Choosing new ways to chew

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DEVELOPMENT OF A SOFT PNEUMATIC ACTUATOR FOR MODULAR ROBOTIC MECHANISMS

Soft robotics is a widely and rapidly growing field of research today. Soft pneumatic actuators, as a fundamental element in soft robotics, have gained huge popularity and are being employed for the development of soft robots. During the last decade, a variety of hyper-elastic robotic systems have been realized. As the name suggests, such robots are made up of soft materials, and do not have any underlying rigid mechanical structure. These robots are actuated employing various methods like pneumatic, electroactive, jamming etc. Generally, in order to achieve a desired mechanical response to produce required actuation or manipulation, two or more materials having different stiffness are utilized to develop a soft robot. However, this method introduces complications in the fabrication process as well as in further design flexibility and modifications. The current work presents a design scheme of a soft robotic actuator adapting an easier fabrication approach, which is economical and environment friendly as well. The purpose is the realization of a soft pneumatic actuator having functional ability to produce effective actuation, and which is further employable to develop modular and scalable mechanisms. That infers to scrutinize the profile and orientation of the internal actuation cavity and the outer shape of viii the actuator. Utilization of a single material for this actuator has been considered to make this design scheme convenient. A commercial silicone rubber was selected which served for an economical process both in terms of the cost as well as its accommodating fabrication process through molding. In order to obtain the material behavior, \u2018Ansys Workbench 17.1 R \u2019 has been used. Cubic outline for the actuator aided towards the realization of a body shape which can easily be engaged for the development of modular mechanisms employing multiple units. This outer body shape further facilitates to achieve the stability and portability of the actuator. The soft actuator has been named \u2018Soft Cubic Module\u2019 based on its external cubic shape. For the internal actuation cavity design, various shapes, such as spherical, elliptical and cylindrical, were examined considering their different sizes and orientations within the cubic module. These internal cavities were simulated in order to achieve single degree of freedom actuation. That means, only one face of the cube is principally required to produce effective deformation. \u2018Creo Perametric 3.0 M 130\u2019 has been used to design the model and to evaluate the performance of actuation cavities in terms of effective deformation and the resulting von-mises stress. Out of the simulated profiles, cylindrical cavity with desired outcomes has been further considered to design the soft actuator. \u2018Ansys Workbench 17.1 R \u2019 environment was further used to assess the performance of cylindrical actuation cavity. Evaluation in two different simulation environments helped to validate the initially achieved results. The developed soft cubic actuator was then employed to develop different mechanisms in a single unit configuration as well as multi-unit robotic system developments. This design scheme is considered as the first tool to investigate its capacity to perform certain given tasks in various configurations. Alongside its application as a single unit gripper and a two unit bio-mimetic crawling mechanism, this soft actuator has been employed to realize a four degree ix of freedom robotic mechanism. The formation of this primitive soft robotic four axis mechanism is being further considered to develop an equivalent mechanism similar to the well known Stewart platform, with advantages of compactness, simpler kinematics design, easier control, and lesser cost. Overall, the accomplished results indicate that the design scheme of Soft Cubic Module is helpful in realizing a simple and cost-effective soft pneumatic actuator which is modular and scalable. Another favourable point of this scheme is the use of a single material with convenient fabrication and handling

Proposal of a health care network based on big data analytics for PDs

Health care networks for Parkinson's disease (PD) already exist and have been already proposed in the literature, but most of them are not able to analyse the vast volume of data generated from medical examinations and collected and organised in a pre-defined manner. In this work, the authors propose a novel health care network based on big data analytics for PD. The main goal of the proposed architecture is to support clinicians in the objective assessment of the typical PD motor issues and alterations. The proposed health care network has the ability to retrieve a vast volume of acquired heterogeneous data from a Data warehouse and train an ensemble SVM to classify and rate the motor severity of a PD patient. Once the network is trained, it will be able to analyse the data collected during motor examinations of a PD patient and generate a diagnostic report on the basis of the previously acquired knowledge. Such a diagnostic report represents a tool both to monitor the follow up of the disease for each patient and give robust advice about the severity of the disease to clinicians

