Phase stacking diagram of colloidal mixtures under gravity

The observation of stacks of distinct layers in a colloidal or liquid mixture in sedimentation-diffusion equilibrium is a striking consequence of bulk phase separation. Drawing quantitative conclusions about the phase diagram is, however, very delicate. Here we introduce the Legendre transform of the chemical potential representation of the bulk phase diagram to obtain a unique stacking diagram of all possible stacks under gravity. Simple bulk phase diagrams generically lead to complex stacking diagrams. We apply the theory to a binary hard core platelet mixture with only two-phase bulk coexistence, and find that the stacking diagram contains six types of stacks with up to four distinct layers. These results can be tested experimentally in colloidal platelet mixtures. In general, an extended Gibbs phase rule determines the maximum number of sedimented layers to be $3+2(n_b-1)+n_i$, where $n_b$ is the number of binodals and $n_i$ is the number of their inflection points

Design of a Knee Exoskeleton actuated with Artificial Muscles of SMA

This project presents the preliminary design of a powered exoskeleton for the knee joint, build upon the structural framework of DonJoy’s X-Act Rom Lite - Knee Brace. The device allows exclusively one degree of freedom, intended for the flexion and extension of the lower limb. The actuation mechanism is based on artificial muscles of Nitinol fibers, which are a type of Shape Memory Alloys (SMA). These wires contract 4% of its original length as the temperature rises due to the Joule Effect, when connected to a power supply. Thanks to this phenomenon, the proposed robotic orthosis presents portability, lightness and noiseless performance, in comparison to similar products. The main role of these instruments is to conduct medical rehabilitation therapy for those patients who have suffered from neurological diseases, musculoskeletal lesions or spinal cord injuries. Consequently, the wearer might recover -partially or fully- the movement on the joint. The results from several trials were obtained after mimicking real rehabilitation positions -like sitting, standing or lying down- and are analyzed thoroughly in this thesis. All in all, this prototype proves how the SMA actuators are a viable alternative to create lower extremity robotic devices for rehabilitation.Ingeniería Biomédic