Design of a series visco-elastic actuator for multi-purpose rehabilitation haptic device

<p>Abstract</p> <p>Background</p> <p>Variable structure parallel mechanisms, actuated with low-cost motors with serially added elasticity (series elastic actuator - SEA), has considerable potential in rehabilitation robotics. However, reflected masses of a SEA and variable structure parallel mechanism linked with a compliant actuator result in a potentially unstable coupled mechanical oscillator, which has not been addressed in previous studies.</p> <p>Methods</p> <p>The aim of this paper was to investigate through simulation, experimentation and theoretical analysis the necessary conditions that guarantee stability and passivity of a haptic device (based on a variable structure parallel mechanism driven by SEA actuators) when in contact with a human. We have analyzed an equivalent mechanical system where a dissipative element, a mechanical damper was placed in parallel to a spring in SEA.</p> <p>Results</p> <p>The theoretical analysis yielded necessary conditions relating the damping coefficient, spring stiffness, both reflected masses, controller's gain and desired virtual impedance that needs to be fulfilled in order to obtain stable and passive behavior of the device when in contact with a human. The validity of the derived passivity conditions were confirmed in simulations and experimentally.</p> <p>Conclusions</p> <p>These results show that by properly designing variable structure parallel mechanisms actuated with SEA, versatile and affordable rehabilitation robotic devices can be conceived, which may facilitate their wide spread use in clinical and home environments.</p

Evaluation of classical precipitation descriptions for γ′′(Ni3Nb−D022) in Ni-base superalloys

The growth/coarsening kinetics of γ′′(Ni3Nb−D022) precipitates have been found by numerous researchers to show an apparent correspondence with the classical (Ostwald ripening) equation outlined by Lifshitz, Slyozov and (separately) Wagner for a diffusion controlled regime. Nevertheless, a significant disparity between the actual precipitate size distribution shape and that predicted by LSW is frequently observed in the interpretation of these results, the origin of which is unclear. Analysis of the literature indicates one likely cause for this deviation from LSW for γ′′ precipitates is the “encounter” phenomenon described by Davies et al. (Acta Metall 28(2):179–189, 1980) that is associated with secondary phases comprising a high volume fraction. Consequently, the distributions of both γ′′ precipitates described in the literature (Alloy 718) and measured in this research in Alloy 625 are analysed through employing the Lifshitz–Slyozov-Encounter-Modified (LSEM) formulation (created by Davies et al.). The results of the LSEM analysis show good far better agreement than LSW with experimental distributions after the application of a necessary correction for what is termed in this research as “directional encounter”. Moreover, the activation energy for γ′′ coarsening in Alloy 625 shows conformity with literature data once the effect of heterogeneous (on dislocations) precipitate nucleation at higher temperatures is accounted for

Exploiting bacterial DNA gyrase as a drug target: current state and perspectives

DNA gyrase is a type II topoisomerase that can introduce negative supercoils into DNA at the expense of ATP hydrolysis. It is essential in all bacteria but absent from higher eukaryotes, making it an attractive target for antibacterials. The fluoroquinolones are examples of very successful gyrase-targeted drugs, but the rise in bacterial resistance to these agents means that we not only need to seek new compounds, but also new modes of inhibition of this enzyme. We review known gyrase-specific drugs and toxins and assess the prospects for developing new antibacterials targeted to this enzyme

A Kerr magnetometer setup in the kHz regime based on open-hardware architecture

A high sensitivity Kerr magnetometer (?I/I = 1/30) is presented, making use of open source hardware and software. By making time resolved measurements (up to 0.15 s/cycle) the signal quality has been greatly improved up to an order of magnitude, enabling us to compare our measurements with commercial vibrating sample magnetometers. We also present an additional setup to amplify the Kerr signal in a 25:1 scale, cleaning a large part of the electronic and trigger noise. © Published under licence by IOP Publishing Ltd