Design of a variable-stiffness robotic hand using pneumatic soft rubber actuators

In recent years, Japanese society has been ageing, engendering a labor shortage of young workers. Robots are therefore expected to be useful in performing tasks such as day-to-day support for elderly people. In particular, robots that are intended for use in the field of medical care and welfare are expected to be safe when operating in a human environment because they often come into contact with people. Furthermore, robots must perform various tasks such as regrasping, grasping of soft objects, and tasks using frictional force. Given these demands and circumstances, a tendon-driven robot hand with a stiffness changing finger has been developed. The finger surface stiffness can be altered by adjusting the input pressure depending on the task. Additionally, the coefficient of static friction can be altered by changing the surface stiffness merely by adjusting the input air pressure. This report describes the basic structure, driving mechanism, and basic properties of the proposed robot hand

Advanced Design Concepts and Efficient Finite Element Modeling for Dielectric Elastomer Devices

Dielectric elastomers (DEs) offer their use in numerous applications, due to their advantages compared to conventional actuators and sensors. They excel in properties such as lightweight, energy efficiency, low-noise and inherent compliance, just to name a few. In particular, actuator and sensor systems based on membrane DEs show their potential in many fields, from the automotive industry to consumer electronics. Defined procedures which permit an efficient design process are required in order to allow the development of novel DE devices. Additionally, numerical methods for the optimization of such processes are of interest. The first part of this dissertation provides advanced design methods for actuator and sensor applications. For DE actuators, systems biased with permanent magnets are investigated and design rules are derived in order to maximize the stroke for a given load case. For DE sensors, the field of high pressure measurements is developed, introducing concepts for intrusive and nonintrusive sensor systems. In the second part of this dissertation, numerical methods for membrane DE actuators based on the Finite Element method are derived. The main focus is fast computation time and numerical efficiency. Two approaches are presented, one based on a two-dimensional continuum formulation and one based on a three-dimensional membrane formulation. The resulting models allow the investigation of local field distributions, such as stresses, thickness and electric field.Dielektrische Elastomere (DE) bieten sich durch ihre Vorteile gegenüber herkömmlichen Aktoren und Sensoren für viele Anwendungen an. Sie zeichnen sich aus durch geringes Gewicht, hohe Energieeffizienz, geräuschlosen Betrieb und inhärente Dehnbarkeit. Um die Entwicklung neuer DE Anwendungen voranzutreiben, werden effiziente Auslegungsprozesse benötigt. Zusätzlich sind numerische Methoden zur Optimierung solcher Prozesse von Interesse. Der erste Teil dieser Dissertation entwickelt fortgeschrittene Entwicklungsmethoden für Aktorund Sensorsysteme. Für DE Aktoren werden Systeme mit Permanentmagneten als Vorspannmechanismus untersucht und eine Prozedur zur Maximierung des Aktorhubs für eine vorgegebene Last hergeleitet. Für DE Sensoren wird das Feld der Hochdruckmessung erschlossen, indem Konzepte für intrusive und nicht-intrusive Druckmessungen entwickelt werden. Der zweite Teil dieser Dissertation leitet numerische Modelle für die Simulation von DE Aktoren basierend auf der Finite Elemente Methode her. Der Hauptfokus liegt hierbei auf schnellen Rechenzeiten und numerischer Effizienz. Der erste diskutierte Ansatz basiert auf einer zweidimensionalen Kontinuumsformulierung, während der zweite Ansatz auf einer dreidimensionalen Membranformulierung basiert. Die resultierenden Modelle erlauben die Untersuchung lokaler Feldverteilungen, beispielsweise der mechanischen Spannung, der Dickenänderung und dem elektrischen Feld

Design, development and validation of a novel mechanical occlusion device for transcervical sterilization

The use of contemporary medical devices in the human body, such as dilation balloons, closure devices, stents, coils, stent-grafts, etc. are gaining more importance to preclude surgical incisions and general anaesthesia. An analogous procedure for permanent female sterilization is the transcervical approach that does not require either general anaesthesia or surgical incision and uses a normal body passage. However, current methods of transcervical sterilization are unable to provide an instant occlusion of fallopian tubes. This work aims at the design, development and validation of a novel mechanical occlusion device, which achieve both instant and permanent female sterilization via the transcervical approach. The device is designed to provide an instant mechanical occlusion by deploying, under hysteroscopic visualization an implant into the intramural segment of the fallopian tube. The transcervical sterilization devices comprises of three major systems, an occlusion implant, a guiding system and a delivery actuator. All three systems were designed, developed and validated in this research work. The design of the device has been accomplished through Computer Aided Design (CAD), Finite Element Method (FEM) and experimental testing. Validation of device was performed following a number of successful bench-top in-air deployments and invitro deployments in animal tissue and explanted human uteri. The efficacy of the device and the instant occlusion of the fallopian tubes were proved by hydraulic pressure testing of the implanted uteri using saline and methylene blue solution. Initial results suggest that the device provides a safe, effective and instant method of permanent female sterilization. Further work is ongoing for in-vivo clinical trials and, if these are successful, it will be mass-produced and introduced into the market

Mechatronics of systems with undetermined configurations

This work is submitted for the award of a PhD by published works. It deals with some of the efforts of the author over the last ten years in the field of Mechatronics. Mechatronics is a new area invented by the Japanese in the late 1970's, it consists of a synthesis of computers and electronics to improve mechanical systems. To control any mechanical event three fundamental features must be brought together: the sensors used to observe the process, the control software, including the control algorithm used and thirdly the actuator that provides the stimulus to achieve the end result. Simulation, which plays such an important part in the Mechatronics process, is used in both in continuous and discrete forms. The author has spent some considerable time developing skills in all these areas. The author was certainly the first at Middlesex to appreciate the new developments in Mechatronics and their significance for manufacturing. The author was one of the first mechanical engineers to recognise the significance of the new transputer chip. This was applied to the LQG optimal control of a cinefilm copying process. A 300% improvement in operating speed was achieved, together with tension control. To make more efficient use of robots they have to be made both faster and cheaper. The author found extremely low natural frequencies of vibration, ranging from 3 to 25 Hz. This limits the speed of response of existing robots. The vibration data was some of the earliest available in this field, certainly in the UK. Several schemes have been devised to control the flexible robot and maintain the required precision. Actuator technology is one area where mechatronic systems have been the subject of intense development. At Middlesex we have improved on the Aexator pneumatic muscle actuator, enabling it to be used with a precision of about 2 mm. New control challenges have been undertaken now in the field of machine tool chatter and the prevention of slip. A variety of novel and traditional control algorithms have been investigated in order to find out the best approach to solve this problem