Self-adjustment mechanisms and their application for orthosis design

Medical orthoses aim at guiding anatomical joints along their natural trajectories while preventing pathological movements, especially in case of trauma or injuries. The motions that take place between bone surfaces have complex kinematics. These so-called arthrokinematic motions exhibit axes that move both in translation and rotation. Traditionally, orthoses are carefully adjusted and positioned such that their kinematics approximate the arthrokinematic movements as closely as possible in order to protect the joint. Adjustment procedures are typically long and tedious. We suggest in this paper another approach. We propose mechanisms having intrinsic self-aligning properties. They are designed such that their main axis self-adjusts with respect to the joint’s physiological axis during motion. When connected to a limb, their movement becomes homokinetic and they have the property of automatically minimizing internal stresses. The study is performed here in the planar case focusing on the most important component of the arthrokinematic motions of a knee joint

Design of a Mechatronic Interface with Compliant Manipulator for Robot Assisted Echocardiography

Abstract A compliant manipulator with a compound soft actuator is proposed for robot-assisted echocardiography. The target application is devoted to the TOE echo (Trans-oesophageal echocardiography), which is conventionally performed by medical practitioners. The manual manipulation of the echocardiography probe shows significant risks such as human errors, exposure to ionizing radiation, and multitasking complexity. Automation of TOE provides advantages in terms of control, safety, and workload of the operator. This paper proposes a teleoperated robotic system assisting the physician to perform TOE, to be used in cardiac catheterization laboratories as well as hybrid operation theatres. A system containing a holder with master-slave Dynamixel servos and a manipulator with soft actuators has been developed. To alleviate the major lack of the previous designs in conducting the insertion tube, a robotic arm with a soft structure is proposed that has not hazards of conventional robot manipulators. The fundamental equations and relations for quasi-static control of the system are developed in this paper

Review on friction and wear test rigs: An overview on the state of the art in tyre tread friction evaluation

The future evolution of autonomous mobility and road transportation will require substantial improvements in tyre adherence optimization. As new technologies being deployed in tyre manufacturing reduce total vehicle energy consumption, the contribution of tyre friction for safety and performance enhancement continues to increase. For this reason, the tyre’s grip is starting to drive the focus of many tyre developments nowadays. This is because the tread compound attitude to maximize the interaction forces with the ground is the result of a mix of effects, involving polymer viscoelastic characteristics, road roughness profiles and the conditions under which each tyre works during its lifespan. In such a context, mainly concerning the automotive market, the testing, analysis and objectivation of the friction arising at the tread interface is performed by means of specific test benches called friction testers. This paper reviews the state of the art in such devices’ development and use, with a global overview of the measurement methodologies and with a classification based on the working and specimen motion principle. Most tyre friction testers allow one to manage the relative sliding speed and the contact pressure between the specimen and the counter-surface, while just some of them are able to let the user vary the testing temperature. Few devices can really take into account the road real roughness, carrying out outdoor measurements, useful because they involve actual contact phenomena, but very complex to control outside the laboratory environment

Design of a Hand Held Minimally Invasive Lung Tumour Localization Device

Lung cancer is the leading type of cancer that causes death. If diagnosed, the treatment of choice is surgical resection of the tumour. Traditionally, a surgeon feels for the presence of a tumour in open thoracic surgery. However, a minimally invasive approach is desired. A major problem presented by the minimally invasive approach is the localization of the tumour. This project describes the design, analysis, and experimental validation of a novel minimally invasive instrument for lung tumour localization. The instrument end effector is a two degree of freedom lung tissue palpator. It allows for optimal tissue palpation to increase useful sensor feedback by ensuring sensor contact, and prevents tissue damage by uniformly distributing pressure on the tissue with an upper bound force. Finite element analysis was used extensively to guide the design process. The mechanism is actuated using high strength tungsten cables attached to controlled motors. Heat treatment experiments were undertaken with stainless steel alloy 440C for use in the design, achieving a device factor of safety of 4. This factor of safety is based on a 20 N force on the end effector — the approximate weight of a human lung. The design was prototyped and validation experiments were carried out to assess its articulation and its load carrying capacity. Up to 10 N of force was applied to the prototype. Issues to resolve in the current design include cable extension effects and the existence of joint inflection. The end effector was also designed to allow the inclusion of ultrasound, tactile, and kinaesthetic sensors. It is hypothesized that a plurality of sensors will increase the likelihood of positive tumour localization. These sensors, combined with the presented mechanical design, form the basis for research in robotics-assisted palpation. A proof of concept control system is presented for automated palpation

A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery

In robotic single-port surgery, it is desirable for a manipulator to exhibit the property of variable stiffness. Small-port incisions may require both high flexibility of the manipulator for safety purposes, as well as high structural stiffness for operational precision and high payload capability. This paper presents a new hyperredundant tubular manipulator with a variable neutral-line mechanisms and adjustable stiffness. A unique asymmetric arrangement of the tendons and the links realizes both articulation of the manipulator and continuous stiffness modulation. This asymmetric motion of the manipulator is compensated by a novel actuation mechanism without affecting its structural stiffness. The paper describes the basic mechanics of the variable neutral-line manipulator, and its stiffness characteristics. Simulation and experimental results verify the performance of the proposed mechanism.Samsung Advanced Institute of Technolog

Advances in Mechanical Systems Dynamics 2020

The fundamentals of mechanical system dynamics were established before the beginning of the industrial era. The 18th century was a very important time for science and was characterized by the development of classical mechanics. This development progressed in the 19th century, and new, important applications related to industrialization were found and studied. The development of computers in the 20th century revolutionized mechanical system dynamics owing to the development of numerical simulation. We are now in the presence of the fourth industrial revolution. Mechanical systems are increasingly integrated with electrical, fluidic, and electronic systems, and the industrial environment has become characterized by the cyber-physical systems of industry 4.0. Within this framework, the status-of-the-art has become represented by integrated mechanical systems and supported by accurate dynamic models able to predict their dynamic behavior. Therefore, mechanical systems dynamics will play a central role in forthcoming years. This Special Issue aims to disseminate the latest research findings and ideas in the field of mechanical systems dynamics, with particular emphasis on novel trends and applications