7 research outputs found
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Soft pneumatic actuators: a review of design, fabrication, modeling, sensing, control and applications
Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable materials and usually follow a bioinspired design. Their high dexterity and safety make them ideal for applications such as gripping, locomotion, and biomedical devices, where the environment is highly dynamic and sensitive to physical interaction. Pneumatic actuation remains the dominant technology in soft robotics due to its low cost and mass, fast response time, and easy implementation. Given the significant number of publications in soft robotics over recent years, newcomers and even established researchers may have difficulty assessing the state of the art. To address this issue, this article summarizes the development of soft pneumatic actuators and robots up until the date of publication. The scope of this article includes the design, modeling, fabrication, actuation, characterization, sensing, control, and applications of soft robotic devices. In addition to a historical overview, there is a special emphasis on recent advances such as novel designs, differential simulators, analytical and numerical modeling methods, topology optimization, data-driven modeling and control methods, hardware control boards, and nonlinear estimation and control techniques. Finally, the capabilities and limitations of soft pneumatic actuators and robots are discussed and directions for future research are identified
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Development of soft modular robotics
This thesis covers the development and validation of soft robots in providing upper limb assistive motion. The main purpose of this research is to develop highly compliant
and resilient actuators that generate motion for elbow and shoulder movements. To accomplish the purpose of the study, the fabrication, geometric construction along with
experimental data of pressure, torque and range of motion of all developed actuators are described. The main contribution of this thesis is the development of soft actuators that transfer force via elastic deformation in order to generate assistive motion; features such as flexibility and soft contact with the skin ensure excellent safety potential of the actuators. To reduce the instability phenomenon attributed to the elastic response of rubber under large deformations that leads to bulging, the implementation of a pleated network
design and embedded braided mesh network is presented. Bulging was reduced and torque output was increased with the integration of braided mesh into the silicone rubber
actuator. The soft actuators developed for elbow and shoulder motion was tested on ten healthy participants thereby demonstrating its comfort, ease of use, fitting and removal as well as its practicality as an assistive apparatus for stroke patients. The use of soft robotics to provide shoulder motion was also assessed by the integration of soft robotics with a gravity compensated exoskeleton. The developed soft actuators were powered with electro-pneumatic hardware components presented in a compact, embedded form. Positive and negative air pressure control was implemented by a piecewise
linear control algorithm with the performance of the controller shown. The design of a novel muscle made entirely of silicone rubber that contract upon actuation
was described together with the manufacturing procedure, design parameters and measurement results of performance of these muscles such as the velocity of shortening,
isometric contraction and maximal obtainable muscle force (without shortening). The muscles are manufactured to mimic the skeletal muscles present in the human body. These muscles are composed of a number of wedge-like units in series, the number of these wedge units increase the contraction. The soft muscles were characterized in order to find optimum design parameters that results in more contraction and speed; the muscles were tested on a model hinge joint to execute flexion/extension of the forearm at the elbow. Aside from contracting, the muscle has an interesting capability of producing bidirectional bending by the regulation of internal positive and negative air pressure in each wedge unit. In order to measure performance data relating to range of motion from bending, rotary and muscle actuators, computer vision processing was made use of. Soft robots are made with materials that experience large deformations, the sensors used to obtain measurement data can either be through the use of embedded sensors or visual processing. The use of embedded sensors can be cumbersome, resulting in limitation of its performance. The visual processing algorithms implemented to measure performance data such as angle of motion, bending angle and contraction ratio in real-time using a Webcam is described. Visual processing concepts such as colour tracking, template
matching, camera calibration were applied. The developed vision system was applied to execute vision based motion control which is able to move the soft robot to a desired
position using high level vision control and lower level pressure control. The material described in the preceding paragraphs are presented in an interrelated format. A concise introduction to the thesis is presented in the first chapter. An extensive survey of the field of soft robotics including materials, manufacturing procedure,
actuation principles, primary accomplishments, control and challenges are presented in the literature review chapter, together with a review of rehabilitation devices. Since this work focused on the use of silicone rubber as actuator material, a brief introduction
to working with silicone rubber as an engineering material is presented in the third chapter. The conclusions of the work and suggestions for future research are provided at the last chapter of this thesis
Applying safe flooring in housing environments related to the independent elderly : evaluating suitability flooring technology to absorb impact in the event of a fall
