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

A Framework and Process Library for Human-Robot Collaboration in Creative Design and Fabrication

In the last two decades, the increasing affordability of industrial robots, along with the growing maturity of computational design software, has led architects to integrate robots into their design process. Robots have exceptional capabilities that enable the fabrication of geometrically complicated components and assembly of complex structures. However, the robot control and motion programming tools currently being adopted by designers were all initially intended for engineering-based manufacturing industries. When using computer-controlled tools, designers cannot adapt their designs to the production process in real time. Current industrial robot control systems force the designer to envision and embed all of the required machining data in the digital model before the fabrication process begins. This requirement makes the process of design to fabrication a unidirectional workflow. In pursuit of a solution, a growing body of research is exploring various human-robot collaboration methods for architectural practices. However, many of these studies are project- based, targeting the ad hoc needs of a particular robotic application or fabrication process. Consequently, this dissertation investigates a generalizable framework for human-robot collaboration that is rooted in the principles of distributed cognition. As an essential part of the research argument, the role of the tools of production in the formation of a designer's cognitive system is considered. This framework, defined for a bi-directional design and fabrication workflow, relies on and integrates material and fabrication feedback into the design process. The framework has three main components: interactive design, adaptive control, and a design and fabrication library. While different aspects of these components have been studied to various extents by other researchers, this dissertation is the first to define them in an integrated manner. Next, the requirements for each of these elements are introduced and discussed in detail. This dissertation focuses in more detail on the library component of the framework because compared to the first two components, it is the least investigated solution to date. A structure for the library is proposed so that the tacit knowledge of makers could be structured, captured, and reused. At its core, the library is a process-centric database where each process is supported by a set of tools, instructions, materials, and geometries required for the transformation of a part into its final form. Finally, this study demonstrates the generalizability of the library concept through a series of experiments developed for different material systems and with various robotic operations.Ph.D

Design and development of robust hands for humanoid robots

Design and development of robust hands for humanoid robot

Design and manufacture of a universal mechanical human joint simulator

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University London.The work performed in this thesis involves the study of human hip joint kinematics and load analysis. Such analyses are very useful for investigating mobility and natural functionality as well as the variation in motion due to replacement implants. The objective of this study is to design, build and testing of a universal human joint simulator that is configurable to hold several human joints and easily programmable to create the required motion. This was performed by creating a Stewart Platform, which is capable of moving in all six degrees of freedom; the maximum number needed by any human joint. Many specific human joint simulators are available on the market for simulating all major human limbs. These are used for wear testing replacement joints by using high load repetitive motion. These systems have a predetermined limit degree of movement and are very expensive; if one wanted to emulate another joint, one would have to purchase a whole new system. This novel system compromises of a three-phase power supply, Control Area Network with six actuators and drivers, a force reading clamp with strain gauges and data logger. A user friendly computer program was developed that is able to derive joint movement data from two inputs and replicating the movement by driving the platform, as well as recording force and displacement data from the joint. The product would be marketed towards biomechanical researchers and implant designers. Verification of this system was performed by simulating the human hip joint. A known combination of kinematic and force data were inputted into the system for nine different types of activities. The resultant force and joint centre displacement was then compared to see how well the system perform in comparison to the inputted data from a previous study. The outcome of this project is a fully functional machine and configurable program that can create movement data at varying speeds and body weights; which is also able to drive the human joint simulator. The design also costs a fraction of any industrial joint simulator. It is hoped that the simulator will allow easier study of both the kinematics and load analysis within the human joints, with the intent on aiding investigation into mobility and functionality; as well as variation in motion caused by a replacement implant

Process–Structure–Properties in Polymer Additive Manufacturing

Additive manufacturing (AM) methods have grown and evolved rapidly in recent years. AM for polymers is an exciting field and has great potential in transformative and translational research in many fields, such as biomedical, aerospace, and even electronics. Current methods for polymer AM include material extrusion, material jetting, vat polymerisation, and powder bed fusion. With the promise of more applications, detailed understanding of AM—from the processability of the feedstock to the relationship between the process–structure–properties of AM parts—has become more critical. More research work is needed in material development to widen the choice of materials for polymer additive manufacturing. Modelling and simulations of the process will allow the prediction of microstructures and mechanical properties of the fabricated parts while complementing the understanding of the physical phenomena that occurs during the AM processes. In this book, state-of-the-art reviews and current research are collated, which focus on the process–structure–properties relationships in polymer additive manufacturing

