Incompressible Squeeze-Film Levitation

Transverse vibrations can induce the non-linear compression of a thin film of air to levitate objects, via the squeeze film effect. This phenomenon is well captured by the Reynolds' lubrication theory, however, the same theory fails to describe this levitation when the fluid is incompressible. In this case, the computation predicts no steady-state levitation, contradicting the documented experimental evidence. In this letter, we uncover the main source of the time-averaged pressure asymmetry in the incompressible fluid thin film, leading the levitation phenomenon to exist. Furthermore, we reveal the physical law governing the steady-state levitation height, which we confirm experimentally

Tsetse fly inspired steerable bone drill—a proof of concept

The fixation strength of pedicle screws could be increased by fixating along the much stronger cortical bone layer, which is not possible with the current rigid and straight bone drills. Inspired by the tsetse fly, a single-plane steerable bone drill was developed. The drill has a flexible transmission using two stacked leaf springs such that the drill is flexible in one plane and can drill along the cortical bone layer utilizing wall guidance. A proof-of-principle experiment was performed which showed that the Tsetse Drill was able to successfully drill through 5, 10 and 15 PCF cancellous bone phantom which has similar mechanical properties to severe osteoporotic, osteoporotic and healthy cancellous bone. Furthermore, the Tsetse Drill was able to successfully steer and drill along the cortical wall utilizing wall guidance for an insertion angle of 5°, 10° and 15°. The experiments conclude that the tsetse fly-inspired drilling method is successful and even allows the drilling along the cortical bone layer. The Tsetse Drill can create curved tunnels utilizing wall guidance which could increase the fixation strength of bone anchors and limit the risk of cortical breach and damage to surrounding anatomy

A Retrofit Sensing Strategy for Soft Fluidic Robots

Soft robots are intrinsically capable of adapting to different environments by changing their shape in response to interaction forces with the environment. However, sensing and feedback are still required for higher level decisions and autonomy. Most sensing technologies developed for soft robots involve the integration of separate sensing elements in soft actuators, which presents a considerable challenge for both the fabrication and robustness of soft robots due to the interface between hard and soft components and the complexity of the assembly. To circumvent this, here we present a versatile sensing strategy that can be retrofitted to existing soft fluidic devices without the need for design changes. We achieve this by measuring the fluidic input that is required to activate a soft actuator and relating this input to its deformed state during interaction with the environment. We demonstrate the versatility of our sensing strategy by tactile sensing of the size, shape, surface roughness and stiffness of objects. Moreover, we demonstrate our approach by retrofitting it to a range of existing pneumatic soft actuators and grippers powered by positive and negative pressure. Finally, we show the robustness of our fluidic sensing strategy in closed-loop control of a soft gripper for practical applications such as sorting and fruit picking. Based on these results, we conclude that as long as the interaction of the actuator with the environment results in a shape change of the interval volume, soft fluidic actuators require no embedded sensors and design modifications to implement sensing. We believe that the relative simplicity, versatility, broad applicability and robustness of our sensing strategy will catalyze new functionalities in soft interactive devices and systems, thereby accelerating the use of soft robotics in real world applications

Catheter steering in interventional cardiology: Mechanical analysis and novel solution

In recent years, steerable catheters have been developed to combat the effects of the dynamic cardiac environment. Mechanically actuated steerable catheters appear the most in the clinical setting; however, they are bound to a number of mechanical limitations. The aim of this research is to gain insight in these limitations and use this information to develop a new prototype of a catheter with increased steerability. The main limitations in mechanically steerable catheters are identified and analysed, after which requirements and solutions are defined to design a multi-steerable catheter. Finally, a prototype is built and a proof-of-concept test is carried out to analyse the steering functions. The mechanical analysis results in the identification of five limitations: (1) low torsion, (2) shaft shortening, (3) high unpredictable friction, (4) coupled tip-shaft movements, and (5) complex cardiac environment. Solutions are found to each of the limitations and result in the design of a novel multi-steerable catheter with four degrees of freedom. A prototype is developed which allows the dual-segmented tip to be steered over multiple planes and in multiple directions, allowing a range of complex motions including S-shaped curves and circular movements. A detailed analysis of limitations underlying mechanically steerable catheters has led to a new design for a multi-steerable catheter for complex cardiac interventions. The four integrated degrees of freedom provide a high variability of tip directions, and repetition of the bending angle is relatively simple and reliable. The ability to steer inside the heart with a variety of complex shaped curves may potentially change conventional approaches in interventional cardiology towards more patient-specific and lower complexity procedures. Future directions are headed towards further design optimizations and the experimental validation of the prototype

A Retrofit Sensing Strategy for Soft Fluidic Robots

<p>This replication package contains the raw data and processing codes for all the figures in the manuscript titled A Retrofit Sensing Strategy for Soft Fluidic Robots.</p&gt

Swelling coiling catapult mechanism in the mulberry <i>Morus alba</i>.

<p>(A) One of the four filaments with attached anther in the flower bud of <i>M</i>. <i>alba</i>. (B) The pressurized filament grows and bends, storing elastic energy as deformation is obstructed by the fine thread connections and the pistillode. (C) Slight drying of the anther tears the thread connections. (D) The anther is catapulted in an approximately circular arch driven by the stored elastic energy of the filament while releasing the pollen. Drawings are based on schematic drawings in [<a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0158277#pone.0158277.ref074" target="_blank">74</a>]. Scale bar 2 μm.</p