Aplicat embargament des de la data de defensa fins el dia 3/6/2022This research has been developed with the intention of investigating a different generation of pavements. Most of the current pavements have the same basic standard characteristics and this ensures that living conditions are comfortable, safe, and pleasant for the majority of citizens. But a small group of pavements is designed with a specific purpose: to reduce injuries related to people's falls to the ground; They are called CF (compliant flooring in English). A detailed study of CF flooring systems is warranted to assess their usability for vulnerable groups such as the elderly. This study is structured in six chapters. The first chapter has dealt mainly with bibliographic studies and statistical data consulted on official and international websites. This section evaluates the importance of the increase in the elderly population, life expectancy, and threats to the safety and health of the elderly, especially, and their secondary effects. The scope of the research has been carried out internationally, in Europe and within Spain, and finally, specifically for Catalonia. The second chapter presents a brief overview of the interior flooring, specifically considering its comfort and safety during use. The importance and direct relationship between the sole of the foot and the gait mechanism with respect to the type of pavement have been verified. Many factors that influence this have been investigated, such as the physics and biomechanics of the body when walking, the kinematics of falls, and the dynamics of impact. In addition, a general description of the behavior of materials for use in pavements has been made to better understand the behavior of CF systems. In addition, the most suitable strategies to cope with falls and reduce injuries are discussed. Examining other products with appreciable energy-absorbing and shock-reducing capabilities has been helpful in the proposed pre-designs, all of which have been made based on numerical analysis and related standards. The third chapter is already dedicated to the study of technology and research on the most suitable CF systems; studies from academic, commercial, and architecture departments, in general, are included. In this section, some standard tests related to the various selected materials are developed and several examples of similar products are studied. The fourth chapter includes field research (on-site) and analysis of case studies. Several notable flooring companies around the world were contacted by mail, specifically examining those products whose manufacturers claimed to be shock absorbers. This part of the investigation was slowed down by the delay in shipments. Once they arrived, a real environment was sought where they could obtain the opinion of the elderly and the personnel assigned to their care. All the practice tests were carried out in a residence for the elderly in Barcelona for about two months, focusing on the study of the current pavements of the center and the current derived problems related to users.This entire process was completed by interviewing users and caregivers with predefined questionnaires. It should be noted that this allowed us to contrast the quantitative characteristics of the study in combination with the elements of qualitative research. Chapter Five deals with the results, discussions, suggestions for installation and improvement of pavement safety in risk areas. Simulations were also carried out on a possible base structure of the pavements with the finite element method (FEM). Chapter six presents guidelines for future developments. The author further investigated the materials and their structure and is presented them as a basis for future technical developments.The author considers that, with more detailed studies, it would be possible to use as CF system other materials, either natural or recycled based on agricultural products, which would increase the diversity of the CF system offer and promote more sustainable architectureEsta investigación se ha desarrollado con la intención de investigar una generación diferente de pavimentos. La mayoría de los actuales pavimentos tienen las mismas características básicas estándar y ello garantiza que las condiciones de vida sean cómodas, seguras y agradables para la mayoría de los ciudadanos. Pero un grupo reducido de pavimentos está diseñado con un propósito específico: reducir las lesiones relacionadas con las caídas al suelo de las personas; son los denominados CF (compliant flooring en inglés). Un estudio detallado de los sistemas de pavimentos CF está justificado para evaluar su posibilidad de uso para grupos vulnerables como los ancianos. Este estudio se estructura en seis capítulos. En el primer capítulo se han abordado principalmente los estudios bibliográficos y datos estadísticos consultados en sitios web oficiales e internacionales. En esta sección se evalúa la importancia del aumento de la población anciana. El ámbito de la investigación se ha realizado a nivel internacional, en Europa y dentro de España, y finalmente, específicamente para Cataluña. El segundo capítulo se presenta una breve panorámica del pavimento interior. Se ha constatado la importancia y relación directa entre la planta del pie y el mecanismo de andar con respecto al tipo de pavimento. Se han investigado muchos factores que influyen en ello. Además, se ha realizado una descripción general del comportamiento de los materiales al uso en pavimentos para comprender mejor el comportamiento de los sistemas de CF. Además, se discuten las estrategias más idóneas para hacer frente a las caídas y reducir las lesiones. Examinar otros productos con apreciables capacidades de amortiguación de energía y reducción de impactos ha sido de gran ayuda en los prediseños propuestos, todos los cuales se han realizado sobre la base de análisis numérico y los estándares relacionados. El tercer capítulo está dedicado ya al estudio de la tecnología y la investigación sobre los sistemas de C más idóneos; se incluyen estudios procedentes de departamentos académicos, comerciales y de arquitectura en general. En esta sección se desarrollan algunas pruebas estándar relacionadas con los diversos materiales seleccionados y se estudian varios ejemplos de productos similares. El cuarto capítulo incluye investigación de campo (in situ) y análisis de estudios de casos. Se contactó por correo con varias empresas notables de pavimentos en todo el mundo, y se examinaron específicamente aquellos productos cuyos fabricantes afirmaban ser amortiguadores. Esta