Prevalence of lumbo-pelvic pain and factors associated with it in cyclists in Johannesburg

A dissertation submitted to the Faculty of Health Sciences, University of the Witwatersrand, Johannesburg, in fulfillment of the requirements for the degree of Master of Science in Physiotherapy. Johannesburg, 2014Cycling has grown in popularity as a sport and is rated as one of the top 15 most popular sports in South Africa with more than 420 000 participants. Cyclists spend long continuous hours on the bicycle in an awkward position, which leads to unique overuse injuries. Overuse injuries in cyclists have been estimated to be as high as 85% with lower back and pelvis pain (LBPP) among the most common. The lower back and pelvis is the foundation the cyclist use for powering and controlling the bicycle and optimal functioning thereof is essential for optimal comfort and performance in cycling. The prolonged forward flexed position of the cyclist on the bicycle is regarded as one of the main contributors to LBPP in cyclists. Cyclists with LBPP are known to assume a position of greater lumbar flexion compared to those without but the reason for this has not been extensively explored. The purpose of this study was therefore to not only establish the prevalence of LBPP in cyclists in South Africa, but also identify factors associated with it in cyclists. The factors were considered in three broad categories: (1) training methods used, (2) intrinsic functioning of the cyclist and (3) bicycle set-up. Intrinsic and bicycle set-up factors included were those proposed to influence the forward-backward and side-to-side position of the cyclist on the bicycle and thereby lead to the development of LBPP in cyclists. The study had a cross-sectional descriptive design and comprised of two parts: a questionnaire (survey) investigating the prevalence of LBPP in cyclists together with the training methods used, and a physical assessment of the factors proposed to be associated with LBPP in cyclists. All cyclists belonging to cycling clubs registered with Cycling South Africa were invited to complete the online survey. From there, cyclists could indicate willingness to undergo a physical assessment which was done in the greater Gauteng area. The physical assessment included the following measurements: the lumbar curvature on the bicycle in all three handlebar positions, strength of gluteus maximus and gluteus medius, extensibility of the hamstring muscle group, control of lumbar movement in the direction of flexion, neurodynamics, active straight leg raise for load transfer, one leg stance test for lateral shift of the pelvis, leg-length discrepancy and bicycle set-up (saddle height, set-back and angle, handlebar height, forward reach, cleat position). The study revealed a lifetime prevalence of 65% for LBPP among cyclists in South Africa. Of the factors assessed, only the lumbar curvature in the brake lever position i.e. flexion of the lumbar spine (p=0.03) and the weakness of gluteus medius (Gmed) (p=0.05) were significantly related to LBPP in cyclists. This study was the first to assess the relationship between so many different factors and LBPP in cyclists, and the largest of its kind in cycling. Understanding the relationship between these factors and LBPP in cyclists can guide the development of preventative strategies and interventions with the aim of reducing the occurrence and recurrence of LBPP in cyclists and limiting the impact thereof

Design and Development of a Transhumeral Prosthetic Mounting System

Current methods of prosthesis attachment for those with trans-humeral amputations fail to balance load bearing capability with freedom of movement. This design increases axial and torsional load bearing capability of the prosthesis (to 60 pounds and 12 foot-pounds, respectively) without limiting the range of motion in the shoulder needed to perform activities of daily living. This is accomplished via a harness system, an exoskeletal shoulder joint, and an arm interface that links the prosthesis to the device

