Proxy-based sliding-mode tracking control of dielectric elastomer actuators through eliminating rate-dependent viscoelasticity

This work was partially supported by the State Key Laboratory of Mechanical Transmissions (SKLMT-ZDKFKT-202004) and the National Natural Science Foundation of China (52005322 and 52025057).Peer reviewedPostprin

Stretchable elastic synaptic transistors for neurologically integrated soft engineering systems

Artificial synaptic devices that can be stretched similar to those appearing in soft-bodied animals, such as earthworms, could be seamlessly integrated onto soft machines toward enabled neurological functions. Here, we report a stretchable synaptic transistor fully based on elastomeric electronic materials, which exhibits a full set of synaptic characteristics. These characteristics retained even the rubbery synapse that is stretched by 50%. By implementing stretchable synaptic transistor with mechanoreceptor in an array format, we developed a deformable sensory skin, where the mechanoreceptors interface the external stimulations and generate presynaptic pulses and then the synaptic transistors render postsynaptic potentials. Furthermore, we demonstrated a soft adaptive neurorobot that is able to perform adaptive locomotion based on robotic memory in a programmable manner upon physically tapping the skin. Our rubbery synaptic transistor and neurologically integrated devices pave the way toward enabled neurological functions in soft machines and other applications

X-crossing pneumatic artificial muscles

Artificial muscles are promising in soft exoskeletons, locomotion robots, and operation machines. However, their performance in contraction ratio, output force, and dynamic response is often imbalanced and limited by materials, structures, or actuation principles. We present lightweight, high–contraction ratio, high–output force, and positive pressure–driven X-crossing pneumatic artificial muscles (X-PAMs). Unlike PAMs, our X-PAMs harness the X-crossing mechanism to directly convert linear motion along the actuator axis, achieving an unprecedented 92.9% contraction ratio and an output force of 207.9 Newtons per kilogram per kilopascal with excellent dynamic properties, such as strain rate (1603.0% per second), specific power (5.7 kilowatts per kilogram), and work density (842.9 kilojoules per meter cubed). These properties can overcome the slow actuation of conventional PAMs, providing robotic elbow, jumping robot, and lightweight gripper with fast, powerful performance. The robust design of X-PAMs withstands extreme environments, including high-temperature, underwater, and long-duration actuation, while being scalable to parallel, asymmetric, and ring-shaped configurations for potential applications

Diabetes and Pre-Diabetes as Determined by Glycated Haemoglobin A1c and Glucose Levels in a Developing Southern Chinese Population

BACKGROUND: The American Diabetes Association and World Health Organization have recently adopted the HbA1c measurement as one method of diagnostic criteria for diabetes. The change in diagnostic criteria has important implications for diabetes treatment and prevention. We therefore investigate diabetes using HbA1c and glucose criteria together, and assess the prevalent trend in a developing southern Chinese population with 85 million residents. METHODS: A stratified multistage random sampling method was applied and a representative sample of 3590 residents 18 years of age or above was obtained in 2010. Each participant received a full medical check-up, including measurement of fasting plasma glucose, 2-hour post-load plasma glucose, and HbA1c. Information on history of diagnosis and treatment of diabetes was collected. The prevalence of diabetes obtained from the present survey was compared with the data from the survey in 2002. RESULTS: The prevalence of diabetes based on both glucose and HbA1c measurements was 21.7% (95% CI: 17.4%-26.1%) in 2010, which suggests that more than 1 in 5 adult residents were suffering from diabetes in this developing population. Only 12.9% (95% CI: 8.3%-17.6%) of diabetic residents were aware of their condition. The prevalence of pre-diabetes was 66.3% (95% CI: 62.7%-69.8%). The prevalence of diabetes and pre-diabetes which met all the three diagnostic thresholds (fast plasma glucose, 2 hour post-load plasma glucose, and HbA1c) was 3.1% and 5.2%, respectively. Diabetes and pre-diabetes as determined by HbA1c measurement had higher vascular risk than those determined by glucose levels. The prevalence of diabetes increased from 2.9% (95% CI: 2.0%-3.7%) in 2002 to 13.8% (95% CI: 10.2%-17.3%) in 2010 based on the same glucose criteria. CONCLUSIONS: Our results show that the diabetes epidemic is accelerating in China. The awareness of diabetes is extremely low. The glucose test and HbA1c measurement should be used together to increase detection of diabetes and pre-diabetes

High‐Speed and Low‐Energy Actuation for Pneumatic Soft Robots with Internal Exhaust Air Recirculation

Multichamber soft pneumatic actuators (m‐SPAs) are widely used in soft robotic systems to achieve versatile grasping and locomotion. However, existing m‐SPAs have slow actuation speed and are either limited by a finite air supply or require energy‐consuming hardware to continuously supply compressed air. Herein, these shortcomings by introducing an internal exhaust air recirculation (IEAR) mechanism for high‐speed and low‐energy actuation of m‐SPAs are addressed. This mechanism recirculates the exhaust compressed air and recovers the energy by harnessing the rhythmic actuation of multiple chambers. A theoretical model to guide the analysis of the IEAR mechanism, which agrees well with the experimental results, is developed. Comparative experimental results of several sets of m‐SPAs show that the IEAR mechanism significantly improves the actuation speed by more than 82.4% and reduces the energy consumption per cycle by more than 47.7% under typical conditions. The promising applications of the IEAR mechanism in various pneumatic soft machines and robots such as a robotic fin, fabric‐based finger, and quadruped robot are further demonstrated. An interactive preprint version of the article can be found at: https://doi.org/10.22541/au.166428178.80668101/v1

Restoring finger-specific tactile sensations with a sensory soft neuroprosthetic hand through electrotactile stimulation

Tactile feedback is of great significance for amputees to improve the controllability of prosthetic hands and obtain tactile information regarding the interacting objects, which remains a significant challenge for neuroprosthetic hands. In this study, we present a method to restore finger-specific tactile sensations on the projected finger map of a unilateral forearm amputee with a sensory soft neuroprosthetic hand through electrotactile stimulation. On this basis, five soft touch sensors embedded in the fingertips are first adopted to measure the pressure changes of the soft neuroprosthetic hand with the touched objects. The measured pressure information is then accordingly encoded into electrotactile stimulation patterns to trigger an electrical stimulator that outputs programmable electrical pulses on the projected finger map of the amputee. In this manner, the finger tactile sensation can be elicited, which can help the amputee to distinguish the finger press state and discriminate the curvature and hardness of the touched objects. Experimental results show that, based on the different stimulation regions, the amputee subject can instantaneously distinguish the tactile sensation of a single finger or multiple fingers with an accuracy of 98.57% and 91.71%, respectively. By programming the frequencies of the electrical pulses, the amputee subject can successfully discriminate the touching objects with different curvatures and hardnesses with an accuracy of 97.26% and 97.93%, respectively. Finally, we demonstrate that the amputee subject can achieve closed-loop control of the sensory soft neuroprosthetic hand by integrating a myoelectric control interface and electrotactile feedback to achieve multilevel perception