided therapies and operations. Magnetic resonance imaging (MRI) surgical robots are particularly attractive due to their ability to provide excellent soft-tissue contrast during these procedures. This paper describes a novel design for a tendon-driven gripper that utilizes four shape memory alloy (SMA) spring actuators and variable stiffness joints controlled by SMA coils for use in MRI surgical robot applications. The contact force of the gripper link is determined by the mechanical properties of the SMA spring actuators (SSA) and the angle of each linkage, and the joint stiffness can be adjusted by varying the electrical current applied to the SMA coil. To enhance the efficiency of the SSAs, a new cooling system using water has been proposed and implemented. To validate the effectiveness of our proposed gripper, we conducted three types of experiments, namely, a single SSA experiment, a single SMA coil experiment, and a whole gripper experiment. The experimental results demonstrate that the proposed water-cooling system can effectively solve temperature issues of SMA, and the joint stiffness in the austenite state is higher than that in the martensite state. Moreover, our experiments show that the presented gripper is capable of grasping and holding objects of various shapes and weights. Full article

This paper presents the development of an intelligent soft-sensor system to add haptic perception to the underactuated hand prosthesis PrHand. Two sensors based on optical fiber were constructed, one for finger joint angles and the other for fingertips’ contact force. Three sensor fabrications were tested for the angle sensor by axially rotating the sensors in four positions. The configuration with the most similar response in the four rotations was chosen. The chosen sensors presented a polynomial response with $R^2$ higher than 92%. The tactile force sensors tracked the force made over the objects. Almost all sensors presented a polynomial response with $R^2$ higher than 94%. The system monitored the prosthesis activity by recognizing grasp types. Six machine learning algorithms were tested: linear regression, k-nearest neighbor, support vector machine, decision tree, k-means clustering, and hierarchical clustering. To validate the algorithms, a k-fold test was used with a k = 10, and the accuracy result for k-nearest neighbor was 98.5%, while that for decision tree was 93.3%, enabling the classification of the eight grip types. Full article

Adjusting the roll angle of a rover’s body is a commonly used strategy to improve its traversability over sloped terrains. However, its range of adjustment is often limited, due to constraints imposed by the rover design and geometry factors such as suspension, chassis, size, and suspension travel. In order to improve the rover’s traversability under these constraints, this paper proposes a reconfigurable rover design with a two-level (sliding and rolling) mechanism to adjust the body’s roll angle. Specifically, the rolling mechanism is a bionic structure, akin to the human ankle joint which can change the contact pose between the wheel and the terrain. This novel adjustment mechanism can modulate the wheel–terrain contact pose, center-of-mass projection over the supporting polygon, wheel load, and the rover driving mode. Combining the wheel–load model and terramechanics-based wheel–terrain interaction model, we develop an integrated model to describe the system dynamics, especially the relationship between rover pose and wheel slippage parameters. Using this model, we develop an associated attitude control strategy to calculate the desired rover pose using particle swarm algorithm while considering the slip rate and angle constraints. We then adjust the sliding and rolling servo angles accordingly for slope traversing operations. To evaluate the proposed design and control strategies, we conduct extensive simulation and experimental studies. The results indicate that our proposed rover design and associated control strategy can double the maximum slope angles that the rover can negotiate, resulting in significantly improved traversability over soft sloped terrains. Full article

Uneven terrain walking is hard to achieve for most child-size humanoid robots, as they are unable to accurately detect ground conditions. In order to reduce the demand for ground detection accuracy, a walking control framework based on centroidal momentum allocation is studied in this paper, enabling a child-size humanoid robot to walk on uneven terrain without using ground flatness information. The control framework consists of three controllers: momentum decreasing controller, posture controller, admittance controller. First, the momentum decreasing controller is used to quickly stabilize the robot after disturbance. Then, the posture controller restores the robot posture to adapt to the unknown terrain. Finally, the admittance controller aims to decrease contact impact and adapt the robot to the terrain. Note that the robot uses a mems-based inertial measurement unit (IMU) and joint position encoders to calculate centroidal momentum and use force-sensitive resistors (FSR) on the robot foot to perform admittance control. None of these is a high-cost component. Experiments are conducted to test the proposed framework, including standing posture balancing, structured non-flat ground walking, and soft uneven terrain walking, with a speed of 2.8 s per step, showing the effectiveness of the momentum allocation method. Full article