Kinematics and degenerative change in ligament-injured knees

The aim of the work presented in this thesis was to examine the associations between the kinematics of the knee characterised by the tibiofemoral contact pattern, and degenerative change, in the context of anterior cruciate ligament (ACL) injury. While the natural history of degenerative change following knee injury is well understood, the role of kinematics in these changes is unclear. Kinematics of the knee has been described in a variety of ways, most commonly by describing motion according to the six degrees of freedom of the knee. The advantage of mapping the tibiofemoral contact pattern is that it describes events at the articular surface, important to degenerative change. It was hypothesised that the tibiofemoral contact pattern would be affected by injury to the knee. A model of ACL injury was chosen because the kinematics of the knee have been shown to be affected by ACL injury, and because the majority of chronic ACL-deficient knees develop osteoarthritis, the associations between kinematics and degenerative change could be explored. A technique of tibiofemoral contact pattern mapping was established using MRI, as a quantifiable measure of knee kinematics. The tibiofemoral contact pattern was recorded from 0º to 90º knee flexion while subjects performed a leg-press against a 150N load, using sagittal magnetic resonance imaging (MRI) scans. The technique was tested and found to be reliable, allowing a description of the tibiofemoral contact pattern in 12 healthy subjects. The tibiofemoral contact patterns of knee pathology were then examined in a series of studies of subjects at a variety of stages of chronicity of ligament injury and osteoarthritis. Twenty subjects with recent ACL injury, 23 subjects with chronic ACL deficiency of at least 10 years standing, and 14 subjects with established osteoarthritis of the knee were recruited. The 20 subjects with recent ACL injury were examined again at 12 weeks and 2 years following knee reconstruction. The tibiofemoral contact patterns were examined for each group of subjects and the associations between changes in the contact patterns and evidence of joint damage explored. Evidence of joint damage and severity of osteoarthritis were recorded from xrays, diagnostic MRI, operation reports and bone densitometry at the tibial and femoral condyles of the knee. Each of the three groups with knee pathology exhibited different characteristics in the tibiofemoral contact pattern, and these differences were associated with severity of joint damage and osteoarthritis. The recently ACL-injured knees demonstrated a tibiofemoral contact pattern that was posterior on the tibial plateau, particularly in the lateral compartment. Those with chronic ACL deficiency demonstrated differences in the contact pattern in the medial compartment, associated with severity of damage to the knee joint. Osteoarthritic knees showed reduced femoral roll back and longitudinal rotation that normally occur during knee flexion. Two years following knee reconstruction there was no difference between the contact pattern of the reconstructed and healthy contralateral knees. This technique of tibiofemoral contact pattern mapping is sensitive to the abnormal characteristics of kinematics in ligament injury and osteoarthritis. This is the first time the tibiofemoral contact characteristics of chronic ACL-deficient and osteoarthritis knees have been described and links examined between tibiofemoral contact patterns and degenerative change

Aeronautical Engineering: A special bibliography with indexes, supplement 32, June 1973

This special bibliography lists 372 reports, articles, and other documents introduced into the NASA scientific and technical information system in May 1973

Cervical Total Level Arthroplasty System With PEEK All-Polymer Articulations

The cervical spine must provide structural support for the head, allow large range of motion and protect both the spinal cord and branching nerves. There are two types of spinal joints: the intervertebral discs which are flexible connections and the facets, which are articulating synovial joints. Both types degenerate with age. Current surgical treatments include spinal fusion and articulating disc replacement implants. If both disc and facet joints are degenerated, fusion is the only option. In spinal fusion, the disc is removed and the adjacent vertebrae are fused which causes abnormally high stress levels in adjacent discs. In disc replacement, an articulating device is inserted to restore intervertebral motion and mimic healthy spinal kinematics. Disc arthroplasty does not significantly increase adjacent level stress but the lack of rotational constraint causes increased facet contact pressures. Thus, there is a need for a cervical total level arthroplasty system (CTLAS) that has a disc implant specifically designed to preserve the facet joints and implants for facet arthroplasty that can act independently or in-unison with the disc replacement. The conceptual design of a CTLAS implant system was proposed that would replace the disc and the facet joints. To facilitate medical imaging, PEEK (polyetheretherkeytone) was selected as the structural and bearing material. In the present thesis, multi-station pin-on-plate wear testing was initiated for pairs of unfilled (OPT) and carbon-fiber-reinforced (CFR) PEEK. Wear is important in arthroplasty implant design because wear particles can cause osteolysis leading to loosening. A variety of experiments were performed to investigate the effects of load, contact geometry and lubricant composition on wear. CFR PEEK was found to have much lower and more predictable wear than OPT PEEK in the present experiments. The wear of OPT PEEK pairs showed sensitivity to lubricant protein concentration. The coefficient of friction during testing was found to be quite high (up to 0.5), which might have clinical implications. Also, some subsurface fatigue was found, exposing carbon fibers of CFR PEEK. This remains a concern for its long-term application. Further wear testing is recommended using actual implants in a spine wear simulator