parte de la investigación se vio ralentizada por la demora en los envíos. Una vez llegados se buscó un ámbito real donde poder recabar la opinión de las personas mayores y del personal adscrito a su cuidado. Todas las pruebas prácticas se realizaron en una residencia de ancianos de Barcelona durante unos dos meses, centrándose en el estudio de los actuales pavimentos del centro y los problemas actuales derivados relacionados con los usuarios. Todo este proceso se completó mediante entrevistas a usuarios y cuidadores con cuestionarios predefinidos. El Capítulo Cinco se refiere a los resultados, discusiones, sugerencias para la instalación y mejora de la seguridad del pavimento en áreas de riesgo. También se realizaron simulaciones sobre una posible estructura base de los pavimentos con el método elemento finito (FEM). El capítulo seis presenta directrices para desarrollos futuros. El autor investigó más a fondo sobre los materiales y su estructura, y se presenta como una base para desarrollos técnicos futuros. El autor considera que, con estudios más detallados, sería posible utilizar como CF otros materiales, bien naturales o reciclados a base de productos agrícolas, lo cual aumentaría la diversidad de la oferta de CF y fomentaría la arquitectura más sostenible.Postprint (published version
A Wearable Combined Wrist Pulse Measurement System Using Airbags for Pressurization
The pulse measurement instrument is based on traditional Chinese medicine (TCM) and is used to collect the pulse of patients to assist in diagnosis and treatment. In the existing pulse measurement system, desktop devices have large volumes, complex pressure adjusting operations, and unstable pressurization. Wearable devices tend to have no pressurization function or the function to pressurize three channels separately, which are not consistent with the diagnostic method in TCM. This study constructs a wearable pulse measurement system using airbags for pressurization. This system uses guide plates, guide grooves, and positioning screws to adjust the relative position of the wristband and locate Cun, Guan and Chi regions. The pulse signal measured by the sensor is collected and sent to a computer by microcontroller unit. In experiments, this system successfully obtains the best pulse-taking pressure, its pulse waveform under continuous decompression, and the pulse waveform of three regions under light, medium, and heavy pressure. Compared with the existing technology, the system has the advantages of supporting single-region and three-region pulse acquisition, independent pressure adjustment, and position adjustment. It meets the needs of home, medical, and experimental research, and it is convenient and comfortable to wear and easy to carry
Spinoff 2015
Topics covered include: 3D Endoscope to Boost Safety, Cut Cost of Surgery; Audio App Brings a Better Night's Sleep Liquid Cooling Technology Increases Exercise Efficiency; Algae-Derived Dietary Ingredients Nourish Animals; Space Grant Research Launches Rehabilitation Chair; Vision Trainer Teaches Focusing Techniques at Home; Aircraft Geared Architecture Reduces Fuel Cost and Noise; Ubiquitous Supercritical Wing Design Cuts Billions in Fuel Costs; Flight Controller Software Protects Lightweight Flexible Aircraft; Cabin Pressure Monitors Notify Pilots to Save Lives; Ionospheric Mapping Software Ensures Accuracy of Pilots' GPS; Water Mapping Technology Rebuilds Lives in Arid Regions; Shock Absorbers Save Structures and Lives during Earthquakes; Software Facilitates Sharing of Water Quality Data Worldwide; Underwater Adhesives Retrofit Pipelines with Advanced Sensors; Laser Imaging Video Camera Sees through Fire, Fog, Smoke; 3D Lasers Increase Efficiency, Safety of Moving Machines; Air Revitalization System Enables Excursions to the Stratosphere; Magnetic Fluids Deliver Better Speaker Sound Quality; Bioreactor Yields Extracts for Skin Cream; Private Astronaut Training Prepares Commercial Crews of Tomorrow; Activity Monitors Help Users Get Optimum Sun Exposure; LEDs Illuminate Bulbs for Better Sleep, Wake Cycles; Charged Particles Kill Pathogens and Round Up Dust; Balance Devices Train Golfers for a Consistent Swing; Landsat Imagery Enables Global Studies of Surface Trends; Ruggedized Spectrometers Are Built for Tough Jobs; Gas Conversion Systems Reclaim Fuel for Industry; Remote Sensing Technologies Mitigate Drought; Satellite Data Inform Forecasts of Crop Growth; Probes Measure Gases for Environmental Research; Cloud Computing Technologies Facilitate Earth Research; Software Cuts Homebuilding Costs, Increases Energy Efficiency; Portable Planetariums Teach Science; Schedule Analysis Software Saves Time for Project Planners; Sound Modeling Simplifies Vehicle Noise Management; Custom 3D Printers Revolutionize Space Supply Chain; Improved Calibration Shows Images' True Colors; Micromachined Parts Advance Medicine, Astrophysics, and More; Metalworking Techniques Unlock a Unique Alloy; Low-Cost Sensors Deliver Nanometer-Accurate Measurements; Electrical Monitoring Devices Save on Time and Cost; Dry Lubricant Smooths the Way for Space Travel, Industry; and Compact Vapor Chamber Cools Critical Components
Technology 2002: The Third National Technology Transfer Conference and Exposition, volume 2
Proceedings from symposia of the Technology 2002 Conference and Exposition, December 1-3, 1992, Baltimore, MD. Volume 2 features 60 papers presented during 30 concurrent sessions
Safety and Reliability - Safe Societies in a Changing World
The contributions cover a wide range of methodologies and application areas for safety and reliability that contribute to safe societies in a changing world. These methodologies and applications include: - foundations of risk and reliability assessment and management
- mathematical methods in reliability and safety
- risk assessment
- risk management
- system reliability
- uncertainty analysis
- digitalization and big data
- prognostics and system health management
- occupational safety
- accident and incident modeling
- maintenance modeling and applications
- simulation for safety and reliability analysis
- dynamic risk and barrier management
- organizational factors and safety culture
- human factors and human reliability
- resilience engineering
- structural reliability
- natural hazards
- security
- economic analysis in risk managemen