Geometry-based customization of bending modalities for 3D-printed soft pneumatic actuators

In this work, we propose a novel type of 3D-printed soft pneumatic actuator that allows geometry-based customization of bending modalities. While motion in the 3D-space has been achieved for several types of soft actuators, only 2D-bending has been previously modelled and characterized within the scope of 3D-printed soft pneumatic actuators. We developed the first type of 3D-printed soft pneumatic actuator which, by means of the unique feature of customizable cubes at an angle with the longitudinal axis of the structure, is capable of helical motion. Thus, we characterize its mechanical behavior and formulate mathematical and FEA models to validate the experimental results. Variation to the pattern of the inclination angle along the actuator is then demonstrated to allow for complex 3D-bending modalities and the main applications in the fields of object manipulation and wearable robotics are finally discussed

AN ENERGY-EFFICIENT LOCOMOTION: SAMURAI-INSPIRED NAMBA WALKING

Namba walking, in which the arm and the ipsilateral leg are moved at the same time, in contrast to normal walking, is believed to be more energy-efficient. The purpose of this study was to investigate the differences between Namba walking and normal walking in terms of their gait kinematics and energetics. Our findings indicated that different lower limb energy absorption strategies were adopted for Namba walking, as compared to normal walking. In Namba walking, energy absorption capacities were increased in both hip and ankle joints, suggesting that Namba walking can potentially dissipate external impact forces more effectively

AN INVESTIGATION OF FULL BODY KINEMATICS FOR STATIC AND DYNAMIC THROW-IN IN PROFICIENTPROFICIENT AND NON-PROFICIENTPROFICIENT SOCCER PLAYERS WHEN THEY TRIED TO HIT A SPECIFIC TARGET

The purpose of this study was to identify the kinetic differences between proficient and non-proficient players during one ability: Throw-in. Twelve players were recruited from the local university to perform the experiment. Many studies have been conducted to explain the biomechanics of this ability, however there is about a lack of research, investigating the comparison between proficient and non-proficient players. The hypotheses of this study were that a) peak knee flexion angles would be higher for dynamic style for proficient and less proficient subjects, and b) peak vertical ground reaction force (GRF) would be higher for the dynamic style. Our results showed a markedly difference in the peak flexion angles for proficient players. The results may be useful to develop training strategies to help to the players to achieve precise throws

INVESTIGATION OF SOCCER KICKING FOR PROFICIENT AND NONPROFICIENT SOCCER PLAYERS

The purpose of this study was to identify the kinematic differences between proficient and non-proficient players during soccer kick. We hypothesize that there are significant kinematic differences between the proficient and non-proficient players as they aim to hit a specific target. Six subjects were recruited for the study. A marker-based motion capture system was used to capture the lower extremity joint kinematics during soccer kick. Our results showed that proficient subjects displayed larger maximum hip flexion angles during initiation phase and lower maximum hip flexion during kick phase for the right target, as compared to the non-proficient subjects. These differences may be useful considerations in developing a neuromuscular training program to increase the proficiency of hitting a specific target during a soccer game

A BIOMECHANICAL ANALYSIS FOR PROFICIENT AND LESS-PROFICIENT SUBJECTS FOR SOCCER HEADING

Soccer is one of the most popular sports and is played and watched by millions of people around the world. In heading the players intentionally strike the ball using his head; therefore it is essential to instruct them in a proper manner how to do it optimally. Our results showed that lower and upper body had a significant difference between the proficient and less proficient subjects. For upper body kinematics, the proficient subjects exerted lesser elbow angles (47.8" (1.9) than the less-proficient (58.7"(3.5)). In the case of lower bdy kinetics, the proficient subjects exerted greater ankle moment (l.g(O.2) NmlKg) than less proficient subjects (1.5(0.3)Nm/Kg). With the results obtained it became possible to create particular training programs on how to perform a skill better and therefore result in an improvement of their ability

A WEARABLE FOOT MOTION TRACKING SENSOR FOR OUTDOOR RUNNING

Throughout human history, running has evolved from a form of locomotion to a recreation or competitive pursuit. The purpose of this project was to develop a foot motion tracking sensor using inertial measurement unit (IMU) to determine the running kinematics of the ankles of individuals under different external or physical conditions such as change in directions, running on slopes or level ground or fatigue. These results may be helpful in providing a real-time quantitative data, which will be useful for runners to monitor their training programs and routes. The preliminary results showed that the system can detect ankle dorsiflexion/plantarflexion across different route condition, where these results can be used for further analysis such as designing a training program and monitoring the fatigue level

BIOMECHANICS OF RUNNING WITH FOREFOOT-SPRING FOOTWEAR

Forefoot strikers have significantly lower rates of repetitive stress injury than rearfoot strikers. The purpose of this study was to design a forefoot-spring footwear to induce habitual rearfoot runners to adopt a forefoot strike pattern and to investigate the effect of this forefoot-spring footwear on lower extremity joints biomechanics during running. Our findings indicated that different lower limb energy absorption strategies were adopted for running with the forefoot-spring footwear, as compared to control footwear. A shift from hip-dominant to ankle-dominant energy absorption strategy may reduce the loading to the hip and knee joints and could be beneficial towards the prevention of running related injuries particularly at the knee joint

An Amphibious Fully-Soft Miniature Crawling Robot Powered by Electrohydraulic Fluid Kinetic Energy

Miniature locomotion robots with the ability to navigate confined environments show great promise for a wide range of tasks, including search and rescue operations. Soft miniature locomotion robots, as a burgeoning field, have attracted significant research interest due to their exceptional terrain adaptability and safety features. In this paper, we introduce a fully-soft miniature crawling robot directly powered by fluid kinetic energy generated by an electrohydraulic actuator. Through optimization of the operating voltage and design parameters, the crawling velocity of the robot is dramatically enhanced, reaching 16 mm/s. The optimized robot weighs 6.3 g and measures 5 cm in length, 5 cm in width, and 6 mm in height. By combining two robots in parallel, the robot can achieve a turning rate of approximately 3 degrees/s. Additionally, by reconfiguring the distribution of electrodes in the electrohydraulic actuator, the robot can achieve 2 degrees-of-freedom translational motion, improving its maneuverability in narrow spaces. Finally, we demonstrate the use of a soft water-proof skin for underwater locomotion and actuation. In comparison with other soft miniature crawling robots, our robot with full softness can achieve relatively high crawling velocity as well as increased robustness and recovery

ANKLE PLANTARFLEXOR CONTRIBUTIONS TO KNEE JOINT LOADING AND ANTERIOR CRUCIATE LIAGAMENT FORCE DURING SINGLE-LEG LANDING

The purpose of this study was to identify the effects of height on ankle plantarflexor contributions to the knee joint loading and the anterior cruciate ligament (ACL) force during single leg landing. Eight healthy subjects performed landing from 30 and 60 cm heights. Subject-specific musculoskeletal models, based on single-leg landing, were developed in OpenSim using kinematics and kinetics data. Predicted muscle forces and knee joint reaction forces were input into another knee model to estimate ACL forces during landing. Large Soleus muscle forces (~5B.W.) were found to act on the tibia at the same time when peak ACL forces occurred. The Gastrocnemius muscles, which acted as an ACL antagonist peaked earlier than the Soleus with a lower magnitude (~3BW). The Gastrocnemius-Soleus complex acted to stabilize the knee joint during single leg landing