Carpal tunnel syndrome (CTS) is the most common pathology among disorders of the peripheral nervous system related to median nerve compression. To our knowledge, there are limited data on the effect of tendon movement on median nerve compression. This study focuses on the understanding of the carpal syndrome by simulating the impact of tendons movement caused by fingers flexion by Finite Element Analysis. Therefore, such modeling is the step toward the development of a personalized technique for value determining median nerve compression. Open-source MRI of the human right hand was used to build patient-specific phalanges of the fingers. Carpal tunnel soft tissues were considered as hyper-elastic materials, while bone structures were considered as elastic ones. The final finite-element model had 40 solid bodies which contacted the joint. Results were obtained for four cases of wrist movements: finger flexion, hand flexion/extension, and wrist extension with subsequent by finger flexion. Compression of the median nerve ranged from 129 Pa to 227 Pa. The results show that compression of the median nerve occurs faster during wrist flexion than during wrist extension or finger flexion. A decrease in compression during finger flexion was noticed with wrist extension followed by finger flexion. Full article

The implementation of robotic systems for minimally invasive surgery and medical procedures is an active topic of research in recent years. One of the most common procedures is the palpation of soft tissues to identify their mechanical characteristics. In particular, it is very useful to identify the tissue’s stiffness or equivalently its elasticity coefficient. However, this identification relies on the existence of a force sensor or a tactile sensor mounted at the tip of the robot, as well as on measuring the robot velocity. For some applications it would be desirable to identify the biomechanical characteristics of soft tissues without the need for a force/tactile nor velocity sensors. An estimation of such quantities can be obtained by a model-based state observer for which the inputs are only the robot joint positions and its commanded joint torques. The estimated velocities and forces can then be employed for closed-loop force control, force reflection, and mechanical parameters estimation. In this work, a closed-loop force control is proposed based on the estimated contact forces to avoid any tissue damage. Then, the information from the estimated forces and velocities is used in a least squares estimator of the mechanical parameters. Moreover, the estimated biomechanical parameters are employed in a Bayesian classifier to provide further help for the physician to make a diagnosis. We have found that a combination of the parameters of both linear and nonlinear viscoelastic models provide better classification results: 0% misclassifications against 50% when using a linear model, and 3.12% when using only a nonlinear model, for the case in which the samples have very similar mechanical properties. Full article

Functional dissatisfaction following total knee replacement (TKR) is recorded as high as 20%. The majority of these patients report anterior knee pain (AKP) as the main source of dissatisfaction. Elevated patellofemoral compression forces and soft tissue extensor hood strain have been implicated in the generation of significant AKP. A novel method of assessing and measuring patellofemoral compression forces dynamically in the native and resurfaced patella for TKR in four different quadrants of the patella is described. Results are reported from an in vitro model and cadaveric studies in the native and resurfaced knee. Patellofemoral compression forces are shown to be characteristic and consistent over repeated assessments in the native knee. Placement of a TKR significantly alters this pattern. Furthermore, over-stuffing or under-stuffing the resurfaced patella also significantly alters the nature and magnitude of patellofemoral compression forces. These studies may lead to an improved understanding of the nature of AKP following TKR, and using this assessment tool presents an opportunity to more effectively balance the third space, reproduce the native patellofemoral forces, and subsequently reduce AKP following TKR. Full article

Care for the natural environment, which can be observed in the tightening of emission standards, has enforced the search for new fuels, especially renewable sources of natural origin. The article presents the results of theoretical and experimental considerations on the impact of aviation biofuels on the materials used for sealing flange joints. The fuel type selected for the test is compatible with aviation fuels. Fuels have been enriched with a bio-additive that changes the technical and physical properties of the fuel. The tested gaskets were made of soft, aramid-elastomeric materials that were flat in shape and without reinforcement. Their commercial names are AFO and AFM. Tests were carried out with the use of a simple flange joint with a fuel reservoir at 373 K. Both fuel loss and the pressure drop on the gasket were measured during a 1000 h period of time. The experiments showed that the seals preserved the technical parameters in the presence of the tested fuels. The fuel loss did not exceed the accepted limits, which demonstrates the suitability of the tested materials for utilization with new types of fuel. However, no unequivocal conclusions can be drawn about the positive or negative impact of bio-additives on the sealing material due to the fact that both an improvement and deterioration in tightness under certain circumstances were observed. Based on the experimental data, a mathematical model was proposed that makes it possible to predict the service life of the gaskets in flange joints in contact with the investigated types of fuel. The potential application of the research results is practical information about the impact of biofuel on the gasket, and hence the information about the possibility of using traditional sealing materials in a new application—for sealing installations for the production, transmission and storage of biofuels. Full article

Soft robotics represents a rising trend in recent years, due to the ability to work in unstructured environments or in strict contact with humans. Introducing soft parts, robots can adapt to various contexts overcoming limits relative to the rigid structure of traditional ones. Main issues of soft robotics systems concern the relatively low force exertion and control complexity. Moreover, several fields of application, as space industry, need to develop novel lightweight and deployable robotic systems, that can be stored into a relatively small volume and deployed when required. In this paper, POPUP robot is introduced: a soft manipulator having inflatable links and rigid joints. Its hybrid structure aims to match the advantages of rigid robots and the useful properties of having a lightweight and deployable parts, ensuring simple control, low energy consumption and low compressed gas requirement. The first robot prototype and the system architecture are described highlighting design criteria and effect of internal pressure on the performances. A pseudo-rigid body model is used to describe the behavior of inflatable links looking forward to control design. Finally, the model is extended to the whole robot: multi-body simulations are performed to highlight the importance of suitable sensor equipment for control development, proposing a visual servoing solution. Full article

Tunnels, where they pass through soft-hard strata, are severely damaged during earthquakes. These issues have not yet been well understood. In this study, the seismic performances of a tunnel passing through soft-hard stratum with a transition tunnel and flexible joints under earthquake motion were investigated by proposed analytical solutions and scaled shaking table tests. First, a mechanical model of a tunnel passing through soft-hard stratum with flexible joints is proposed, and it is derived by the Green’s function method. Then, a parametric analysis is conducted to investigate the effects of important variables on tunnels through soft-hard stratum. Finally, shaking table tests are conducted to verify the proposed solution and further investigate the seismic behaviors of the tunnel. The results show that: (1) the analytical solutions are workable and effective; (2) the influence of the soft-hard stratum junction on the tunnel responses is remarkable—the largest bending moment is located at the side of soft rock near the sharp contact area and the maximum shear force appears at the contact; (3) the joints and the transition tunnel could mitigate the potential adverse effects of the sharp contact area—the region affected by the joint is approximately 4.5 times the tunnel diameter on both sides of the stratum interface; and (4) the influence of sharp change of ground layers is more remarkable with a larger excitation amplitude. Full article

This study examined the differences of knee joint forces between lowering to, or rising from squat, and typical final postures of squatting and kneeling. A biomechanical model of the lower limb was configured considering large knee flexion angles, multiple floor contact points, and the soft tissue contact between the thigh and calf. Inverse dynamics were used to determine muscle and compressive joint forces in the tibiofemoral and patellofemoral joints. Data were obtained from a group of 13 male subjects by means of 3D motion capturing, two force plates, a pressure-sensitive pad, and electromyography. During lowering into the kneeling/squatting positions and rising from them, the model exhibited the anticipated high maximum forces of 2.6 ± 0.39 body weight (BW) and 3.4 ± 0.56 BW in the tibiofemoral and patellofemoral joints. Upon attainment of the static terminal squatting and kneeling positions, the forces fell considerably, remaining within a range of between 0.5 and 0.7 BW for the tibiofemoral joint and 0.9 to 1.1 BW for the patellofemoral joint. The differences of the knee joint forces between the final postures of squatting and kneeling remained on average below 0.25 BW and were significant only for the tibiofemoral joint force. Full article