Evaluation of biomechanical effects of interocclusal surfaces on the mandible

ABSTRACT Introduction: Only few studies in the literature employ a mathematical model in the evaluation of the stress which follows the application of loads and constraints onto the mandible. Therefore, new approaches are needed so that the study of this phenomenon can rely less on the clinical hypothesis and experience of the operator, while taking advantage of the many benefits that virtual representations and mathematical calculations present. Aim of the study is to determine, by means of the finite element method (FEM), the stress produced onto the mandible as a result of the application of a force on itself, in association or not to the perioral musculature and according to the dental support given by the positioning of an interocclusal surface at three different levels: mesial, intermediate and distal. Aim: The aim is to allow a more objective evaluation of this phenomenon, its absolute repeatability, as well as to acquire important clinical informations concerning the role of orthodontic and gnathologic appliances. Materials and methods: Starting from a 1:1 scale model of the mandible (human adult male), a virtual three - dimensional (3D) representation was first obtained thanks to a dedicate software; it was then imported into a second software in order to permit the discretization into finite elements of the virtual model and the attribution of its mechanical properties. Finally, thanks to a specific software, it was possible to simulate the presence of load and constraints and to evaluate the stress status by using pseudo - colors. Results: The stress generated following the application of a force onto the mandible, undergoes significant variations in relation to the dental support and the presence or absence of the perioral musculature. Conclusions: Following the results of our research, we consider FEM as a valid and interesting method for this purpose, however additional FEM conducted studies are necessary in order to assess this phenomenon in more detail and determine the role of the perioral musculature as well as the possible clinical implications

Robotics in Dentistry : A Narrative Review

Background: Robotics is progressing rapidly. The aim of this study was to provide a comprehensive overview of the basic and applied research status of robotics in dentistry and discusses its development and application prospects in several major professional fields of dentistry. Methods: A literature search was conducted on databases: MEDLINE, IEEE and Cochrane Library, using MeSH terms: [“robotics” and “dentistry”]. Result: Forty-nine articles were eventually selected according to certain inclusion criteria. There were 12 studies on prosthodontics, reaching 24%; 11 studies were on dental implantology, accounting for 23%. Scholars from China published the most articles, followed by Japan and the United States. The number of articles published between 2011 and 2015 was the largest. Conclusions: With the advancement of science and technology, the applications of robots in dental medicine has promoted the development of intelligent, precise, and minimally invasive dental treatments. Currently, robots are used in basic and applied research in various specialized fields of dentistry. Automatic tooth-crown-preparation robots, tooth-arrangement robots, drilling robots, and orthodontic archwire-bending robots that meet clinical requirements have been developed. We believe that in the near future, robots will change the existing dental treatment model and guide new directions for further development

Towards a cyber physical system for personalised and automatic OSA treatment

Obstructive sleep apnea (OSA) is a breathing disorder that takes place in the course of the sleep and is produced by a complete or a partial obstruction of the upper airway that manifests itself as frequent breathing stops and starts during the sleep. The real-time evaluation of whether or not a patient is undergoing OSA episode is a very important task in medicine in many scenarios, as for example for making instantaneous pressure adjustments that should take place when Automatic Positive Airway Pressure (APAP) devices are used during the treatment of OSA. In this paper the design of a possible Cyber Physical System (CPS) suited to real-time monitoring of OSA is described, and its software architecture and possible hardware sensing components are detailed. It should be emphasized here that this paper does not deal with a full CPS, rather with a software part of it under a set of assumptions on the environment. The paper also reports some preliminary experiments about the cognitive and learning capabilities of the designed CPS involving its use on a publicly available sleep apnea database

Odontology & artificial intelligence

Neste trabalho avaliam-se os três fatores que fizeram da inteligência artificial uma tecnologia essencial hoje em dia, nomeadamente para a odontologia: o desempenho do computador, Big Data e avanços algorítmicos. Esta revisão da literatura avaliou todos os artigos publicados na PubMed até Abril de 2019 sobre inteligência artificial e odontologia. Ajudado com inteligência artificial, este artigo analisou 1511 artigos. Uma árvore de decisão (If/Then) foi executada para selecionar os artigos mais relevantes (217), e um algoritmo de cluster k-means para resumir e identificar oportunidades de inovação. O autor discute os artigos mais interessantes revistos e compara o que foi feito em inovação durante o International Dentistry Show, 2019 em Colónia. Concluiu, assim, de forma crítica que há uma lacuna entre tecnologia e aplicação clínica desta, sendo que a inteligência artificial fornecida pela indústria de hoje pode ser considerada um atraso para o clínico de amanhã, indicando-se um possível rumo para a aplicação clínica da inteligência artificial.There are three factors that have made artificial intelligence (AI) an essential technology today: the computer performance, Big Data and algorithmic advances. This study reviews the literature on AI and Odontology based on articles retrieved from PubMed. With the help of AI, this article analyses a large number of articles (a total of 1511). A decision tree (If/Then) was run to select the 217 most relevant articles-. Ak-means cluster algorithm was then used to summarize and identify innovation opportunities. The author discusses the most interesting articles on AI research and compares them to the innovation presented during the International Dentistry Show 2019 in Cologne. Three technologies available now are evaluated and three suggested options are been developed. The author concludes that AI provided by the industry today is a hold-up for the praticioner of tomorrow. The author gives his opinion on how to use AI for the profit of patients

Kinematics analysis of 6-DOF parallel micro-manipulators with offset u-joints : a case study

This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies