Comparison of contractile and extensile pneumatic artificial muscles

Science.gov (United States)

Pillsbury, Thomas E.; Wereley, Norman M.; Guan, Qinghua

2017-09-01

Pneumatic artificial muscles (PAMs) are used in robotic and prosthetic applications due to their high power to weight ratio, controllable compliance, and simple design. Contractile PAMs are typically used in traditional hard robotics in place of heavy electric motors. As the field of soft robotics grows, extensile PAMs are beginning to have increased usage. This work experimentally tests, models, and compares contractile and extensile PAMs to demonstrate the advantages and disadvantages of each type of PAM and applications for which they are best suited.

Pneumatic artificial muscles for trailing edge flap actuation: a feasibility study

International Nuclear Information System (INIS)

Woods, Benjamin K S; Wereley, Norman M; Kothera, Curt S; Sirohi, Jayant

2011-01-01

In this study a novel aircraft trailing edge flap actuation system was developed and tested. Pneumatic artificial muscles (PAMs) were used as the driving elements of this system to demonstrate their feasibility and utility as an alternative aerospace actuation technology. A prototype flap/actuator system was integrated into a model wing section and tested on the bench-top under simulated airloads for flight at 100 m s −1 (M = 0.3) and in an open-jet wind tunnel at free stream velocities ranging up to 45 m s −1 (M = 0.13). Testing was performed for actuator pressures ranging from 0.069 to 0.62 MPa (10–90 psi) and actuation frequencies from 0.1 to 31 Hz. Results show that the PAM-driven trailing edge flap system can generate substantial and sustainable dynamic deflections, thereby proving the feasibility of using pneumatic artificial muscle actuators in a trailing edge flap system. Key issues limiting system performance are identified, that should be resolved in future research

Design of a biped robot actuated by pneumatic artificial muscles.

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Liu, Yixiang; Zang, Xizhe; Liu, Xinyu; Wang, Lin

2015-01-01

High compliant legs are essential for the efficient versatile locomotion and shock absorbency of humans. This study proposes a biped robot actuated by pneumatic artificial muscles to mimic human locomotion. On the basis of the musculoskeletal architecture of human lower limbs, each leg of the biped robot is modeled as a system of three segments, namely, hip joint, knee joint, and ankle joint, and eleven muscles, including both monoarticular and biarticular muscles. Each rotational joint is driven by a pair of antagonistic muscles, enabling joint compliance to be tuned by operating the pressure inside the muscles. Biarticular muscles play an important role in transferring power between joints. Walking simulations verify that biarticular muscles contribute to joint compliance and can absorb impact energy when the robot makes an impact upon ground contact.

Dynamic contraction behaviour of pneumatic artificial muscle

Science.gov (United States)

Doumit, Marc D.; Pardoel, Scott

2017-07-01

The development of a dynamic model for the Pneumatic Artificial Muscle (PAM) is an imperative undertaking for understanding and analyzing the behaviour of the PAM as a function of time. This paper proposes a Newtonian based dynamic PAM model that includes the modeling of the muscle geometry, force, inertia, fluid dynamic, static and dynamic friction, heat transfer and valve flow while ignoring the effect of bladder elasticity. This modeling contribution allows the designer to predict, analyze and optimize PAM performance prior to its development. Thus advancing successful implementations of PAM based powered exoskeletons and medical systems. To date, most muscle dynamic properties are determined experimentally, furthermore, no analytical models that can accurately predict the muscle's dynamic behaviour are found in the literature. Most developed analytical models adequately predict the muscle force in static cases but neglect the behaviour of the system in the transient response. This could be attributed to the highly challenging task of deriving such a dynamic model given the number of system elements that need to be identified and the system's highly non-linear properties. The proposed dynamic model in this paper is successfully simulated through MATLAB programing and validated the pressure, contraction distance and muscle temperature with experimental testing that is conducted with in-house built prototype PAM's.

Variable recruitment in bundles of miniature pneumatic artificial muscles.

Science.gov (United States)

DeLaHunt, Sylvie A; Pillsbury, Thomas E; Wereley, Norman M

2016-09-13

The natural compliance and force generation properties of pneumatic artificial muscles (PAMs) allow them to operate like human muscles in anthropomorphic robotic manipulators. Traditionally, manipulators use a single PAM or multiple PAMs actuated in unison in place of a human muscle. However, these standard manipulators can experience significant efficiency losses when operated outside their target performance ranges at low actuation pressures. This study considers the application of a variable recruitment control strategy to a parallel bundle of miniature PAMs as an attempt to mimic the selective recruitment of motor units in a human muscle. Bundles of miniature PAMs are experimentally characterized, their actuation behavior is modeled, and the efficiency gains and losses associated with the application of a variable recruitment control strategy are assessed. This bio-inspired control strategy allows muscle bundles to operate the fewest miniature PAMs necessary to achieve a desired performance objective, improving the muscle bundle's operating efficiency over larger ranges of force generation and displacement. The study also highlights the need for improved PAM fabrication techniques to facilitate the production of identical miniature PAMs for inclusion in muscle bundles.

Empirical modeling of dynamic behaviors of pneumatic artificial muscle actuators.

Science.gov (United States)

Wickramatunge, Kanchana Crishan; Leephakpreeda, Thananchai

2013-11-01

Pneumatic Artificial Muscle (PAM) actuators yield muscle-like mechanical actuation with high force to weight ratio, soft and flexible structure, and adaptable compliance for rehabilitation and prosthetic appliances to the disabled as well as humanoid robots or machines. The present study is to develop empirical models of the PAM actuators, that is, a PAM coupled with pneumatic control valves, in order to describe their dynamic behaviors for practical control design and usage. Empirical modeling is an efficient approach to computer-based modeling with observations of real behaviors. Different characteristics of dynamic behaviors of each PAM actuator are due not only to the structures of the PAM actuators themselves, but also to the variations of their material properties in manufacturing processes. To overcome the difficulties, the proposed empirical models are experimentally derived from real physical behaviors of the PAM actuators, which are being implemented. In case studies, the simulated results with good agreement to experimental results, show that the proposed methodology can be applied to describe the dynamic behaviors of the real PAM actuators. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Pneumatic artificial muscle actuators for compliant robotic manipulators

Science.gov (United States)

Robinson, Ryan Michael

Robotic systems are increasingly being utilized in applications that require interaction with humans. In order to enable safe physical human-robot interaction, light weight and compliant manipulation are desirable. These requirements are problematic for many conventional actuation systems, which are often heavy, and typically use high stiffness to achieve high performance, leading to large impact forces upon collision. However, pneumatic artificial muscles (PAMs) are actuators that can satisfy these safety requirements while offering power-to-weight ratios comparable to those of conventional actuators. PAMs are extremely lightweight actuators that produce force in response to pressurization. These muscles demonstrate natural compliance, but have a nonlinear force-contraction profile that complicates modeling and control. This body of research presents solutions to the challenges associated with the implementation of PAMs as actuators in robotic manipulators, particularly with regard to modeling, design, and control. An existing PAM force balance model was modified to incorporate elliptic end geometry and a hyper-elastic constitutive relationship, dramatically improving predictions of PAM behavior at high contraction. Utilizing this improved model, two proof-of-concept PAM-driven manipulators were designed and constructed; design features included parallel placement of actuators and a tendon-link joint design. Genetic algorithm search heuristics were employed to determine an optimal joint geometry; allowing a manipulator to achieve a desired torque profile while minimizing the required PAM pressure. Performance of the manipulators was evaluated in both simulation and experiment employing various linear and nonlinear control strategies. These included output feedback techniques, such as proportional-integral-derivative (PID) and fuzzy logic, a model-based control for computed torque, and more advanced controllers, such as sliding mode, adaptive sliding mode, and

Design of flat pneumatic artificial muscles

Science.gov (United States)

Wirekoh, Jackson; Park, Yong-Lae

2017-03-01

Pneumatic artificial muscles (PAMs) have gained wide use in the field of robotics due to their ability to generate linear forces and motions with a simple mechanism, while remaining lightweight and compact. However, PAMs are limited by their traditional cylindrical form factors, which must increase radially to improve contraction force generation. Additionally, this form factor results in overly complicated fabrication processes when embedded fibers and sensor elements are required to provide efficient actuation and control of the PAMs while minimizing the bulkiness of the overall robotic system. In order to overcome these limitations, a flat two-dimensional PAM capable of being fabricated using a simple layered manufacturing process was created. Furthermore, a theoretical model was developed using Von Karman’s formulation for large deformations and the energy methods. Experimental characterizations of two different types of PAMs, a single-cell unit and a multi-cell unit, were performed to measure the maximum contraction lengths and forces at input pressures ranging from 0 to 150 kPa. Experimental data were then used to verify the fidelity of the theoretical model.

Dynamics of a pneumatic artificial muscle actuation system driving a trailing edge flap

Science.gov (United States)

Woods, Benjamin K. S.; Kothera, Curt S.; Wang, Gang; Wereley, Norman M.

2014-09-01

This study presents a time domain dynamic model of an antagonistic pneumatic artificial muscle (PAM) driven trailing edge flap (TEF) system for next generation active helicopter rotors. Active rotor concepts are currently being widely researched in the rotorcraft community as a means to provide a significant leap forward in performance through primary aircraft control, vibration mitigation and noise reduction. Recent work has shown PAMs to be a promising candidate for active rotor actuation due to their combination of high force, large stroke, light weight, and suitable bandwidth. When arranged into biologically inspired agonist/antagonist muscle pairs they can produce bidirectional torques for effectively driving a TEF. However, there are no analytical dynamic models in the literature that can accurately capture the behavior of such systems across the broad range of frequencies required for this demanding application. This work combines mechanical, pneumatic, and aerodynamic component models into a global flap system model developed for the Bell 407 rotor system. This model can accurately predict pressure, force, and flap angle response to pneumatic control valve inputs over a range of operating frequencies from 7 to 35 Hz (1/rev to 5/rev for the Bell 407) and operating pressures from 30 to 90 psi.

Dynamics of a pneumatic artificial muscle actuation system driving a trailing edge flap

International Nuclear Information System (INIS)

Woods, Benjamin K S; Kothera, Curt S; Wang, Gang; Wereley, Norman M

2014-01-01

This study presents a time domain dynamic model of an antagonistic pneumatic artificial muscle (PAM) driven trailing edge flap (TEF) system for next generation active helicopter rotors. Active rotor concepts are currently being widely researched in the rotorcraft community as a means to provide a significant leap forward in performance through primary aircraft control, vibration mitigation and noise reduction. Recent work has shown PAMs to be a promising candidate for active rotor actuation due to their combination of high force, large stroke, light weight, and suitable bandwidth. When arranged into biologically inspired agonist/antagonist muscle pairs they can produce bidirectional torques for effectively driving a TEF. However, there are no analytical dynamic models in the literature that can accurately capture the behavior of such systems across the broad range of frequencies required for this demanding application. This work combines mechanical, pneumatic, and aerodynamic component models into a global flap system model developed for the Bell 407 rotor system. This model can accurately predict pressure, force, and flap angle response to pneumatic control valve inputs over a range of operating frequencies from 7 to 35 Hz (1/rev to 5/rev for the Bell 407) and operating pressures from 30 to 90 psi. (paper)

Propulsion System with Pneumatic Artificial Muscles for Powering Ankle-Foot Orthosis

Science.gov (United States)

Veneva, Ivanka; Vanderborght, Bram; Lefeber, Dirk; Cherelle, Pierre

2013-12-01

The aim of this paper is to present the design of device for control of new propulsion system with pneumatic artificial muscles. The propulsion system can be used for ankle joint articulation, for assisting and rehabilitation in cases of injured ankle-foot complex, stroke patients or elderly with functional weakness. Proposed device for control is composed by microcontroller, generator for muscles contractions and sensor system. The microcontroller receives the control signals from sensors and modulates ankle joint flex- ion and extension during human motion. The local joint control with a PID (Proportional-Integral Derivative) position feedback directly calculates desired pressure levels and dictates the necessary contractions. The main goal is to achieve an adaptation of the system and provide the necessary joint torque using position control with feedback.

Series Pneumatic Artificial Muscles (sPAMs) and Application to a Soft Continuum Robot.

Science.gov (United States)

Greer, Joseph D; Morimoto, Tania K; Okamura, Allison M; Hawkes, Elliot W

2017-01-01

We describe a new series pneumatic artificial muscle (sPAM) and its application as an actuator for a soft continuum robot. The robot consists of three sPAMs arranged radially round a tubular pneumatic backbone. Analogous to tendons, the sPAMs exert a tension force on the robot's pneumatic backbone, causing bending that is approximately constant curvature. Unlike a traditional tendon driven continuum robot, the robot is entirely soft and contains no hard components, making it safer for human interaction. Models of both the sPAM and soft continuum robot kinematics are presented and experimentally verified. We found a mean position accuracy of 5.5 cm for predicting the end-effector position of a 42 cm long robot with the kinematic model. Finally, closed-loop control is demonstrated using an eye-in-hand visual servo control law which provides a simple interface for operation by a human. The soft continuum robot with closed-loop control was found to have a step-response rise time and settling time of less than two seconds.

Pneumatic artificial rubber muscle using shape-memory polymer sheet with embedded electrical heating wire

Science.gov (United States)

Takashima, Kazuto; Sugitani, Kazuhiro; Morimoto, Naohiro; Sakaguchi, Seiya; Noritsugu, Toshiro; Mukai, Toshiharu

2014-12-01

Shape-memory polymer (SMP) can be deformed by applying a small load above its glass transition temperature (Tg). Shape-memory polymer maintains its shape after it has cooled below Tg and returns to a predefined shape when subsequently heated above Tg. The reversible change in the elastic modulus between the glassy and rubbery states of an SMP can be on the order of several hundred times. Based on the change in stiffness of the SMP in relation to the change in temperature, the present study attempts to evaluate the application of the SMP to soft actuators of a robot. In order to control the temperature of the SMP, we developed an SMP sheet with an embedded electrical heating wire. We formed a uniform, thin SMP sheet without air bubbles using a heat press. The SMP sheet with a heating wire can be heated quickly and can be maintained at a constant temperature. Moreover, the effects of the embedded wire on the mechanical properties in bending and tensile tests were small. Then, we applied the SMP sheet with the embedded electrical heating wire to a pneumatic artificial rubber muscle. The enhanced versatility of SMP sheet applications is demonstrated through a series of experiments conducted using a prototype. The initial shape and bending displacement of the pneumatic artificial rubber muscle can be changed by controlling the temperature of the SMP sheet.

Variable modulus cellular structures using pneumatic artificial muscles

Science.gov (United States)

Pontecorvo, Michael E.; Niemiec, Robert J.; Gandhi, Farhan S.

2014-04-01

This paper presents a novel variable modulus cellular structure based on a hexagonal unit cell with pneumatic artificial muscle (PAM) inclusions. The cell considered is pin-jointed, loaded in the horizontal direction, with three PAMs (one vertical PAM and two horizontal PAMs) oriented in an "H" configuration between the vertices of the cell. A method for calculation of the hexagonal cell modulus is introduced, as is an expression for the balance of tensile forces between the horizontal and vertical PAMs. An aluminum hexagonal unit cell is fabricated and simulation of the hexagonal cell with PAM inclusions is then compared to experimental measurement of the unit cell modulus in the horizontal direction with all three muscles pressurized to the same value over a pressure range up to 758 kPa. A change in cell modulus by a factor of 1.33 and a corresponding change in cell angle of 0.41° are demonstrated experimentally. A design study via simulation predicts that differential pressurization of the PAMs up to 2068 kPa can change the cell modulus in the horizontal direction by a factor of 6.83 with a change in cell angle of only 2.75°. Both experiment and simulation show that this concept provides a way to decouple the length change of a PAM from the change in modulus to create a structural unit cell whose in-plane modulus in a given direction can be tuned based on the orientation of PAMs within the cell and the pressure supplied to the individual muscles.

Pneumatic Muscles Actuated Lower-Limb Orthosis Model Verification with Actual Human Muscle Activation Patterns

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Dzahir M.A.M

2017-01-01

Full Text Available A review study was conducted on existing lower-limb orthosis systems for rehabilitation which implemented pneumatic muscle type of actuators with the aim to clarify the current and on-going research in this field. The implementation of pneumatic artificial muscle will play an important role for the development of the advanced robotic system. In this research a derivation model for the antagonistic mono- and bi-articular muscles using pneumatic artificial muscles of a lower limb orthosis will be verified with actual human’s muscle activities models. A healthy and young male 29 years old subject with height 174cm and weight 68kg was used as a test subject. Two mono-articular muscles Vastus Medialis (VM and Vastus Lateralis (VL were selected to verify the mono-articular muscle models and muscle synergy between anterior muscles. Two biarticular muscles Rectus Femoris (RF and Bicep Femoris (BF were selected to verify the bi-articular muscle models and muscle co-contraction between anterior-posterior muscles. The test was carried out on a treadmill with a speed of 4.0 km/h, which approximately around 1.25 m/s for completing one cycle of walking motion. The data was collected for about one minute on a treadmill and 20 complete cycles of walking motion were successfully recorded. For the evaluations, the mathematical model obtained from the derivation and the actual human muscle activation patterns obtained using the surface electromyography (sEMG system were compared and analysed. The results shown that, high correlation values ranging from 0.83 up to 0.93 were obtained in between the derivation model and the actual human muscle’s model for both mono- and biarticular muscles. As a conclusion, based on the verification with the sEMG muscle activities data and its correlation values, the proposed derivation models of the antagonistic mono- and bi-articular muscles were suitable to simulate and controls the pneumatic muscles actuated lower limb

Pneumatic artificial rubber muscle using shape-memory polymer sheet with embedded electrical heating wire

International Nuclear Information System (INIS)

Takashima, Kazuto; Sugitani, Kazuhiro; Morimoto, Naohiro; Sakaguchi, Seiya; Noritsugu, Toshiro; Mukai, Toshiharu

2014-01-01

Shape-memory polymer (SMP) can be deformed by applying a small load above its glass transition temperature (T g ). Shape-memory polymer maintains its shape after it has cooled below T g and returns to a predefined shape when subsequently heated above T g . The reversible change in the elastic modulus between the glassy and rubbery states of an SMP can be on the order of several hundred times. Based on the change in stiffness of the SMP in relation to the change in temperature, the present study attempts to evaluate the application of the SMP to soft actuators of a robot. In order to control the temperature of the SMP, we developed an SMP sheet with an embedded electrical heating wire. We formed a uniform, thin SMP sheet without air bubbles using a heat press. The SMP sheet with a heating wire can be heated quickly and can be maintained at a constant temperature. Moreover, the effects of the embedded wire on the mechanical properties in bending and tensile tests were small. Then, we applied the SMP sheet with the embedded electrical heating wire to a pneumatic artificial rubber muscle. The enhanced versatility of SMP sheet applications is demonstrated through a series of experiments conducted using a prototype. The initial shape and bending displacement of the pneumatic artificial rubber muscle can be changed by controlling the temperature of the SMP sheet. (paper)

The characteristics of a pneumatic muscle

Directory of Open Access Journals (Sweden)

Pietrala Dawid

2017-01-01

Full Text Available The article presents static and dynamic characteristics of pneumatic muscles. It presents the structure of the laboratory stand used to test pneumatic muscles. It discusses the methodology for determination of static and dynamic characteristics. The paper also illustrates characteristics showing the relationship of pneumatic muscles length and operating pressure, at a constant loading force (isotonic characteristics. It presents characteristics showing the relationship of pneumatic muscles shortening and values of loading forces, at a constant operational pressure (isobaric characteristics. It also shows the dependence of force generated by the muscle on the operating pressure, at a constant value of pneumatic muscles shortening (isometric characteristics. The paper also presents dynamic characteristics of a pneumatic muscle showing the response of an object to a gradual change in the operating pressure, at a constant loading force acting on the pneumatic muscle.

The characteristics of a pneumatic muscle

Science.gov (United States)

Pietrala, Dawid

The article presents static and dynamic characteristics of pneumatic muscles. It presents the structure of the laboratory stand used to test pneumatic muscles. It discusses the methodology for determination of static and dynamic characteristics. The paper also illustrates characteristics showing the relationship of pneumatic muscles length and operating pressure, at a constant loading force (isotonic characteristics). It presents characteristics showing the relationship of pneumatic muscles shortening and values of loading forces, at a constant operational pressure (isobaric characteristics). It also shows the dependence of force generated by the muscle on the operating pressure, at a constant value of pneumatic muscles shortening (isometric characteristics). The paper also presents dynamic characteristics of a pneumatic muscle showing the response of an object to a gradual change in the operating pressure, at a constant loading force acting on the pneumatic muscle.

Recent Trends in Lower-Limb Robotic Rehabilitation Orthosis: Control Scheme and Strategy for Pneumatic Muscle Actuated Gait Trainers

Directory of Open Access Journals (Sweden)

Mohd Azuwan Mat Dzahir

2014-04-01

Full Text Available It is a general assumption that pneumatic muscle-type actuators will play an important role in the development of an assistive rehabilitation robotics system. In the last decade, the development of a pneumatic muscle actuated lower-limb leg orthosis has been rather slow compared to other types of actuated leg orthoses that use AC motors, DC motors, pneumatic cylinders, linear actuators, series elastic actuators (SEA and brushless servomotors. However, recent years have shown that the interest in this field has grown exponentially, mainly due to the demand for a more compliant and interactive human-robotics system. This paper presents a survey of existing lower-limb leg orthoses for rehabilitation, which implement pneumatic muscle-type actuators, such as McKibben artificial muscles, rubbertuators, air muscles, pneumatic artificial muscles (PAM or pneumatic muscle actuators (PMA. It reviews all the currently existing lower-limb rehabilitation orthosis systems in terms of comparison and evaluation of the design, as well as the control scheme and strategy, with the aim of clarifying the current and on-going research in the lower-limb robotic rehabilitation field.

Electric-Pneumatic Actuator: A New Muscle for Locomotion

OpenAIRE

Ahmad Sharbafi, Maziar; Shin, Hirofumi; Zhao, Guoping; Hosoda, Koh; Seyfarth, Andre

2017-01-01

A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections) which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA) as an enhanced variable impedance actuator (VIA). EPA is consisted of a pneumatic artificial muscle (PAM) a...

Electric-Pneumatic Actuator: A New Muscle for Locomotion

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Maziar Ahmad Sharbafi

2017-10-01

Full Text Available A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA as an enhanced variable impedance actuator (VIA. EPA is consisted of a pneumatic artificial muscle (PAM and an electric motor (EM. In contrast to other VIAs, the pneumatic artificial muscle (PAM within the EPA provides not only adaptable compliance, but also an additional powerful actuator with muscle-like properties, which can be arranged in different combinations (e.g., in series or parallel to the EM. The novel hybrid actuator shares the advantages of both integrated actuator types combining precise control of EM with compliant energy storage of PAM, which are required for efficient and adjustable locomotion. Experimental and simulation results based on the new dynamic model of PAM support the hypothesis that combination of the two actuators can improve efficiency (energy and peak power and performance, while does not increase control complexity and weight, considerably. Finally, the experiments on EPA adapted bipedal robot (knee joint of the BioBiped3 robot show improved efficiency of the actuator at different frequencies.

The characteristics of a pneumatic muscle

OpenAIRE

Pietrala Dawid

2017-01-01

The article presents static and dynamic characteristics of pneumatic muscles. It presents the structure of the laboratory stand used to test pneumatic muscles. It discusses the methodology for determination of static and dynamic characteristics. The paper also illustrates characteristics showing the relationship of pneumatic muscles length and operating pressure, at a constant loading force (isotonic characteristics). It presents characteristics showing the relationship of pneumatic muscles s...

Practical controller design for ultra-precision positioning of stages with a pneumatic artificial muscle actuator

Science.gov (United States)

Tang, T. F.; Chong, S. H.

2017-06-01

This paper presents a practical controller design method for ultra-precision positioning of pneumatic artificial muscle actuator stages. Pneumatic artificial muscle (PAM) actuators are safe to use and have numerous advantages which have brought these actuators to wide applications. However, PAM exhibits strong non-linear characteristics, and these limitations lead to low controllability and limit its application. In practice, the non-linear characteristics of PAM mechanism are difficult to be precisely modeled, and time consuming to model them accurately. The purpose of the present study is to clarify a practical controller design method that emphasizes a simple design procedure that does not acquire plants parameters modeling, and yet is able to demonstrate ultra-precision positioning performance for a PAM driven stage. The practical control approach adopts continuous motion nominal characteristic trajectory following (CM NCTF) control as the feedback controller. The constructed PAM driven stage is in low damping characteristic and causes severe residual vibration that deteriorates motion accuracy of the system. Therefore, the idea to increase the damping characteristic by having an acceleration feedback compensation to the plant has been proposed. The effectiveness of the proposed controller was verified experimentally and compared with a classical PI controller in point-to-point motion. The experiment results proved that the CM NCTF controller demonstrates better positioning performance in smaller motion error than the PI controller. Overall, the CM NCTF controller has successfully to reduce motion error to 3µm, which is 88.7% smaller than the PI controller.

Experimental study of a metal hydride driven braided artificial pneumatic muscle

Science.gov (United States)

Vanderhoff, Alexandra; Kim, Kwang J.

2009-12-01

This paper reports the experimental study of a new actuation system that couples a braided artificial pneumatic muscle (BAPM) with a metal hydride driven hydrogen compressor to create a compact, lightweight, noiseless system capable of high forces and smooth actuation. The results indicate that the metal hydride-BAPM system has relatively good second law efficiency average of 30% over the desorption cycle. The thermal efficiency is low, due mainly to the highly endothermic chemical reaction that releases the stored hydrogen gas from the metal hydride. The force to metal hydride weight is very high (~14 000 NForce/kgMH) considering that this system has not been optimized to use the minimum amount of metal hydride required for a full actuation stroke of the fluidic muscle. Also, a thermodynamic model for the complete system is developed. The analysis is restricted in some aspects concerning the complexity of the hydriding/dehydriding chemical process of the system and the three-dimensional geometry of the reactor, but it provides a useful comparison to other actuation devices and clearly reveals the parameters necessary for optimization of the actuation system in future work. The system shows comparable work output and has the benefits of biological muscle-like properties for potential use in robotic systems.

Experimental study of a metal hydride driven braided artificial pneumatic muscle

International Nuclear Information System (INIS)

Vanderhoff, Alexandra; Kim, Kwang J

2009-01-01

This paper reports the experimental study of a new actuation system that couples a braided artificial pneumatic muscle (BAPM) with a metal hydride driven hydrogen compressor to create a compact, lightweight, noiseless system capable of high forces and smooth actuation. The results indicate that the metal hydride–BAPM system has relatively good second law efficiency average of 30% over the desorption cycle. The thermal efficiency is low, due mainly to the highly endothermic chemical reaction that releases the stored hydrogen gas from the metal hydride. The force to metal hydride weight is very high (∼14 000 N Force /kg MH ) considering that this system has not been optimized to use the minimum amount of metal hydride required for a full actuation stroke of the fluidic muscle. Also, a thermodynamic model for the complete system is developed. The analysis is restricted in some aspects concerning the complexity of the hydriding/dehydriding chemical process of the system and the three-dimensional geometry of the reactor, but it provides a useful comparison to other actuation devices and clearly reveals the parameters necessary for optimization of the actuation system in future work. The system shows comparable work output and has the benefits of biological muscle-like properties for potential use in robotic systems

Braided artificial muscles: modeling and experimental validation

Science.gov (United States)

Dragan, Liliana; Cioban, Horia

2009-01-01

The paper presents a few graphical modalities for constructing the double helical braid, which is the basis for the braided artificial pneumatic muscles, by using specialized software applications. This represents the first stage in achieving the method of finite element analysis of this type of linear pneumatic actuator.

Development of Ankle Foot Orthosis (AFO Using Pneumatic Artificial Muscle for Disabled Children

Directory of Open Access Journals (Sweden)

Ishak N.Z.

2017-01-01

Full Text Available Ankle foot orthosis (AFO are commonly used to correct the instabilities and joint weakness of lower limb. In this research, AFO was developed by using pneumatic artificial muscle (PAM to prevent plantarflexion to occur and also to correct the foot from the inversion syndrome. The research started with designing the AFO by using SolidWorks software based on anthropometry measurement data (n=5, age=12 years old. The mechanical simulation was conducted by using Autodesk Inventor software to obtain a safety factor before the fabrication process was conducted. The AFO was fabricated using 3D printer and the thermoplastic elastomer (TPE rubber was selected as the material. PAM was tested by using test bed machine to generate the force and contraction by muscle. The result shows that the PAM was suitable for low speed as the displacement was greater. The AFO could be valuable for the gait rehabilitation.

Design of a bio-inspired pneumatic artificial muscle with self-contained sensing.

Science.gov (United States)

Erin, Onder; Pol, Nishant; Valle, Luis; Yong-Lae Park

2016-08-01

Pneumatic artificial muscles (PAMs) are one of the most famous linear actuators in bio-inspired robotics. They can generate relatively high linear force considering their form factors and weights. Furthermore, PAMs are inexpensive compared with traditional electromagnetic actuators (e.g. DC motors) and also inherently light and compliant. In robotics applications, however, they typically require external sensing mechanisms due to their nonlinear behaviors, which may make the entire mechanical system bulky and complicated, limiting their use in simple systems. This study presents the design and fabrication of a low-cost McKibben-type PAM with a self-contained displacement and force sensing capability that does not require any external sensing elements. The proposed PAM can detect axial contraction force and displacement at the same time. In this study, the design of a traditional McKibben muscle was modified to include an inductive coil surrounding the muscle fibers. Then, a thin, soft silicone layer was coated outside of the muscle to protect and hold the sensing coil on the actuator. This novel design measures coil inductance change to determine the contraction force and the displacement. The process can be applied to a variety of existing McKibben actuator designs without significantly changing the rigidity of the actuator while minimizing the device's footprint.

Artificial Muscles: Mechanisms, Applications, and Challenges.

Science.gov (United States)

Mirvakili, Seyed M; Hunter, Ian W

2018-02-01

The area of artificial muscle is a highly interdisciplinary field of research that has evolved rapidly in the last 30 years. Recent advances in nanomaterial fabrication and characterization, specifically carbon nanotubes and nanowires, have had major contributions in the development of artificial muscles. However, what can artificial muscles really do for humans? This question is considered here by first examining nature's solutions to this design problem and then discussing the structure, actuation mechanism, applications, and limitations of recently developed artificial muscles, including highly oriented semicrystalline polymer fibers; nanocomposite actuators; twisted nanofiber yarns; thermally activated shape-memory alloys; ionic-polymer/metal composites; dielectric-elastomer actuators; conducting polymers; stimuli-responsive gels; piezoelectric, electrostrictive, magnetostrictive, and photostrictive actuators; photoexcited actuators; electrostatic actuators; and pneumatic actuators. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

A study on contraction of pneumatic artificial muscle (PAM) for load-lifting

Science.gov (United States)

Najmuddin, W. S. W. A.; Mustaffa, M. T.

2017-10-01

Pneumatic Artificial Muscles (PAMs) have been known for its wide application in various aspects of industrial automation and robotic equipments. Many advantages in terms of high power-to-volume ratio, high power-to-weight ratio, stick-slip-free operation and high degree of safety offer by PAM compare to traditional actuators. However, behind this benefits lie a limitation of significant compatibility of PAM mechanism which have to be considered so as to fully understand how the PAM works during load-lifting. In this study, the mesh suitability experiment and the effect of force load on PAM contraction experiment have been carried out. PAM is constructed and compatibility of bladder and the braided mesh to produce uniform expansion is investigated. Moreover, the first experimental result of finding compatibility is used to verify the contraction value under various loads.

Development of anthropomorphic robotic hand driven by Pneumatic Artificial Muscles for robotic applications

Science.gov (United States)

Farag, Mohannad; Zainul Azlan, Norsinnira; Hayyan Alsibai, Mohammed

2018-04-01

This paper presents the design and fabrication of a three-fingered anthropomorphic robotic hand. The fingers are driven by tendons and actuated by human muscle-like actuators known as Pneumatic Artificial Muscle (PAM). The proposed design allows the actuators to be mounted outside the hand where each finger can be driven by one PAM actuator and six indirectly interlinked tendons. With this design, the three-fingered hand has a compact size and a lightweight with a mass of 150.25 grams imitating the human being hand in terms of size and weight. The hand also successfully grasped objects with different shapes and weights up to 500 g. Even though the number of PAM actuators equals the number of Degrees of Freedom (DOF), the design guarantees driving of three joints by only one actuator reducing the number of required actuators from 3 to 1. Therefore, this hand is suitable for researches of robotic applications in terms of design, cost and ability to be equipped with several types of sensors.

Analysis of nonlinear elastic behavior in miniature pneumatic artificial muscles

Science.gov (United States)

Hocking, Erica G.; Wereley, Norman M.

2013-01-01

Pneumatic artificial muscles (PAMs) are well known for their excellent actuator characteristics, including high specific work, specific power, and power density. Recent research has focused on miniaturizing this pneumatic actuator technology in order to develop PAMs for use in small-scale mechanical systems, such as those found in robotic or aerospace applications. The first step in implementing these miniature PAMs was to design and characterize the actuator. To that end, this study presents the manufacturing process, experimental characterization, and analytical modeling of PAMs with millimeter-scale diameters. A fabrication method was developed to consistently produce low-cost, high performance, miniature PAMs using commercially available materials. The quasi-static behavior of these PAMs was determined through experimentation on a single actuator with an active length of 39.16 mm (1.54 in) and a diameter of 4.13 mm (0.1625 in). Testing revealed the PAM’s full evolution of force with displacement for operating pressures ranging from 207 to 552 kPa (30-80 psi in 10 psi increments), as well as the blocked force and free contraction at each pressure. Three key nonlinear phenomena were observed: nonlinear PAM stiffness, hysteresis of the force versus displacement response for a given pressure, and a pressure deadband. To address the analysis of the nonlinear response of these miniature PAMs, a nonlinear stress versus strain model, a hysteresis model, and a pressure bias are introduced into a previously developed force balance analysis. Parameters of these nonlinear model refinements are identified from the measured force versus displacement data. This improved nonlinear force balance model is shown to capture the full actuation behavior of the miniature PAMs at each operating pressure and reconstruct miniature PAM response with much more accuracy than previously possible.

Analysis of nonlinear elastic behavior in miniature pneumatic artificial muscles

International Nuclear Information System (INIS)

Hocking, Erica G; Wereley, Norman M

2013-01-01

Pneumatic artificial muscles (PAMs) are well known for their excellent actuator characteristics, including high specific work, specific power, and power density. Recent research has focused on miniaturizing this pneumatic actuator technology in order to develop PAMs for use in small-scale mechanical systems, such as those found in robotic or aerospace applications. The first step in implementing these miniature PAMs was to design and characterize the actuator. To that end, this study presents the manufacturing process, experimental characterization, and analytical modeling of PAMs with millimeter-scale diameters. A fabrication method was developed to consistently produce low-cost, high performance, miniature PAMs using commercially available materials. The quasi-static behavior of these PAMs was determined through experimentation on a single actuator with an active length of 39.16 mm (1.54 in) and a diameter of 4.13 mm (0.1625 in). Testing revealed the PAM’s full evolution of force with displacement for operating pressures ranging from 207 to 552 kPa (30–80 psi in 10 psi increments), as well as the blocked force and free contraction at each pressure. Three key nonlinear phenomena were observed: nonlinear PAM stiffness, hysteresis of the force versus displacement response for a given pressure, and a pressure deadband. To address the analysis of the nonlinear response of these miniature PAMs, a nonlinear stress versus strain model, a hysteresis model, and a pressure bias are introduced into a previously developed force balance analysis. Parameters of these nonlinear model refinements are identified from the measured force versus displacement data. This improved nonlinear force balance model is shown to capture the full actuation behavior of the miniature PAMs at each operating pressure and reconstruct miniature PAM response with much more accuracy than previously possible. (paper)

Hip orthosis powered by pneumatic artificial muscle: voluntary activation in absence of myoelectrical signal.

Science.gov (United States)

do Nascimento, Breno Gontijo; Vimieiro, Claysson Bruno Santos; Nagem, Danilo Alves Pinto; Pinotti, Marcos

2008-04-01

Powered orthosis is a special class of gait assist device that employs a mechanical or electromechanical actuator to enhance movement of hip, knee, or ankle articulations. Pneumatic artificial muscle (PAM) has been suggested as a pneumatic actuator because its performance is similar to biological muscle. The electromyography (EMG) signal interpretation is the most popular and simplest method to establish the patient voluntary control of the orthosis. However, this technique is not suitable for patients presenting neurological lesions causing absence or very low quality of EMG signal. For those cases, an alternative control strategy should be provided. The aim of the present study is to develop a gait assistance orthosis for lower limb powered by PAMs controlled by a voluntary activation method based on the angular behavior of hip joint. In the present study, an orthosis that has been molded in a patient was employed and, by taking her anthropometric parameters and movement constraints, the adaptation of the existing orthosis to the powered orthosis was planned. A control system was devised allowing voluntary control of a powered orthosis suitable for patients presenting neurological lesions causing absence or very low quality of EMG signal. A pilot clinical study was reported where a patient, victim of poliovirus, successfully tested a hip orthosis especially modified for the gait test evaluation in the parallel bar system. The hip orthosis design and the control circuitry parameters were able to be set to provide satisfactory and comfortable use of the orthosis during the gait cycle.

BP neural network tuned PID controller for position tracking of a pneumatic artificial muscle.

Science.gov (United States)

Fan, Jizhuang; Zhong, Jun; Zhao, Jie; Zhu, Yanhe

2015-01-01

Although Pneumatic Artificial Muscle (PAM) has a promising future in rehabilitation robots, it's difficult to realize accurate position control due to its highly nonlinear properties. This paper deals with position control of PAM. To describe the hysteresis inside PAM, a polynomial based phenomenological function is developed. Based on the phenomenological model for PAM and analysis of pressure dynamics within PAM, an adaptive cascade controller is proposed. Both outer loop and inner loop employ BP Neural Network tuned PID algorithm. The outer loop is to handle high nonlinearities and unmodeled dynamics of PAM, while the inner loop is responsible for nonlinearities caused by pressure dynamics. Experimental results show high tracking accuracy as compared with a convention PID controller. The proposed controller is effective in improving performance of PAM and will be implemented in a rehabilitation robot.

Study of the effect of temperature on the positioning accuracy of the pneumatic muscles

Science.gov (United States)

Laski, Pawel Andrzej; Blasiak, Slawomir; Takosoglu, Jakub Emanuel; Pietrala, Dawid Sebastian; Bracha, Gabriel Filip; Zwierzchowski, Jaroslaw; Nowakowski, Lukasz; Borkowski, Krzysztof; Blasiak, Malgorzata

The article concerns experimental studies of the effect of temperature on the positioning accuracy of pneumatic muscles. It presents results of experimental studies in the form of thermal images from thermal imaging camera. Pneumatic artificial muscles have unique operational characteristics and because of that they are used in industrial production processes, where classic drives do not work. During operation of muscles with large frequencies above 60 Hz, one can observe a significant increase in temperatures on the bladder surface. The article concerns a study aimed at the determination of the maximum temperature which can be achieved and whether it affects the accuracy of their positioning.

Effect of bladder wall thickness on miniature pneumatic artificial muscle performance.

Science.gov (United States)

Pillsbury, Thomas E; Kothera, Curt S; Wereley, Norman M

2015-09-28

Pneumatic artificial muscles (PAMs) are actuators known for their high power to weight ratio, natural compliance and light weight. Due to these advantages, PAMs have been used for orthotic devices and robotic limbs. Small scale PAMs have the same advantages, as well as requiring greatly reduced volumes with potential application to prostheses and small scale robotics. The bladder of a PAM affects common actuator performance metrics, specifically: blocked force, free contraction, hysteresis, and dead-band pressure. This paper investigates the effect that bladder thickness has on static actuation performance of small scale PAMs. Miniature PAMs were fabricated with a range of bladder thicknesses to quantify the change in common actuator performance metrics specifically: blocked force, free contraction, and dead-band pressure. These PAMs were then experimentally characterized in quasi-static conditions, where results showed that increasing bladder wall thickness decreases blocked force and free contraction, while dead-band pressure increases. A nonlinear model was then applied to determine the structure of the stress-strain relationship that enables accurate modeling and the minimum number of terms. Two nonlinear models are compared and the identified parameters are analyzed to study the effect of the bladder thickness on the model.

Hydraulically actuated artificial muscles

Science.gov (United States)

Meller, M. A.; Tiwari, R.; Wajcs, K. B.; Moses, C.; Reveles, I.; Garcia, E.

2012-04-01

Hydraulic Artificial Muscles (HAMs) consisting of a polymer tube constrained by a nylon mesh are presented in this paper. Despite the actuation mechanism being similar to its popular counterpart, which are pneumatically actuated (PAM), HAMs have not been studied in depth. HAMs offer the advantage of compliance, large force to weight ratio, low maintenance, and low cost over traditional hydraulic cylinders. Muscle characterization for isometric and isobaric tests are discussed and compared to PAMs. A model incorporating the effect of mesh angle and friction have also been developed. In addition, differential swelling of the muscle on actuation has also been included in the model. An application of lab fabricated HAMs for a meso-scale robotic system is also presented.

Design of a Lightweight Soft Robotic Arm Using Pneumatic Artificial Muscles and Inflatable Sleeves.

Science.gov (United States)

Ohta, Preston; Valle, Luis; King, Jonathan; Low, Kevin; Yi, Jaehyun; Atkeson, Christopher G; Park, Yong-Lae

2018-04-01

As robots begin to interact with humans and operate in human environments, safety becomes a major concern. Conventional robots, although reliable and consistent, can cause injury to anyone within its range of motion. Soft robotics, wherein systems are made to be soft and mechanically compliant, are thus a promising alternative due to their lightweight nature and ability to cushion impacts, but current designs often sacrifice accuracy and usefulness for safety. We, therefore, have developed a bioinspired robotic arm combining elements of rigid and soft robotics such that it exhibits the positive qualities of both, namely compliance and accuracy, while maintaining a low weight. This article describes the design of a robotic arm-wrist-hand system with seven degrees of freedom (DOFs). The shoulder and elbow each has two DOFs for two perpendicular rotational motions on each joint, and the hand has two DOFs for wrist rotations and one DOF for a grasp motion. The arm is pneumatically powered using custom-built McKibben type pneumatic artificial muscles, which are inflated and deflated using binary and proportional valves. The wrist and hand motions are actuated through servomotors. In addition to the actuators, the arm is equipped with a potentiometer in each joint for detecting joint angle changes. Simulation and experimental results for closed-loop position control are also presented in the article.

Buckling Pneumatic Linear Actuators Inspired by Muscle

OpenAIRE

Yang, Dian; Verma, Mohit Singh; So, Ju-Hee; Mosadegh, Bobak; Keplinger, Christoph; Lee, Benjamin; Khashai, Fatemeh; Lossner, Elton Garret; Suo, Zhigang; Whitesides, George McClelland

2016-01-01

The mechanical features of biological muscles are difficult to reproduce completely in synthetic systems. A new class of soft pneumatic structures (vacuum-actuated muscle-inspired pneumatic structures) is described that combines actuation by negative pressure (vacuum), with cooperative buckling of beams fabricated in a slab of elastomer, to achieve motion and demonstrate many features that are similar to that of mammalian muscle.

Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network

Directory of Open Access Journals (Sweden)

Alexander Hošovský

2015-01-01

Full Text Available To make effective use of model-based control system design techniques, one needs a good model which captures system’s dynamic properties in the range of interest. Here an analytical model of pneumatic muscle actuator with two pneumatic artificial muscles driving a rotational joint is developed. Use of analytical model makes it possible to retain the physical interpretation of the model and the model is validated using open-loop responses. Since it was considered important to design a robust controller based on this model, the effect of changed moment of inertia (as a representation of uncertain parameter was taken into account and compared with nominal case. To improve the accuracy of the model, these effects are treated as a disturbance modeled using the recurrent (Elman neural network. Recurrent neural network was preferred over feedforward type due to its better long-term prediction capabilities well suited for simulation use of the model. The results confirm that this method improves the model performance (tested for five of the measured variables: joint angle, muscle pressures, and muscle forces while retaining its physical interpretation.

Mechanism and bias considerations for design of a bi-directional pneumatic artificial muscle actuator

International Nuclear Information System (INIS)

Vocke III, Robert D; Wereley, Norman M; Kothera, Curt S

2014-01-01

Pneumatic artificial muscles (PAMs), or McKibben actuators, have received considerable attention for robotic manipulators and in aerospace applications due to their similarity to natural muscles. Like natural muscles, PAMs are a purely contractile actuator, so that, in order to produce bi-directional or rotational motion, they must be arranged in an agonist/antagonist pair, which inherently limits the deflection of the system due to the high parasitic stiffness of the antagonistic PAM. This study presents two methods for increasing the performance of an antagonistic PAM system by decreasing the passive parasitic torque, rather than increasing the active torque. The first involves selection of the kinematic mechanism geometry, and the second involves the introduction of bias into the system, both in terms of PAM contraction and passive (antagonistic) PAM pressure. It was found with the proper selection of design parameters, including mechanism geometry, PAM geometry, and bias conditions, that an ideal actuator configuration can be chosen that maximizes deflection for a given arbitrary loading. When comparing a baseline design to an improved design for a simplified case, a nearly 50% increase in maximum deflection was predicted simply by optimizing mechanism geometry and bias contraction. These results were experimentally verified with quasi-static testing that showed a 300% increase in actuator deflection over the baseline design. (paper)

Cerebellar-inspired adaptive control of a robot eye actuated by pneumatic artificial muscles.

Science.gov (United States)

Lenz, Alexander; Anderson, Sean R; Pipe, A G; Melhuish, Chris; Dean, Paul; Porrill, John

2009-12-01

In this paper, a model of cerebellar function is implemented and evaluated in the control of a robot eye actuated by pneumatic artificial muscles. The investigated control problem is stabilization of the visual image in response to disturbances. This is analogous to the vestibuloocular reflex (VOR) in humans. The cerebellar model is structurally based on the adaptive filter, and the learning rule is computationally analogous to least-mean squares, where parameter adaptation at the parallel fiber/Purkinje cell synapse is driven by the correlation of the sensory error signal (carried by the climbing fiber) and the motor command signal. Convergence of the algorithm is first analyzed in simulation on a model of the robot and then tested online in both one and two degrees of freedom. The results show that this model of neural function successfully works on a real-world problem, providing empirical evidence for validating: 1) the generic cerebellar learning algorithm; 2) the function of the cerebellum in the VOR; and 3) the signal transmission between functional neural components of the VOR.

Pneumatic Muscle Actuator Control

National Research Council Canada - National Science Library

Lilly, John

2000-01-01

This research is relevant to the Air Fore mission because pneumatic muscle actuation devices arc advantageous for certain types of robotics as well as for strength and/or mobility assistance for humans...

Pneumatic Artificial Muscles Force Modelling and the Position and Stiffness Control on the Knee Joint of the Musculoskeletal Leg

Directory of Open Access Journals (Sweden)

Jingtao Lei

2017-03-01

Full Text Available Pneumatic artificial muscles (PAMs have properties similar to biological muscle and are widely used in robotics as actuators. A musculoskeletal leg mechanism driven by PAMs is presented in this paper. The joint stiffness of the musculoskeletal bionic leg for jumping movement needs to be analysed. The synchronous control on the position and stiffness of the joint is important to improve the flexibility of leg. The accurate force model of PAM is the foundation to achieving better control and dynamic jumping performance. The experimental platform of PAM is conducted, and the static equal pressure experiments are performed to obtain the PAM force model. According to the testing data, parameter identification method is adopted to determine the force model of PAM. A simulation on the position and stiffness control of the knee joint is performed, and the simulation results show the effectiveness of the presented method.

Assist-as-Needed Control of a Robotic Orthosis Actuated by Pneumatic Artificial Muscle for Gait Rehabilitation

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Quy-Thinh Dao

2018-03-01

Full Text Available Rehabilitation robots are designed to help patients improve their recovery from injury by supporting them to perform repetitive and systematic training sessions. These robots are not only able to guide the subjects’ lower-limb to a designate trajectory, but also estimate their disability and adapt the compliance accordingly. In this research, a new control strategy for a high compliant lower-limb rehabilitation orthosis system named AIRGAIT is developed. The AIRGAIT orthosis is powered by pneumatic artificial muscle actuators. The trajectory tracking controller based on a modified computed torque control which employs a fractional derivative is proposed for the tracking purpose. In addition, a new method is proposed for compliance control of the robotic orthosis which results in the successful implementation of the assist-as-needed training strategy. Finally, various subject-based experiments are carried out to verify the effectiveness of the developed control system.

Model-Based Evolution of a Fast Hybrid Fuzzy Adaptive Controller for a Pneumatic Muscle Actuator

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Alexander Hošovský

2012-07-01

Full Text Available Pneumatic artificial muscle-based robotic systems usually necessitate the use of various nonlinear control techniques in order to improve their performance. Their robustness to parameter variation, which is generally difficult to predict, should also be tested. Here a fast hybrid adaptive control is proposed, where a conventional PD controller is placed into the feedforward branch and a fuzzy controller is placed into the adaptation branch. The fuzzy controller compensates for the actions of the PD controller under conditions of inertia moment variation. The fuzzy controller of Takagi-Sugeno type is evolved through a genetic algorithm using the dynamic model of a pneumatic muscle actuator. The results confirm the capability of the designed system to provide robust performance under the conditions of varying inertia.

Design and Dynamic Model of a Frog-inspired Swimming Robot Powered by Pneumatic Muscles

Science.gov (United States)

Fan, Ji-Zhuang; Zhang, Wei; Kong, Peng-Cheng; Cai, He-Gao; Liu, Gang-Feng

2017-09-01

Pneumatic muscles with similar characteristics to biological muscles have been widely used in robots, and thus are promising drivers for frog inspired robots. However, the application and nonlinearity of the pneumatic system limit the advance. On the basis of the swimming mechanism of the frog, a frog-inspired robot based on pneumatic muscles is developed. To realize the independent tasks by the robot, a pneumatic system with internal chambers, micro air pump, and valves is implemented. The micro pump is used to maintain the pressure difference between the source and exhaust chambers. The pneumatic muscles are controlled by high-speed switch valves which can reduce the robot cost, volume, and mass. A dynamic model of the pneumatic system is established for the simulation to estimate the system, including the chamber, muscle, and pneumatic circuit models. The robot design is verified by the robot swimming experiments and the dynamic model is verified through the experiments and simulations of the pneumatic system. The simulation results are compared to analyze the functions of the source pressure, internal volume of the muscle, and circuit flow rate which is proved the main factor that limits the response of muscle pressure. The proposed research provides the application of the pneumatic muscles in the frog inspired robot and the pneumatic model to study muscle controller.

Quantification of dynamic property of pneumatic muscle actuator for design of therapeutic robot control.

Science.gov (United States)

Balasubramanian, Sivakumar; Huang, He; He, Jiping

2006-01-01

Robot-assisted therapy has shown potential in neuromotor rehabilitation. A therapeutic robot driven by pneumatic muscle actuators has been developed in our research group. However, the design of fine and real-time feedback robot control is a challenge. One of the difficulties is the lack of a general dynamic model of the pneumatic muscle actuator. In this study, a phenomenological model has been developed to quantify the dynamic behavior of pneumatic muscle actuator by fitting the experimental length response of the pneumatic muscle, to a step pressure input. In addition, comparison of the dynamic responses of two pneumatic muscles of different dimensions has also been studied. Several control strategies for the pneumatic muscle actuator are discussed based on the results from this study.

Modeling and Analysis of a Novel Pneumatic Artificial Muscle and Pneumatic Arm Exoskeleton

OpenAIRE

Yang, Hee Doo

2017-01-01

The soft robotics field is developing rapidly and is poised to have a wide impact in a variety of applications. Soft robots have intrinsic compliance, offering a number of benefits as compared to traditional rigid robots. Compliance can provide compatibility with biological systems such as the human body and can provide some benefits for human safety and control. Further research into soft robots can be advanced by further development of pneumatic actuators. Pneumatic actuators are a ...

Soft Pneumatic Actuators for Rehabilitation

Directory of Open Access Journals (Sweden)

Guido Belforte

2014-05-01

Full Text Available Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the art of soft pneumatic actuators is here analyzed: different models of pneumatic muscles are considered and evolution lines are presented. Then, the use of Pneumatic Muscles (PAM in rehabilitation apparatus is described and the general characteristics required in different applications are considered, analyzing the use of proper soft actuators with various technical properties. Therefore, research activity carried out in the Department of Mechanical and Aerospace Engineering in the field of soft and textile actuators is presented here. In particular, pneumatic textile muscles useful for active suits design are described. These components are made of a tubular structure, with an inner layer of latex coated with a deformable outer fabric sewn along the edge. In order to increase pneumatic muscles forces and contractions Braided Pneumatic Muscles are studied. In this paper, new prototypes are presented, based on a fabric construction and various kinds of geometry. Pressure-force-deformation tests results are carried out and analyzed. These actuators are useful for rehabilitation applications. In order to reproduce the whole upper limb movements, new kind of soft actuators are studied, based on the same principle of planar membranes deformation. As an example, the bellows muscle model and worm muscle model are developed and described. In both cases, wide deformations are expected. Another issue for soft actuators is the pressure therapy. Some textile sleeve prototypes developed for massage therapy on patients suffering of lymph edema are analyzed. Different types of fabric and assembly techniques have been tested. In general, these Pressure Soft Actuators are useful for upper/lower limbs treatments

Tracking control of a leg rehabilitation machine driven by pneumatic artificial muscles using composite fuzzy theory.

Science.gov (United States)

Chang, Ming-Kun

2014-01-01

It is difficult to achieve excellent tracking performance for a two-joint leg rehabilitation machine driven by pneumatic artificial muscles (PAMs) because the system has a coupling effect, highly nonlinear and time-varying behavior associated with gas compression, and the nonlinear elasticity of bladder containers. This paper therefore proposes a T-S fuzzy theory with supervisory control in order to overcome the above problems. The T-S fuzzy theory decomposes the model of a nonlinear system into a set of linear subsystems. In this manner, the controller in the T-S fuzzy model is able to use simple linear control techniques to provide a systematic framework for the design of a state feedback controller. Then the LMI Toolbox of MATLAB can be employed to solve linear matrix inequalities (LMIs) in order to determine controller gains based on the Lyapunov direct method. Moreover, the supervisory control can overcome the coupling effect for a leg rehabilitation machine. Experimental results show that the proposed controller can achieve excellent tracking performance, and guarantee robustness to system parameter uncertainties.

Actuation of Pneumatic Artificial Muscle via Hydrogen Absorption/Desorption of Metal Hydride-LaNi5

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Thanana Nuchkrua

2015-01-01

Full Text Available This paper presents experimental studies on mechanical actuations of a pneumatic artificial muscle (PAM, which is driven by hydrogen gas based metal hydride (MH. The dynamic performances of hydrogen absorption/desorption, taking place within a MH reactor, are controlled via implementing cooling/heating effects of a thermoelectric module (TEM. Hydrogen pressure is applied as a driving force to commanding work outputs of the PAM as desired mechanical actuations. Due to strong inherent nonlinearity, a conventional proportional integral derivative (PID control law is not capable of regulating thermodynamic variables of the HM reaction according to desired performances of the PAM. In this study, the fuzzy adaptive PID control is proposed in manipulating the MH reaction via the TEM. This viability of the proposed methodology is confirmed by the fact that the gains of PID control law are adapted by fuzzy rule-based tuning scheme at various operating conditions of the MH reactor. The experimental results show that the proposed control technique is much more effective than a PID control in both transient and steady state performances of the MH reactor for servo mechanical actuation of the PAM.

Design and control of a pneumatic musculoskeletal biped robot.

Science.gov (United States)

Zang, Xizhe; Liu, Yixiang; Liu, Xinyu; Zhao, Jie

2016-04-29

Pneumatic artificial muscles are quite promising actuators for humanoid robots owing to their similar characteristics with human muscles. Moreover, biologically inspired musculoskeletal systems are particularly important for humanoid robots to perform versatile dynamic tasks. This study aims to develop a pneumatic musculoskeletal biped robot, and its controller, to realize human-like walking. According to the simplified musculoskeletal structure of human lower limbs, each leg of the biped robot is driven by nine muscles, including three pairs of monoarticular muscles which are arranged in the flexor-extensor form, as well as three biarticular muscles which span two joints. To lower cost, high-speed on/off solenoid valves rather than proportional valves are used to control the muscles. The joint trajectory tracking controller based on PID control method is designed to achieve the desired motion. Considering the complex characteristics of pneumatic artificial muscles, the control model is obtained through parameter identification experiments. Preliminary experimental results demonstrate that the biped robot is able to walk with this control strategy. The proposed musculoskeletal structure and control strategy are effective for the biped robot to achieve human-like walking.

Design and motion control of bioinspired humanoid robot head from servo motors toward artificial muscles

Science.gov (United States)

Almubarak, Yara; Tadesse, Yonas

2017-04-01

The potential applications of humanoid robots in social environments, motivates researchers to design, and control biomimetic humanoid robots. Generally, people are more interested to interact with robots that have similar attributes and movements to humans. The head is one of most important part of any social robot. Currently, most humanoid heads use electrical motors, pneumatic actuators, and shape memory alloy (SMA) actuators for actuation. Electrical and pneumatic actuators take most of the space and would cause unsmooth motions. SMAs are expensive to use in humanoids. Recently, in many robotic projects, Twisted and Coiled Polymer (TCP) artificial muscles are used as linear actuators which take up little space compared to the motors. In this paper, we will demonstrate the designing process and motion control of a robotic head with TCP muscles. Servo motors and artificial muscles are used for actuating the head motion, which have been controlled by a cost efficient ARM Cortex-M7 based development board. A complete comparison between the two actuators is presented.

A pneumatically powered knee-ankle-foot orthosis (KAFO with myoelectric activation and inhibition

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Ferris Daniel P

2009-06-01

Full Text Available Abstract Background The goal of this study was to test the mechanical performance of a prototype knee-ankle-foot orthosis (KAFO powered by artificial pneumatic muscles during human walking. We had previously built a powered ankle-foot orthosis (AFO and used it effectively in studies on human motor adaptation, locomotion energetics, and gait rehabilitation. Extending the previous AFO to a KAFO presented additional challenges related to the force-length properties of the artificial pneumatic muscles and the presence of multiple antagonistic artificial pneumatic muscle pairs. Methods Three healthy males were fitted with custom KAFOs equipped with artificial pneumatic muscles to power ankle plantar flexion/dorsiflexion and knee extension/flexion. Subjects walked over ground at 1.25 m/s under four conditions without extensive practice: 1 without wearing the orthosis, 2 wearing the orthosis with artificial muscles turned off, 3 wearing the orthosis activated under direct proportional myoelectric control, and 4 wearing the orthosis activated under proportional myoelectric control with flexor inhibition produced by leg extensor muscle activation. We collected joint kinematics, ground reaction forces, electromyography, and orthosis kinetics. Results The KAFO produced ~22%–33% of the peak knee flexor moment, ~15%–33% of the peak extensor moment, ~42%–46% of the peak plantar flexor moment, and ~83%–129% of the peak dorsiflexor moment during normal walking. With flexor inhibition produced by leg extensor muscle activation, ankle (Pearson r-value = 0.74 ± 0.04 and knee ( r = 0.95 ± 0.04 joint kinematic profiles were more similar to the without orthosis condition compared to when there was no flexor inhibition (r = 0.49 ± 0.13 for ankle, p = 0.05, and r = 0.90 ± 0.03 for knee, p = 0.17. Conclusion The proportional myoelectric control with flexor inhibition allowed for a more normal gait than direct proportional myoelectric control. The current

A pneumatically powered knee-ankle-foot orthosis (KAFO) with myoelectric activation and inhibition

Science.gov (United States)

Sawicki, Gregory S; Ferris, Daniel P

2009-01-01

Background The goal of this study was to test the mechanical performance of a prototype knee-ankle-foot orthosis (KAFO) powered by artificial pneumatic muscles during human walking. We had previously built a powered ankle-foot orthosis (AFO) and used it effectively in studies on human motor adaptation, locomotion energetics, and gait rehabilitation. Extending the previous AFO to a KAFO presented additional challenges related to the force-length properties of the artificial pneumatic muscles and the presence of multiple antagonistic artificial pneumatic muscle pairs. Methods Three healthy males were fitted with custom KAFOs equipped with artificial pneumatic muscles to power ankle plantar flexion/dorsiflexion and knee extension/flexion. Subjects walked over ground at 1.25 m/s under four conditions without extensive practice: 1) without wearing the orthosis, 2) wearing the orthosis with artificial muscles turned off, 3) wearing the orthosis activated under direct proportional myoelectric control, and 4) wearing the orthosis activated under proportional myoelectric control with flexor inhibition produced by leg extensor muscle activation. We collected joint kinematics, ground reaction forces, electromyography, and orthosis kinetics. Results The KAFO produced ~22%–33% of the peak knee flexor moment, ~15%–33% of the peak extensor moment, ~42%–46% of the peak plantar flexor moment, and ~83%–129% of the peak dorsiflexor moment during normal walking. With flexor inhibition produced by leg extensor muscle activation, ankle (Pearson r-value = 0.74 ± 0.04) and knee ( r = 0.95 ± 0.04) joint kinematic profiles were more similar to the without orthosis condition compared to when there was no flexor inhibition (r = 0.49 ± 0.13 for ankle, p = 0.05, and r = 0.90 ± 0.03 for knee, p = 0.17). Conclusion The proportional myoelectric control with flexor inhibition allowed for a more normal gait than direct proportional myoelectric control. The current orthosis design

Vibration control of an artificial muscle manipulator with a magnetorheological fluid brake

Science.gov (United States)

Tomori, H.; Midorikawa, Y.; Nakamura, T.

2013-02-01

Recently, proposed applications of robots require them to contact human safely. Therefore, we focus on pneumatic rubber artificial muscle. This actuator is flexible, light, and has high-power density. However, because the artificial muscle is flexible, it vibrates when there is a high load. Therefore, we paid attention to the magnetorheological (MR) fluid. We propose a control method of the MR brake considering energy of the manipulator system. By this control method, MR brake dissipates energy leading to vibration of the manipulator. In this paper, we calculated the energy and controlled the MR brake. And, we deliberated the proposal method by simulation using the dynamic model of the manipulator, and experiment.

Development of an orthosis for walking assistance using pneumatic artificial muscle: a quantitative assessment of the effect of assistance.

Science.gov (United States)

Kawamura, T; Takanaka, K; Nakamura, T; Osumi, H

2013-06-01

In recent years, there is an increase in the number of people that require support during walking as a result of a decrease in the leg muscle strength accompanying aging. An important index for evaluating walking ability is step length. A key cause for a decrease in step length is the loss of muscle strength in the legs. Many researchers have designed and developed orthoses for walking assistance. In this study, we advanced the design of an orthosis for walking assistance that assists the forward swing of the leg to increase step length. We employed a pneumatic artificial muscle as the actuator so that flexible assistance with low rigidity can be achieved. To evaluate the performance of the system, we measured the effect of assistance quantitatively. In this study, we constructed a prototype of the orthosis and measure EMG and step length on fitting it to a healthy subject so as to determine the effect of assistance, noting the increase in the obtained step length. Although there was an increase in EMG stemming from the need to maintain body balance during the stance phase, we observed that the EMG of the sartorius muscle, which helps swing the leg forward, decreased, and the strength of the semitendinosus muscle, which restrains the leg against over-assistance, did not increase but decreased. Our experiments showed that the assistance force provided by the developed orthosis is not adequate for the intended task, and the development of a mechanism that provides appropriate assistance is required in the future.

A survey on pneumatic muscle actuators modeling

OpenAIRE

Kelasidi, Eleni; Andrikopoulos, Georgios; Nikolakopoulos, George; Manesis, Stamatis

2012-01-01

The aim of this article is to provide a survey on the most popular modeling approaches for Pneumatic Muscle Actuators (PMAs). PMAs are highly non-linear pneumatic actuators where their elongation is proportional to the interval pressure. During the last decade, there has been an increase in the industrial and scientific utilization of PMAs, due to their advantages such as high strength and small weight, while various types of PMAs with different technical characteristics have been appeared in...

Modeling and experiments on the drive characteristics of high-strength water hydraulic artificial muscles

Science.gov (United States)

Zhang, Zengmeng; Hou, Jiaoyi; Ning, Dayong; Gong, Xiaofeng; Gong, Yongjun

2017-05-01

Fluidic artificial muscles are popular in robotics and function as biomimetic actuators. Their pneumatic version has been widely investigated. A novel water hydraulic artificial muscle (WHAM) with high strength is developed in this study. WHAMs can be applied to underwater manipulators widely used in ocean development because of their environment-friendly characteristics, high force-to-weight ratio, and good bio-imitability. Therefore, the strength of WHAMs has been improved to fit the requirements of underwater environments and the work pressure of water hydraulic components. However, understanding the mechanical behaviors of WHAMs is necessary because WHAMs use work media and pressure control that are different from those used by pneumatic artificial muscles. This paper presents the static and dynamic characteristics of the WHAM system, including the water hydraulic pressure control circuit. A test system is designed and built to analyze the drive characteristics of the developed WHAM. The theoretical relationships among the amount of contraction, pressure, and output drawing force of the WHAM are tested and verified. A linearized transfer function is proposed, and the dynamic characteristics of the WHAM are investigated through simulation and inertia load experiments. Simulation results agree with the experimental results and show that the proposed model can be applied to the control of WHAM actuators.

Muscle- and pneumatic-powered counterpulsating LVADs: a pilot study.

Science.gov (United States)

Wilde, J C; van Loon, J; Bishop, N D; Shelton, A D; Marten, C; Kolff, W J; Stephenson, L; Baciewicz, F; Nakajima, H; Thomas, G

1994-03-01

There is a worldwide interest in supporting the failing heart with a skeletal muscle by either wrapping it around the natural heart (dynamic cardiomyoplasty) or by constructing a skeletal muscle ventricle (SMV) used for counterpulsation. Conventional cardiomyoplasty in many clinics carries an operative mortality rate of 15-20% partly because it requires 6 weeks to train the muscle to contract continually. A flexible, pear-shaped blood pump with an inflatable air chamber was designed and made around which a muscle can be wrapped. The advantage of our design is that it can also be driven by pneumatic power, immediately supporting the circulation of a seriously ill patient while that patient is still on the operating table. After a period of time to allow for revascularization and the subsequent training of the muscle, the external pneumatic power can be gradually discontinued. Then the assisted patient becomes tether-free. If, at any time, the muscle power fails, the pneumatic-powered mechanism can be reactivated. In the preferred approach, the blood pump is connected to the aorta for diastolic counterpulsation. A muscle can either be wrapped around the blood pump directly, or around one of two separate muscle pouches connected to the blood pump. To facilitate surgery, a large pouch is inserted under the musculus latissimus dorsi, which is connected to a blood pump. When stimulated, the muscle will contract over the pouch compressing it and providing power to the blood pump. If it is found that the pressure generated in the pouch cannot meet the aortic blood pressure, it can be augmented by using a pressure amplifier.(ABSTRACT TRUNCATED AT 250 WORDS)

Intermittent pneumatic compression of legs increases microcirculation in distant skeletal muscle.

Science.gov (United States)

Liu, K; Chen, L E; Seaber, A V; Johnson, G W; Urbaniak, J R

1999-01-01

Intermittent pneumatic compression has been established as a method of clinically preventing deep vein thrombosis, but the mechanism has not been documented. This study observed the effects of intermittent pneumatic compression of legs on the microcirculation of distant skeletal muscle. The cremaster muscles of 80 male rats were exposed, a specially designed intermittent pneumatic-compression device was applied to both legs for 60 minutes, and the microcirculation of the muscles was assessed by measurement of the vessel diameter in three categories (10-20, 21-40, and 41-70 microm) for 120 minutes. The results showed significant vasodilation in arterial and venous vessels during the application of intermittent pneumatic compression, which disappeared after termination of the compression. The vasodilation reached a maximum 30 minutes after initiation of the compression and could be completely blocked by an inhibitor of nitric oxide synthase, NG-monomethyl-L-arginine (10 micromol/min). A 120-minute infusion of NG-monomethyl-L-arginine, beginning coincident with 60 minutes of intermittent pneumatic compression, resulted in a significant decrease in arterial diameter that remained at almost the same level after termination of the compression. The magnitude of the decrease in diameter in the group treated with intermittent pneumatic compression and NG-monomethyl-L-arginine was comparable with that in the group treated with NG-monomethyl-L-arginine alone. The results imply that the production of nitric oxide is involved in the positive influence of intermittent pneumatic compression on circulation. It is postulated that the rapid increase in venous velocity induced by intermittent pneumatic compression produces strong shear stress on the vascular endothelium, which stimulates an increased release of nitric oxide and thereby causes systemic vasodilation.

Design and analysis of adaptive honeycomb structure with pneumatic muscle fibers

Science.gov (United States)

Yin, Weilong; Tian, Dongkui; Chen, Yijin

2012-04-01

The adaptive honeycomb structure actuated by pneumatic muscle fibers is proposed in this paper. The FE model of adaptive honeycomb structure is developed by use of ANSYS software. The elastics modulus of the developed pneumatic muscle fibers is experimentally determined and their output force is tested. The results show that the contraction ratio of the pneumatic muscle fibers with inner diameter of 2mm could reach up to 26.8% and the force could reach to a value of 27N when the applied pressure is 0.4MPa and the contraction ratio is zero. When the adaptive honeycomb has a certain load and an effective output displacement, the applied force must be greater than a certain value. The adaptive honeycomb must be consumed extra energy when the output displacement and force are produced.

A pneumatic muscle hand therapy device.

Science.gov (United States)

Koeneman, E J; Schultz, R S; Wolf, S L; Herring, D E; Koeneman, J B

2004-01-01

Intensive repetitive therapy improves function and quality of life for stroke patients. Intense therapies to overcome upper extremity impairment are beneficial, however, they are expensive because, in part, they rely on individualized interaction between the patient and rehabilitation specialist. The development of a pneumatic muscle driven hand therapy device, the Mentortrade mark, reinforces the need for volitional activation of joint movement while concurrently offering knowledge of results about range of motion, muscle activity or resistance to movement. The device is well tolerated and has received favorable comments from stroke survivors, their caregivers, and therapists.

Controlling pneumatic artificial muscles in exoskeletons with surface electromyography

NARCIS (Netherlands)

Groenhuis, Vincent; Chandrapal, Mervin; Stramigioli, Stefano; Chen, XiaoQi

2014-01-01

Powered exoskeletons are gaining more interest in the last few years, as useful devices to provide assistance to elderly and disabled people. Many different types of powered exoskeletons have been studied in the past. In this research paper, a soft lower limb exoskeleton driven by pneumatic

Nonlinear Disturbance Observer Based Robust Tracking Control of Pneumatic Muscle

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Youssif Mohamed Toum Elobaid

2014-01-01

Full Text Available Presently pneumatic muscles (PMs are used in various applications due to their simple construction, lightweight, and high force-to-weight ratio. However, pneumatic muscles are facing various problems due to their nonlinear characteristics and various uncertainties in real applications. To cope with the uncertainties and strong nonlinearity of a PM model, a nonlinear disturbance observer (NDO is designed to estimate the lumped disturbance. Based on the disturbance observer, the tracking control of PM is studied. Stability analysis based on Lyapunov method with respect to our proposed control law is discussed. The simulation results show the validity, effectiveness, and enhancing robustness of the proposed methods.

Orthopaedic Rehabilitation Device Actuated with Pneumatic Muscles

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Ioana Petre

2014-07-01

Full Text Available Year after year recovery clinics worldwide report significant numbers of lower limb bearing joint disabilities. An effective method for the speedy rehabilitation of patients with such afflictions is Continuous Passive Motion (CPM, drawing upon a range of specific equipment. This paper presents an innovative constructive solution for such orthopaedic rehabilitation equipment, designed to ensure a swift reintegration of patients at as low a cost as possible. The absolute novelty consists in the utilization of the linear pneumatic muscle as actuator of the orthopaedic rehabilitation equipment, thus achieving a light and highly compliant construction that satisfies safety requirements related to man-machine interaction. Pneumatic muscles are bio-inspired actuation systems characterized by a passive variable compliant behaviour. This property, deployed in rehabilitation systems, enables the development of human friendly devices, which are comfortable for the patients, and capable of safe interaction. This paper presents the constructive schematic of the orthopaedic rehabilitation equipment, the structure of the actuation and positioning system, and several of its functional characteristics.

Pneumatic Muscle Actuated Compliant Gripper Systems

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Deaconescu Andrea

2016-01-01

Full Text Available The paper presents the stages of developing new, light, eco-friendly and bionic gripper systems. Gripping is achieved by means of original, self adaptive, bio-inspired systems, with a pneumatic muscle as motion generator. The method underlying the development of these new gripping systems is based on the creation of concepts by analogy, an instrument aimed at widening the inspiration horizon in designing by using models from nature.

Pneumatic Muscle Actuated Compliant Gripper Systems

OpenAIRE

Deaconescu Andrea

2016-01-01

The paper presents the stages of developing new, light, eco-friendly and bionic gripper systems. Gripping is achieved by means of original, self adaptive, bio-inspired systems, with a pneumatic muscle as motion generator. The method underlying the development of these new gripping systems is based on the creation of concepts by analogy, an instrument aimed at widening the inspiration horizon in designing by using models from nature.

Design of anisotropic pneumatic artificial muscles and their applications to soft wearable devices for text neck symptoms.

Science.gov (United States)

Hojoong Kim; Hyuntai Park; Jongwoo Kim; Kyu-Jin Cho; Yong-Lae Park

2017-07-01

Pneumatic artificial muscles (PAMs) are frequently used actuators in soft robotics due to their structural flexibility. They are generally characterized by the tensile force due to the axial contraction and the radial force with volume expansion. To date, most applications of P AMs have utilized axial contractions. In contrast, we propose a novel way to control radial expansions of particular P AMs using anisotropic behaviors. P AMs generally consist of a cylindrical rubber bladder that expands with injection of air and multiple flexible but inextensible strings or mesh that surround the bladder to generate axial contraction force. We propose methods of generating radial expansion force in two ways. One is to control the spatial density of the strings that hold the bladder, and the other is to give asymmetric patterns directly to the bladder for geometrical anisotropy. To evaluate the performance of the actuators, soft sensors made of a hyperelastic material and a liquid conductor were attached to the P AMs for measuring local strains and pressures of the PAMs. We also suggest use of the proposed PAMs to a wearable therapeutic device for treating text neck symptoms as an application. The P AMs were used to exert a pressure to the back of the neck to recover the original spinal alignment from the deformed shape.

Test–Retest Reliability and Concurrent Validity of an fMRI-Compatible Pneumatic Vibrator to Stimulate Muscle Proprioceptors.

Science.gov (United States)

Goossens, Nina; Janssens, Lotte; Pijnenburg, Madelon; Caeyenberghs, Karen; Van Rompuy, Charlotte; Meugens, Paul; Sunaert, Stefan; Brumagne, Simon

Processing proprioceptive information in the brain is essential for optimal postural control and can be studied with proprioceptive stimulation, provided by muscle vibration, during functional magnetic resonance imaging (fMRI). Classic electromagnetic muscle vibrators, however, cannot be used in the high-strength magnetic field of the fMRI scanner. Pneumatic vibrators offer an fMRI-compatible alternative. However, whether these devices produce reliable and valid proprioceptive stimuli has not been investigated, although this is essential for these devices to be used in longitudinal research. Test–retest reliability and concurrent validity of the postural response to muscle vibration, provided by custom-made fMRI-compatible pneumatic vibrators, were assessed in a repeated-measures design. Mean center of pressure (CoP) displacements during, respectively, ankle muscle and back muscle vibration (45–60 Hz, 0.5 mm) provided by an electromagnetic and a pneumatic vibrator were measured in ten young healthy subjects. The test was repeated on the same day and again within one week. Intraclass correlation coefficients (ICC) were calculated to assess (a) intra- and interday reliability of the postural responses to, respectively, pneumatic and electromagnetic vibration, and (b) concurrent validity of the response to pneumatic compared to electromagnetic vibration. Test–retest reliability of mean CoP displacements during pneumatic vibration was good to excellent (ICCs = 0.64–0.90) and resembled that of responses to electromagnetic vibration (ICCs = 0.64–0.94). Concurrent validity of the postural effect of pneumatic vibration was good to excellent (ICCs = 0.63–0.95). In conclusion, the proposed fMRI-compatible pneumatic vibrator can be used with confidence to stimulate muscle spindles during fMRI to study central processing of proprioception.

Structural design and analysis of morphing skin embedded with pneumatic muscle fibers

Science.gov (United States)

Chen, Yijin; Yin, Weilong; Liu, Yanju; Leng, Jinsong

2011-08-01

In this paper, a kind of morphing skin embedded with pneumatic muscle fibers is proposed from the bionics perspective. The elastic modulus of the designed pneumatic muscle fibers is experimentally determined and their output force is tested with internal air pressure varying from 0 to 0.4 MPa. The experimental results show that the contraction ratio of the pneumatic muscle fibers using the given material could reach up to 26.8%. Isothermal tensile tests are conducted on the fabricated morphing skin, and the results are compared with theoretical predictions based on the rule of mixture. When the strain is lower than 3% and in its linear-elastic range, the rule of mixture is proved to possess satisfying accuracy in the prediction of the elastic modulus of the morphing skin. Subsequently, the output force of the morphing skin is tested. It is revealed that when the volume ratio of the pneumatic muscle fibers is 0.228, the contraction ratio can reach up to 17.8%, which is satisfactory for meeting the camber requirement of morphing skin with maximum strain level below 2%. Finally, stress-bearing capability tests of the morphing skin on local uniformly distributed loads are conducted, and the test results show that the transverse stiffness of the morphing skin can be regulated by changing the internal air pressure. Under a uniformly distributed load of 540 Pa, the designed morphing skin is capable of varying by more than two orders of magnitude in the transverse stiffness by changing the internal air pressure.

Structural design and analysis of morphing skin embedded with pneumatic muscle fibers

International Nuclear Information System (INIS)

Chen, Yijin; Yin, Weilong; Leng, Jinsong; Liu, Yanju

2011-01-01

In this paper, a kind of morphing skin embedded with pneumatic muscle fibers is proposed from the bionics perspective. The elastic modulus of the designed pneumatic muscle fibers is experimentally determined and their output force is tested with internal air pressure varying from 0 to 0.4 MPa. The experimental results show that the contraction ratio of the pneumatic muscle fibers using the given material could reach up to 26.8%. Isothermal tensile tests are conducted on the fabricated morphing skin, and the results are compared with theoretical predictions based on the rule of mixture. When the strain is lower than 3% and in its linear-elastic range, the rule of mixture is proved to possess satisfying accuracy in the prediction of the elastic modulus of the morphing skin. Subsequently, the output force of the morphing skin is tested. It is revealed that when the volume ratio of the pneumatic muscle fibers is 0.228, the contraction ratio can reach up to 17.8%, which is satisfactory for meeting the camber requirement of morphing skin with maximum strain level below 2%. Finally, stress-bearing capability tests of the morphing skin on local uniformly distributed loads are conducted, and the test results show that the transverse stiffness of the morphing skin can be regulated by changing the internal air pressure. Under a uniformly distributed load of 540 Pa, the designed morphing skin is capable of varying by more than two orders of magnitude in the transverse stiffness by changing the internal air pressure

Static Modeling for Commercial Braided Pneumatic Muscle Actuators

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Jun Zhong

2014-05-01

Full Text Available An enhanced model is proposed to describe static property of commercial braided pneumatic muscle actuators by including several important influencing factors. Elasticity of elastomer tube is considered and Ogden strain energy function is employed to describe its strain energy density. During pressurized process, small deformation of fiber occurs and is calculated using force balancing principle. Frictional forces within muscles are studied, which consist of friction within braid and that between bladder and braid. Isobaric experiments are performed and results verify the validity of the model.

Sliding mode control of a "Soft" 2-DOF Planar Pneumatic Manipulator

Science.gov (United States)

Van Damme, M.; Vanderborght, B.; Beyl, P.; Versluys, R.; Vanderniepen, I.; Van Ham, R.; Cherelle, P.; Daerden, F.; Lefeber, D.

2008-10-01

This paper presents a sliding mode controller for a "Soft" 2-DOF Planar Pneumatic Manipulator actuated by pleated pneumatic artificial muscle actuators. Since actuator dynamics is not negligible, an approximate model for pressure dynamics was taken into account, which made it necessary to perform full input-output feedback linearization in order to design a sliding mode controller. The design of the controller is presented in detail, and experimental results obtained by implementing the controller are discussed

An Application of a Pneumatic Muscles Actuator for a Delta Pneumatic Manipulator

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Pawel A. LASKI

2014-12-01

Full Text Available The main aim of this study was to use pneumatic muscle actuators in the construction of the delta manipulator with a closed kinematic chain. The paper presents a solid models of the manipulator and the kinematic diagram. Based on the kinematic diagram and using DH notation (Denavit-Hartenberg manipulator kinematic models was determined. On the basis of developed solid model simulation studies were conducted and the shape and size of the workspace determined. On the basis of 3D models prototype of the manipulator was constructed. Experimental studies were performed to select the regulators settings P, PI, PID for one of the pair of BMDS (Bi-Muscular Driving System muscle-type drives. Based on integral quality indicators the used types of regulators were compared and proposed final controller. Performed experimental studies confirm the possibility of muscle control in the BMDS (Bi-Muscular Driving System type system drives and tuning controller settings using the Ziegler-Nichols method.

Intramuscular pressures in antigravity muscles using gravity-independent, pneumatic hardware.

Science.gov (United States)

Macias, Brandon R; Minocha, Ranjeet; Cutuk, Adnan A; Hill, James; Shiau, Jonathon; Hargens, Alan R

2008-08-01

Resistive exercise helps prevent muscle atrophy in microgravity, but better exercise equipment is needed. Therefore, the purpose of this study was to determine if a pneumatic, gravity-independent leg-press device (LPD) provides sufficient force to leg musculature. We hypothesized that intramuscular pressure (IMP), a quantitative index of muscle force, is greater in the antigravity superficial posterior and deep posterior compartments than in the non-antigravity anterior compartment during bilateral leg-press exercise. Millar pressure transducers were inserted into the anterior, lateral, superficial posterior, and deep posterior muscle compartments of the left leg of eight healthy subjects (three women, five men). Subjects were supine on the Keiser SX-1, a pneumatic LPD. Then maximal voluntary contraction (MVC) was determined; each subject performed three consecutive voluntary contractions at approximately 18%, 50%, and 100% MVC while continuously measuring IMP. Repeated measures ANOVA were used to determine differences of IMPs between compartments and loads. The magnitudes of IMP (mean +/- SEM) at 18 - 3% (abbreviated approximately 18%), 50%, and 100% MVC in the superficial and deep posterior compartments were significantly greater than that in the anterior compartment during exercise (P antigravity compartments as compared to the non-antigravity compartment. Since antigravity muscles of the leg are contained primarily in the superficial and deep posterior compartments, the LPD may help prevent muscle atrophy associated with microgravity.

Levels of muscle enzymes in the serum after esophageal pneumatic dilation in patients with achalasia.

Science.gov (United States)

Kimchi, N A; Ron, Y; Abramowich, D; Shirin, H; Scapa, E; Avni, Y

2005-01-01

The success rate of pneumatic dilation of the esophagus in patients with achalasia is variable. We aim to assess whether levels of muscle enzymes in the serum are useful for predicting the efficacy of this procedure. Consecutive adults with symptomatic achalasia treated with pneumatic dilation were included. Blood samples were taken immediately before the procedure and after 12, 24 and 32 h. Clinical efficacy of the pneumatic dilation was evaluated on the basis of a symptom score defined prior to, and 2 months after the procedure. Eleven patients underwent 13 pneumatic dilations. In nine patients this was the first dilation attempt. Ten dilations were clinically effective. The study was discontinued after enzyme levels did not show a trend of increase in any of our patients. Moreover, a statistically significant unexpected decrease in creatine phosphokinase values was found 12 h after the procedure, among the 10 successful dilations. We believe that levels of muscle enzymes in the serum cannot predict the efficacy of pneumatic dilation in patients with achalasia.

The effect of pneumatic tourniquets on the ultrastructure of skeletal muscle.

Science.gov (United States)

Patterson, S; Klenerman, L

1979-05-01

Experiments have been carried out on rhesus monkeys to determine the effect of the application of a pneumatic tourniquet on the ultrastructure of the muscles of the lower limb. Tourniquets were applied for periods lasting between one and five hours. The changes in the muscle lying immediately under the cuff of the tourniquet were more marked than those observed in muscle distal to the cuff. Three hours appears to be close to the limit of the time that a muscle can resist the sustained compression of a tourniquet.

Research on Dynamic Parameters and Position Accuracy of Pneumatics Muscles

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Edvard Sadovskij

2012-12-01

Full Text Available The article deals with pneumatic muscle MAS-20-200N-AA-MC-O, its dynamic properties and positioning accuracy as well as overviews experimental and theoretical works. The paper introduces the diagrams of vibration acceleration, discusses displacement dependence on pressure and load and presents a diagram of speed dependence on operating pressure. Vibroacceleration has been measured employing two accelerometers. Measurements have been carried out in three mutually perpendicular directions: x, y and z. The most important one is direction z, because this way the muscle performs a valuable displacement along the axis of the muscle, since this direction is the movement of the working muscle.Article in Lithuanian

Research on Dynamic Parameters and Position Accuracy of Pneumatics Muscles

Directory of Open Access Journals (Sweden)

Edvard Sadovskij

2013-02-01

Full Text Available The article deals with pneumatic muscle MAS-20-200N-AA-MC-O, its dynamic properties and positioning accuracy as well as overviews experimental and theoretical works. The paper introduces the diagrams of vibration acceleration, discusses displacement dependence on pressure and load and presents a diagram of speed dependence on operating pressure. Vibroacceleration has been measured employing two accelerometers. Measurements have been carried out in three mutually perpendicular directions: x, y and z. The most important one is direction z, because this way the muscle performs a valuable displacement along the axis of the muscle, since this direction is the movement of the working muscle.Article in Lithuanian

Dynamic bending of bionic flexible body driven by pneumatic artificial muscles(PAMs) for spinning gait of quadruped robot

Science.gov (United States)

Lei, Jingtao; Yu, Huangying; Wang, Tianmiao

2016-01-01

The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depends on the mechanical properties of the body mechanism. It is difficult for quadruped robot with rigid structure to achieve better mobility walking or running in the unstructured environment. A kind of bionic flexible body mechanism for quadruped robot is proposed, which is composed of one bionic spine and four pneumatic artificial muscles(PAMs). This kind of body imitates the four-legged creatures' kinematical structure and physical properties, which has the characteristic of changeable stiffness, lightweight, flexible and better bionics. The kinematics of body bending is derived, and the coordinated movement between the flexible body and legs is analyzed. The relationship between the body bending angle and the PAM length is obtained. The dynamics of the body bending is derived by the floating coordinate method and Lagrangian method, and the driving force of PAM is determined. The experiment of body bending is conducted, and the dynamic bending characteristic of bionic flexible body is evaluated. Experimental results show that the bending angle of the bionic flexible body can reach 18°. An innovation body mechanism for quadruped robot is proposed, which has the characteristic of flexibility and achieve bending by changing gas pressure of PAMs. The coordinated movement of the body and legs can achieve spinning gait in order to improve the mobility of quadruped robot.

A biologically inspired artificial muscle based on fiber-reinforced and electropneumatic dielectric elastomers

Science.gov (United States)

Liu, Lei; Zhang, Chi; Luo, Meng; Chen, Xi; Li, Dichen; Chen, Hualing

2017-08-01

Dielectric elastomers (DEs) have great potential for use as artificial muscles because of the following characteristics: electrical activity, fast and large deformation under stimuli, and softness as natural muscles. Inspired by the traditional McKibben actuators, in this study, we developed a cylindrical soft fiber-reinforced and electropneumatic DE artificial muscle (DEAM) by mimicking the spindle shape of natural muscles. Based on continuum mechanics and variation principle, the inhomogeneous actuation of DEAMs was theoretically modeled and calculated. Prototypes of DEAMs were prepared to validate the design concept and theoretical model. The theoretical predictions are consistent with the experimental results; they successfully predicted the evolutions of the contours of DEAMs with voltage. A pneumatically supported high prestretch in the hoop direction was achieved by our DEAM prototype without buckling the soft fibers sandwiched by the DE films. Besides, a continuously tunable prestretch in the actuation direction was achieved by varying the supporting pressure. Using the theoretical model, the failure modes, maximum actuations, and critical voltages were analyzed; they were highly dependent on the structural parameters, i.e., the cylinder aspect ratio, prestretch level, and supporting pressure. The effects of structural parameters and supporting pressure on the actuation performance were also investigated to optimize the DEAMs.

Dynamic cardiomyoplasty using artificial muscle.

Science.gov (United States)

Suzuki, Yasuyuki; Daitoku, Kazuyuki; Minakawa, Masahito; Fukui, Kozo; Fukuda, Ikuo

2008-01-01

Dynamic cardiomyoplasty using latissimus dorsi muscle was previously used to compensate for congestive heart failure. Now, however, this method is not acceptable because the long-term result was not as expected owing to fatigue of the skeletal muscle. BioMetal fiber developed by Toki Corporation is one of the artificial muscles activated by electric current. The behavior of this fiber is similar to that of organic muscle. We made an artificial muscle like the latissimus dorsi using BioMetal fiber and tested whether we could use this new muscle as a cardiac supporting device. Testing one Biometal fiber showed the following performance: practical use maximal generative force was 30 g, exercise variation was 50%, and the standard driving current was 220 mA. We created a 4 x 12-cm tabular artificial muscle using 8 BioMetal fibers as a cardiac support device. We also made a simulation circuit composed of a 6 x 8-cm soft bag with unidirectional valves, reservoir, and connecting tube. The simulation circuit was filled with water and the soft bag was wrapped with the artificial muscle device. After powering the device electrically at 9 V with a current of 220 mA for each fiber, we measured the inside pressure and observed the movement of the artificial device. The artificial muscle contracted in 0.5 s for peak time and squeezed the soft bag. The peak pressure inside the soft bag was measured as 10 mmHg. Although further work will be needed to enhance the speed of deformability and movement simulating contraction, we conclude that artificial muscle may be potentially useful as a cardiac assistance device that can be developed for dynamic cardiomyoplasty.

Fluid-driven origami-inspired artificial muscles

Science.gov (United States)

Li, Shuguang; Vogt, Daniel M.; Rus, Daniela; Wood, Robert J.

2017-12-01

Artificial muscles hold promise for safe and powerful actuation for myriad common machines and robots. However, the design, fabrication, and implementation of artificial muscles are often limited by their material costs, operating principle, scalability, and single-degree-of-freedom contractile actuation motions. Here we propose an architecture for fluid-driven origami-inspired artificial muscles. This concept requires only a compressible skeleton, a flexible skin, and a fluid medium. A mechanical model is developed to explain the interaction of the three components. A fabrication method is introduced to rapidly manufacture low-cost artificial muscles using various materials and at multiple scales. The artificial muscles can be programed to achieve multiaxial motions including contraction, bending, and torsion. These motions can be aggregated into systems with multiple degrees of freedom, which are able to produce controllable motions at different rates. Our artificial muscles can be driven by fluids at negative pressures (relative to ambient). This feature makes actuation safer than most other fluidic artificial muscles that operate with positive pressures. Experiments reveal that these muscles can contract over 90% of their initial lengths, generate stresses of ˜600 kPa, and produce peak power densities over 2 kW/kg—all equal to, or in excess of, natural muscle. This architecture for artificial muscles opens the door to rapid design and low-cost fabrication of actuation systems for numerous applications at multiple scales, ranging from miniature medical devices to wearable robotic exoskeletons to large deployable structures for space exploration.

Transforming insect electromyograms into pneumatic muscle control

Science.gov (United States)

Rutter, Brandon; Mu, Laiyong; Ritzmann, Roy; Quinn, Roger

2006-05-01

Robots can serve as hardware models for testing biological hypotheses. Both for this reason and to improve the state of the art of robotics, we strive to incorporate biological principles of insect locomotion into robotic designs. Previous research has resulted in a line of robots with leg designs based on walking and climbing movements of the cockroach Blaberus discoidalis. The current version, Robot V, uses muscle-like Braided Pneumatic Actuators (BPAs). In this paper, we use recorded electromyograms (EMGs) to drive robot joint motion. A muscle activation model was developed that transforms EMGs recorded from behaving cockroaches into appropriate commands for the robot. The transform is implemented by multiplying the EMG by an input gain thus generating an input pressure signal, which is used to drive a one-way closed loop pressure controller. The actuator then can be modeled as a capacitance with input rectification. The actuator exhaust valve is given a leak rate, making the transform a leaky integrator for air pressure, which drives the output force of the actuator. We find parameters of this transform by minimizing the difference between the robot motion produced and that observed in the cockroach. Although we have not reproduced full-amplitude cockroach motion using this robot, results from evaluation on reduced-amplitude cockroach angle data strongly suggest that braided pneumatic actuators can be used as part of a physical model of a biological system.

Elbow joint rehabilitation equipment actuated by pneumatic muscles

Directory of Open Access Journals (Sweden)

Vetrice Georgiana

2017-01-01

Full Text Available The mobility of the limbs is an essential prerequisite for the individual’s physical autonomy. For persons suffering from post-traumatic affections of the elbow joint such limited mobility results in barriers in fulfilling personal or professional tasks. Passive motion has certain specific advantages and beneficial effects, thus being highly recommended for the recovery of injured joints. The paper presents a model of rehabilitation equipment that induces continuous passive motion of the elbow, as part of a recovery programme. The equipment is actuated by pneumatic muscles, using compressed air as the source of energy that generates force and motion. The main benefits of the pneumatic actuation system compared to other driving systems are its low cost, simple and robust construction and swift response to commands. Its constructive simplicity and reduced cost adds to the system’s eligibility for deployment in medical units.

Fluid-driven origami-inspired artificial muscles.

Science.gov (United States)

Li, Shuguang; Vogt, Daniel M; Rus, Daniela; Wood, Robert J

2017-12-12

Artificial muscles hold promise for safe and powerful actuation for myriad common machines and robots. However, the design, fabrication, and implementation of artificial muscles are often limited by their material costs, operating principle, scalability, and single-degree-of-freedom contractile actuation motions. Here we propose an architecture for fluid-driven origami-inspired artificial muscles. This concept requires only a compressible skeleton, a flexible skin, and a fluid medium. A mechanical model is developed to explain the interaction of the three components. A fabrication method is introduced to rapidly manufacture low-cost artificial muscles using various materials and at multiple scales. The artificial muscles can be programed to achieve multiaxial motions including contraction, bending, and torsion. These motions can be aggregated into systems with multiple degrees of freedom, which are able to produce controllable motions at different rates. Our artificial muscles can be driven by fluids at negative pressures (relative to ambient). This feature makes actuation safer than most other fluidic artificial muscles that operate with positive pressures. Experiments reveal that these muscles can contract over 90% of their initial lengths, generate stresses of ∼600 kPa, and produce peak power densities over 2 kW/kg-all equal to, or in excess of, natural muscle. This architecture for artificial muscles opens the door to rapid design and low-cost fabrication of actuation systems for numerous applications at multiple scales, ranging from miniature medical devices to wearable robotic exoskeletons to large deployable structures for space exploration. Copyright © 2017 the Author(s). Published by PNAS.

Pneumatic Muscle Actuated Equipment for Continuous Passive Motion

Science.gov (United States)

Deaconescu, Tudor T.; Deaconescu, Andrea I.

2009-10-01

Applying continuous passive rehabilitation movements as part of the recovery programme of patients with post-traumatic disabilities of the bearing joints of the inferior limbs requires the development of new high performance equipment. This chapter discusses a study of the kinematics and performance of such a new, continuous passive motion based rehabilitation system actuated by pneumatic muscles. The utilized energy source is compressed air ensuring complete absorption of the end of stroke shocks, thus minimizing user discomfort.

A bladder-free, non-fluidic, conductive McKibben artificial muscle operated electro-thermally

Science.gov (United States)

Sangian, Danial; Foroughi, Javad; Farajikhah, Syamak; Naficy, Sina; Spinks, Geoffrey M.

2017-01-01

Fluidic McKibben artificial muscles that operate pneumatically or hydraulically provide excellent performance, but require bulky pumps/compressors, valves and connecting lines. Use of a pressure generating material, such as thermally expanding paraffin wax, can eliminate the need for these pumps and associated infrastructure. Here we further develop this concept by introducing the first bladderless McKibben muscle wherein molten paraffin is contained by surface tension within a tailored braid. Incorporation of electrically conductive wires in the braid allows for convenient Joule heating of the paraffin. The muscle is light (0.14 g) with a diameter of 1.4 mm and is capable of generating a tensile stress of 50 kPa (0.039 N) in 20 s. The maximum contraction strain of 10% (7.6 kPa given load) was achieved in 60 s with an applied electrical power of 0.35 W.

The effect of pneumatic tourniquets on skeletal muscle physiology.

Science.gov (United States)

Patterson, S; Klenerman, L; Biswas, M; Rhodes, A

1981-01-01

The effect of 3- and 5-hour pneumatic tourniquets on skeletal muscle physiology was investigated. Maximum isometric tension development, contraction and half relaxation times were measured in the muscles lying immediately under and distal to the tourniquet. On release of the tourniquet no consistent difference between control and experimental muscles was observed with respect to contraction and half relaxation times; however, there was a marked reduction in maximum isometric tension development. On the sixth day after release of a 5-hour tourniquet, isometric tension was reduced to 2--20 per cent of the control value in the distal muscle and to 40--60 per cent of the control value in the compressed muscle. Six days after a 3-hour tourniquet the compressed muscle tension was reduced to approximately 80 per cent of the control value whilst in the distal muscle, tension development varied from normal to 64 per cent of the control value. Thus it is shown that the effect on muscle contraction after a 3-hour tourniquet is not immediately reversed by the restoration of the blood supply. A reduction in muscle strength follows which may take a week or more to recover.

Development of femoral bone fracture model simulating muscular contraction force by pneumatic rubber actuator.

Science.gov (United States)

Sen, Shin; Ando, Takehiro; Kobayashi, Etsuko; Miyamoto, Hideaki; Ohashi, Satoru; Tanaka, Sakae; Joung, Sanghyun; Park, Il-Hyung; Sakuma, Ichiro

2014-01-01

In femoral fracture reduction, orthopedic surgeons must pull distal bone fragments with great traction force and return them to their correct positions, by referring to 2D-fluoroscopic images. Since this method is physically burdensome, the introduction of robotic assistance is desirable. While such robots have been developed, adequate control methods have not yet been established because of the lack of experimental data. It is difficult to obtain accurate data using cadavers or animals because they are different from the living human body's muscle characteristics and anatomy. Therefore, an experimental model for simulating human femoral characteristics is required. In this research, human muscles are reproduced using a McKibben-type pneumatic rubber actuator (artificial muscle) to develop a model that simulates typical femur muscles using artificial muscles.

Linear pneumatic motors – a comparative study

Directory of Open Access Journals (Sweden)

Deaconescu Tudor

2017-01-01

Full Text Available The paper presents a comparative study of the performance of single-acting cylinders, diaphragm cylinders and pneumatic muscles, and offers users information that allows the selection of an optimum technical solution. Such a study was necessary, in view of the numerous papers on pneumatic muscle applications found in literature, that assert the superiority of pneumatic muscles over other pneumatic linear motors in relation to quantities like dimensions, mass, developed force or energy-to-mass ratios, however without offering concrete data.

Development of Pneumatic Robot Hand and Construction of Master-Slave System

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Tsujiuchi, Nobutaka; Koizumi, Takayuki; Nishino, Shinya; Komatsubara, Hiroyuki; Kudawara, Tatsuwo; Hirano, Masanori

Recently, research and development has focused on robots that work in place of people. It is necessary for robots to perform the same flexible motions as people. Additionally, such robots need to incorporate high-level safety features in order not to injure people. For creation of such robots, we need to develop a robot hand that functions like a human hand. At the same time, this type of robot hand can be used as an artificial hand. Here, we present artificial muscle-type pneumatic actuators as the driving source of a robot hand that is both safe and flexible. Some development of robot hands using pneumatic actuators has already taken place. But, until now, when a pneumatic actuator is used, a big compressor is needed. So, the driving system also needs to be big; enlargement of the driving system is a major problem. Consequently, in this research, we develop a low-pressure, low-volume pneumatic actuator for driving a robot hand that works flexibly and safely on the assumption that it will be in contact with people. We develop a five-fingered robot hand with pneumatic actuators. And, we construct a master-slave system to enable the robot hand to perform the same operations as a human hand. We make a 1-link arm that has one degree of freedom using a pneumatic actuator, and construct a control system for the 1-link arm and verify its control performance.

What Is an Artificial Muscle? A Systemic Approach.

OpenAIRE

Bertrand Tondu

2015-01-01

Artificial muscles define a large category of actuators we propose to analyze in a systemic framework by considering any artificial muscle as an open-loop stable system for any output which represents an artificial muscle dimension resulting from its “contraction”, understood in a broad meaning. This approach makes it possible to distinguish the artificial muscle from other actuators and to specify an original model for a linear artificial muscle, according to the theory of linear systems. Su...

Level-Ground Walking for 3D Quasi-Passive Walker with Flat Feet - Lateral-plane Input using McKibben-Type Artificial Muscle -

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Yamamoto Akihiro

2016-01-01

Full Text Available Currently, many bipedal robots have been proposed to realize the high energy efficiency walking. The passive dynamic walking does not require control input. Generally, a foot of passive dynamic walking robot is an arc foot. In this paper, it is intended to establish a control method and control mechanism to achieve energy efficient and stable gate. Therefore, we developed 3D quasi-passive walker with flat feet driven by an antagonistic pneumatic artificial muscle. An antagonistic mechanism is constituted by a pair of McKibben muscle. And an antagonistic pneumatic system is used as joint actuators of linkage mechanisms which control the torque, joint stiffness and position simultaneously. Finally, this report shows that the 3D quasi-passive walking in the level ground can realize by the swinging (simple input of the frontal direction, and the stride of the robot is proportional to lateral-plane input.

New twist on artificial muscles.

Science.gov (United States)

Haines, Carter S; Li, Na; Spinks, Geoffrey M; Aliev, Ali E; Di, Jiangtao; Baughman, Ray H

2016-10-18

Lightweight artificial muscle fibers that can match the large tensile stroke of natural muscles have been elusive. In particular, low stroke, limited cycle life, and inefficient energy conversion have combined with high cost and hysteretic performance to restrict practical use. In recent years, a new class of artificial muscles, based on highly twisted fibers, has emerged that can deliver more than 2,000 J/kg of specific work during muscle contraction, compared with just 40 J/kg for natural muscle. Thermally actuated muscles made from ordinary polymer fibers can deliver long-life, hysteresis-free tensile strokes of more than 30% and torsional actuation capable of spinning a paddle at speeds of more than 100,000 rpm. In this perspective, we explore the mechanisms and potential applications of present twisted fiber muscles and the future opportunities and challenges for developing twisted muscles having improved cycle rates, efficiencies, and functionality. We also demonstrate artificial muscle sewing threads and textiles and coiled structures that exhibit nearly unlimited actuation strokes. In addition to robotics and prosthetics, future applications include smart textiles that change breathability in response to temperature and moisture and window shutters that automatically open and close to conserve energy.

Pneumatic Muscle Actuated Rehabilitation Equipment of the Upper Limb Joints

Science.gov (United States)

Deaconescu dr. eng. habil., Andrea, Prof.

2017-06-01

Rehabilitation equipment of the upper limb joints holds a key role in passive physical therapy. Within this framework, the paper presents two such pieces of equipment developed for the rehabilitation of elbow and of wrist and knuckles, respectively. The presented and discussed equipment is actuated by pneumatic muscles, its benefits being a low cost, simple and robust construction, as well as short response time to commands.

Skeletal muscle injury induced by a pneumatic tourniquet: an enzyme- and immunohistochemical study in rabbits.

Science.gov (United States)

Pedowitz, R A; Fridén, J; Thornell, L E

1992-03-01

The pathophysiology of skeletal muscle injury induced by compression beneath pneumatic tourniquets is poorly understood. Tourniquet hemostasis was induced in rabbit hindlimbs for 2 hr with a cuff inflation pressure of either 125 mm Hg (n = 5) or 350 mm Hg (n = 5). Skeletal muscle biopsies, taken 2 days later from tissue beneath and distal to the tourniquet, were frozen and analyzed using enzyme- and immunohistochemical techniques. In the 350 mm Hg tourniquet group, four of 10 thigh muscle samples demonstrated significant regional necrosis (mean 37.3% of the total cross-sectional area). Regional necrosis was not observed in thigh muscles of the 125 mm Hg tourniquet group or in any of the ischemic leg muscles. A topographic pattern of necrosis consistent with the arterial distribution of skeletal muscle suggested pathogenic events during the reperfusion period, such as granulocyte-mediated superoxide radical formation. Extremely large and rounded fibers (histochemically identified as Type IIB fibers) were observed in compressed thigh muscles, indicating differential fiber sensitivity to tourniquet compression and ischemia. The present study demonstrated significant skeletal muscle necrosis after a 2 hr tourniquet applied at a clinically relevant cuff inflation pressure. Recent studies of systemic changes associated with limb "ischemia" should be reassessed in consideration of the confounding effects of tissue compression induced beneath pneumatic tourniquets.

Power training using pneumatic machines vs. plate-loaded machines to improve muscle power in older adults.

Science.gov (United States)

Balachandran, Anoop T; Gandia, Kristine; Jacobs, Kevin A; Streiner, David L; Eltoukhy, Moataz; Signorile, Joseph F

2017-11-01

Power training has been shown to be more effective than conventional resistance training for improving physical function in older adults; however, most trials have used pneumatic machines during training. Considering that the general public typically has access to plate-loaded machines, the effectiveness and safety of power training using plate-loaded machines compared to pneumatic machines is an important consideration. The purpose of this investigation was to compare the effects of high-velocity training using pneumatic machines (Pn) versus standard plate-loaded machines (PL). Independently-living older adults, 60years or older were randomized into two groups: pneumatic machine (Pn, n=19) and plate-loaded machine (PL, n=17). After 12weeks of high-velocity training twice per week, groups were analyzed using an intention-to-treat approach. Primary outcomes were lower body power measured using a linear transducer and upper body power using medicine ball throw. Secondary outcomes included lower and upper body muscle muscle strength, the Physical Performance Battery (PPB), gallon jug test, the timed up-and-go test, and self-reported function using the Patient Reported Outcomes Measurement Information System (PROMIS) and an online video questionnaire. Outcome assessors were blinded to group membership. Lower body power significantly improved in both groups (Pn: 19%, PL: 31%), with no significant difference between the groups (Cohen's d=0.4, 95% CI (-1.1, 0.3)). Upper body power significantly improved only in the PL group, but showed no significant difference between the groups (Pn: 3%, PL: 6%). For balance, there was a significant difference between the groups favoring the Pn group (d=0.7, 95% CI (0.1, 1.4)); however, there were no statistically significant differences between groups for PPB, gallon jug transfer, muscle muscle strength, timed up-and-go or self-reported function. No serious adverse events were reported in either of the groups. Pneumatic and plate

APPLICATIONS OF PNEUMATIC MUSCLES DEVELOPED AT THE FESTO REGIONAL RESEARCH AND TRAINING CENTRE OF BRAŞOV

Directory of Open Access Journals (Sweden)

Tudor DEACONESCU

2013-05-01

Full Text Available Compressed air is one of the most important sources of energy in industry, pneumatic actuations tending to hold an increasing share in the conception of modern industrial systems. At present, due to the development of new pneumatic components and systems assemblies of high complexity can be achieved, many of them with applicability in robotics. Such a component is the pneumatic muscle, increasingly deployed in actuation systems, particularly in the field of industrial robots. The paper presents some of the results of research conducted at the Festo Regional Research and Training Centre (FRRTC at Transilvania University of Braşov.

Could a functional artificial skeletal muscle be useful in muscle wasting?

Science.gov (United States)

Fuoco, Claudia; Cannata, Stefano; Gargioli, Cesare

2016-05-01

Regardless of the underlying cause, skeletal muscle wasting is detrimental for a person's life quality, leading to impaired strength, locomotion, and physiological activity. Here, we propose a series of studies presenting tissue engineering-based approaches to reconstruct artificial muscle in vitro and in vivo. Skeletal muscle tissue engineering is attracting more and more attention from scientists, clinicians, patients, and media, thanks to the promising results obtained in the last decade with animal models of muscle wasting. The use of novel and refined biomimetic scaffolds mimicking three-dimensional muscle environment, thus supporting cell survival and differentiation, in combination with well characterized myogenic stem/progenitor cells, revealed the noteworthy potential of these technologies for creating artificial skeletal muscle tissue. In vitro, the production of three-dimensional muscle structures offer the possibility to generate a drug-screening platform for patient-specific pharmacological treatment, opening new frontiers in the development of new compounds with specific therapeutic actions. In vivo, three-dimensional artificial muscle biomimetic constructs offer the possibility to replace, in part or entirely, wasted muscle by means of straight reconstruction and/or by enhancing endogenous regeneration. Reports of tissue engineering approaches for artificial muscle building appeared in large numbers in the specialized press lately, advocating the suitability of this technology for human application upon scaling up and a near future applicability for medical care of muscle wasting. http://links.lww.com/COCN/A9

Knitting and weaving artificial muscles.

Science.gov (United States)

Maziz, Ali; Concas, Alessandro; Khaldi, Alexandre; Stålhand, Jonas; Persson, Nils-Krister; Jager, Edwin W H

2017-01-01

A need exists for artificial muscles that are silent, soft, and compliant, with performance characteristics similar to those of skeletal muscle, enabling natural interaction of assistive devices with humans. By combining one of humankind's oldest technologies, textile processing, with electroactive polymers, we demonstrate here the feasibility of wearable, soft artificial muscles made by weaving and knitting, with tunable force and strain. These textile actuators were produced from cellulose yarns assembled into fabrics and coated with conducting polymers using a metal-free deposition. To increase the output force, we assembled yarns in parallel by weaving. The force scaled linearly with the number of yarns in the woven fabric. To amplify the strain, we knitted a stretchable fabric, exhibiting a 53-fold increase in strain. In addition, the textile construction added mechanical stability to the actuators. Textile processing permits scalable and rational production of wearable artificial muscles, and enables novel ways to design assistive devices.

Electrically controllable artificial PAN muscles

Science.gov (United States)

Salehpoor, Karim; Shahinpoor, Mohsen; Mojarrad, Mehran

1996-02-01

Artificial muscles made with polyacrylonitrile (PAN) fibers are traditionally activated in electrolytic solution by changing the pH of the solution by the addition of acids and/or bases. This usually consumes a considerable amount of weak acids or bases. Furthermore, the synthetic muscle (PAN) itself has to be impregnated with an acid or a base and must have an appropriate enclosure or provision for waste collection after actuation. This work introduces a method by which the PAN muscle may be elongated or contracted in an electric field. We believe this is the first time that this has been achieved with PAN fibers as artificial muscles. In this new development the PAN muscle is first put in close contact with one of the two platinum wires (electrodes) immersed in an aqueous solution of sodium chloride. Applying an electric voltage between the two wires changes the local acidity of the solution in the regions close to the platinum wires. This is because of the ionization of sodium chloride molecules and the accumulation of Na+ and Cl- ions at the negative and positive electrode sites, respectively. This ion accumulation, in turn, is accompanied by a sharp increase and decrease of the local acidity in regions close to either of the platinum wires, respectively. An artificial muscle, in close contact with the platinum wire, because of the change in the local acidity will contract or expand depending on the polarity of the electric field. This scheme allows the experimenter to use a fixed flexible container of an electrolytic solution whose local pH can be modulated by an imposed electric field while the produced ions are basically trapped to stay in the neighborhood of a given electrode. This method of artificial muscle activation has several advantages. First, the need to use a large quantity of acidic or alkaline solutions is eliminated. Second, the use of a compact PAN muscular system is facilitated for applications in active musculoskeletal structures. Third, the

Variable gearing in a biologically inspired pneumatic actuator array

International Nuclear Information System (INIS)

Azizi, Emanuel; Roberts, Thomas J

2013-01-01

A fundamental feature of pennate muscles is that muscle fibers are oriented at an angle to the line of action and rotate as they shorten, becoming more oblique throughout a contraction. This change in fiber orientation (pennation angle) can amplify the shortening velocity of a fiber and increase output velocity of the muscle. The velocity advantage resulting from dynamic changes in pennation angle can be characterized as a gear ratio (muscle velocity/fiber velocity). A recent study has shown that a pennate muscle's gear ratio varies automatically depending on the load such that a muscle operates with a high gear during rapid contractions and low gear during forceful contractions. We examined whether this variable gearing behavior can be replicated in a pennate array of artificial muscles. We used McKibben type pneumatic actuators, which shorten in tension when filled with compressed gas. Similar to muscle fibers, the actuators expand radially during shortening, a feature thought to be a critical part of the variable gearing mechanism in pennate muscles. We arranged McKibben actuators in an array oriented to mimic a pennate muscle, and quantified the system's gear ratio during contraction against a range of loads. Video was used to measure the gear ratio during each contraction. We find that similar to pennate muscles, the gear ratio decreases significantly with increasing load and that variable gearing results from load-dependent variation in the amount of actuator rotation. These results support the idea that variable gearing in pennate muscles is mediated by difference is fiber rotation and the direction of muscle bulging. The behavior of our artificial muscle array also highlights the potential benefits of bio-inspired architectures in artificial muscle arrays, including the ability to vary force and speed automatically in response to variable loading conditions. (paper)

Variable gearing in a biologically inspired pneumatic actuator array.

Science.gov (United States)

Azizi, Emanuel; Roberts, Thomas J

2013-06-01

A fundamental feature of pennate muscles is that muscle fibers are oriented at an angle to the line of action and rotate as they shorten, becoming more oblique throughout a contraction. This change in fiber orientation (pennation angle) can amplify the shortening velocity of a fiber and increase output velocity of the muscle. The velocity advantage resulting from dynamic changes in pennation angle can be characterized as a gear ratio (muscle velocity/fiber velocity). A recent study has shown that a pennate muscle's gear ratio varies automatically depending on the load such that a muscle operates with a high gear during rapid contractions and low gear during forceful contractions. We examined whether this variable gearing behavior can be replicated in a pennate array of artificial muscles. We used McKibben type pneumatic actuators, which shorten in tension when filled with compressed gas. Similar to muscle fibers, the actuators expand radially during shortening, a feature thought to be a critical part of the variable gearing mechanism in pennate muscles. We arranged McKibben actuators in an array oriented to mimic a pennate muscle, and quantified the system's gear ratio during contraction against a range of loads. Video was used to measure the gear ratio during each contraction. We find that similar to pennate muscles, the gear ratio decreases significantly with increasing load and that variable gearing results from load-dependent variation in the amount of actuator rotation. These results support the idea that variable gearing in pennate muscles is mediated by difference is fiber rotation and the direction of muscle bulging. The behavior of our artificial muscle array also highlights the potential benefits of bio-inspired architectures in artificial muscle arrays, including the ability to vary force and speed automatically in response to variable loading conditions.

VARIABLE GEARING IN A BIOLOGICALLY-INSPIRED PNEUMATIC ACTUATOR ARRAY

Science.gov (United States)

Azizi, Emanuel; Roberts, Thomas J.

2013-01-01

A fundamental feature of pennate muscles is that muscle fibers are oriented at an angle to the line of action and rotate as they shorten, becoming more oblique throughout a contraction. This change in fiber orientation (pennation angle) can amplify the shortening velocity of a fiber and increase output velocity of the muscle. The velocity advantage resulting from dynamic changes in pennation angle can be characterized as a gear ratio (muscle velocity/fiber velocity). A recent study has shown that a pennate muscle’s gear ratio varies automatically depending on the load such that a muscle operates with a high gear during rapid contractions and low gear during forceful contractions. We examined whether this variable gearing behavior can be replicated in a pennate array of artificial muscles. We used McKibben type pneumatic actuators, which shorten in tension when filled with compressed gas. Similar to muscle fibers, the actuators expand radially during shortening, a feature thought to be a critical part of the variable gearing mechanism in pennate muscles. We arranged McKibben actuators in an array oriented to mimic a pennate muscle, and quantified the system’s gear ratio during contraction against a range of loads. Video was used to measure the gear ratio during each contraction. We find that similar to pennate muscles, the gear ratio decreases significantly with increasing load and that variable gearing results from load-dependent variation in the amount of actuator rotation. These results support the idea that variable gearing in pennate muscles is mediated by difference is fiber rotation and the direction of muscle bulging. The behavior of our artificial muscle array also highlights the potential benefits of bio-inspired architectures in artificial muscle arrays, including the ability to vary force and speed automatically in response to variable loading conditions. PMID:23462288

Characteristics of the muscle activities of the elderly for various pressures in the pneumatic actuator of lower limb orthosis

Science.gov (United States)

Kim, Kyong; Yu, Chang-Ho; Kwon, Tae-Kyu; Hong, Chul-Un; Kim, Nam-Gyun

2005-12-01

There developed a lower limb orthosis with a pneumatic rubber actuator, which can assist and improve the muscular activities in the lower limb of the elderly. For this purpose, the characteristics of the lower limbs muscle activities for various pressures in the pneumatic actuator for the lower limb orthosis was investigated. To find out the characteristics of the muscle activities for various pneumatic pressures, it analyzed the flexing and extending movement of the knees, and measured the lower limbs muscular power. The subjects wearing the lower limbs orthosis were instructed to perform flexing and extending movement of the knees. The variation in the air pressure of the pneumatic actuator was varies from one kgf/cm2 to four kgf/cm2. The muscular power was measured by monitoring electromyogram using MP100 (BIOPAC Systems, Inc.) and detailed three-dimensional motions of the lower limbs were collected by APAS 3D Motion Analysis system. Through this study, it expected to find the most suitable air pressure for the improvement of the muscular power of the aged.

Robust and Accurate Closed-Loop Control of McKibben Artificial Muscle Contraction with a Linear Single Integral Action

Directory of Open Access Journals (Sweden)

Bertrand Tondu

2014-06-01

Full Text Available We analyze the possibility of taking advantage of artificial muscle’s own stiffness and damping, and substituting it for a classic proportional-integral-derivative controller (PID controller an I controller. The advantages are that there would only be one parameter to tune and no need for a dynamic model. A stability analysis is proposed from a simple phenomenological artificial muscle model. Step and sinus-wave tracking responses performed with pneumatic McKibben muscles are reported showing the practical efficiency of the method to combine accuracy and load robustness. In the particular case of the McKibben artificial muscle technology, we suggest that the dynamic performances in stability and load robustness would result from the textile nature of its braided sleeve and its internal friction which do not obey Coulomb’s third law, as verified by preliminary reported original friction experiments. Comparisons are reported between three kinds of braided sleeves made of rayon yarns, plastic, and thin metal wires, whose similar closed-loop dynamic performances are highlighted. It is also experimentally shown that a sleeve braided with thin metal wires can give high accuracy performance, in step as in tracking response. This would be due to a low static friction coefficient combined with a kinetic friction exponentially increasing with speed in accordance with hydrodynamic lubrication theory applied to textile physics.

Artificial Muscle Kits for the Classroom

Science.gov (United States)

2004-01-01

Commonly referred to as "artificial muscles," electroactive polymer (EAP) materials are lightweight strips of highly flexible plastic that bend or stretch when subjected to electric voltage. EAP materials may prove to be a substitution for conventional actuation components such as motors and gears. Since the materials behave similarly to biological muscles, this emerging technology has the potential to develop improved prosthetics and biologically-inspired robots, and may even one day replace damaged human muscles. The practical application of artificial muscles provides a challenge, however, since the material requires improved effectiveness and durability before it can fulfill its potential.

Adaptive tracking for pneumatic muscle actuators in bicep and tricep configurations.

Science.gov (United States)

Lilly, John H

2003-09-01

Adaptive tracking techniques are applied to pneumatic muscle actuators arranged in bicep and tricep configurations. The control objective is to force the joint angle to track a specified reference path. Mathematical models are derived for the bicep and tricep configurations. The models are nonlinear and in general time-varying, making adaptive control desirable. Stability results are derived, and the results of simulation studies are presented, contrasting the nonlinear adaptive control to a nonadaptive PID control approach.

Torsional carbon nanotube artificial muscles.

Science.gov (United States)

Foroughi, Javad; Spinks, Geoffrey M; Wallace, Gordon G; Oh, Jiyoung; Kozlov, Mikhail E; Fang, Shaoli; Mirfakhrai, Tissaphern; Madden, John D W; Shin, Min Kyoon; Kim, Seon Jeong; Baughman, Ray H

2011-10-28

Rotary motors of conventional design can be rather complex and are therefore difficult to miniaturize; previous carbon nanotube artificial muscles provide contraction and bending, but not rotation. We show that an electrolyte-filled twist-spun carbon nanotube yarn, much thinner than a human hair, functions as a torsional artificial muscle in a simple three-electrode electrochemical system, providing a reversible 15,000° rotation and 590 revolutions per minute. A hydrostatic actuation mechanism, as seen in muscular hydrostats in nature, explains the simultaneous occurrence of lengthwise contraction and torsional rotation during the yarn volume increase caused by electrochemical double-layer charge injection. The use of a torsional yarn muscle as a mixer for a fluidic chip is demonstrated.

Pneumatic muscle actuated parallel asymmetrical gripper system with one mobile jaw

Directory of Open Access Journals (Sweden)

Deaconescu Tudor

2017-01-01

Full Text Available The paper pertains to the field of the current global endeavours in industrial robot construction, the presented research being oriented towards identifying innovative constructive solutions for gripper systems. The utilisation of the linear pneumatic muscle as actuator of the gripper system ensures a construction that is light, highly compliant, and that meets the safety requirements related to interaction with humans. The paper further presents and discusses such a system of asymmetrical construction with a single mobile jaw.

Structure–function relationship of skeletal muscle provides inspiration for design of new artificial muscle

International Nuclear Information System (INIS)

Gao, Yingxin; Zhang, Chi

2015-01-01

A variety of actuator technologies have been developed to mimic biological skeletal muscle that generates force in a controlled manner. Force generation process of skeletal muscle involves complicated biophysical and biochemical mechanisms; therefore, it is impossible to replace biological muscle. In biological skeletal muscle tissue, the force generation of a muscle depends not only on the force generation capacity of the muscle fiber, but also on many other important factors, including muscle fiber type, motor unit recruitment, architecture, structure and morphology of skeletal muscle, all of which have significant impact on the force generation of the whole muscle or force transmission from muscle fibers to the tendon. Such factors have often been overlooked, but can be incorporated in artificial muscle design, especially with the discovery of new smart materials and the development of innovative fabrication and manufacturing technologies. A better understanding of the physiology and structure–function relationship of skeletal muscle will therefore benefit the artificial muscle design. In this paper, factors that affect muscle force generation are reviewed. Mathematical models used to model the structure–function relationship of skeletal muscle are reviewed and discussed. We hope the review will provide inspiration for the design of a new generation of artificial muscle by incorporating the structure–function relationship of skeletal muscle into the design of artificial muscle. (topical review)

Structure-function relationship of skeletal muscle provides inspiration for design of new artificial muscle

Science.gov (United States)

Gao, Yingxin; Zhang, Chi

2015-03-01

A variety of actuator technologies have been developed to mimic biological skeletal muscle that generates force in a controlled manner. Force generation process of skeletal muscle involves complicated biophysical and biochemical mechanisms; therefore, it is impossible to replace biological muscle. In biological skeletal muscle tissue, the force generation of a muscle depends not only on the force generation capacity of the muscle fiber, but also on many other important factors, including muscle fiber type, motor unit recruitment, architecture, structure and morphology of skeletal muscle, all of which have significant impact on the force generation of the whole muscle or force transmission from muscle fibers to the tendon. Such factors have often been overlooked, but can be incorporated in artificial muscle design, especially with the discovery of new smart materials and the development of innovative fabrication and manufacturing technologies. A better understanding of the physiology and structure-function relationship of skeletal muscle will therefore benefit the artificial muscle design. In this paper, factors that affect muscle force generation are reviewed. Mathematical models used to model the structure-function relationship of skeletal muscle are reviewed and discussed. We hope the review will provide inspiration for the design of a new generation of artificial muscle by incorporating the structure-function relationship of skeletal muscle into the design of artificial muscle.

Electrochemically Powered, Energy-Conserving Carbon Nanotube Artificial Muscles.

Science.gov (United States)

Lee, Jae Ah; Li, Na; Haines, Carter S; Kim, Keon Jung; Lepró, Xavier; Ovalle-Robles, Raquel; Kim, Seon Jeong; Baughman, Ray H

2017-08-01

While artificial muscle yarns and fibers are potentially important for many applications, the combination of large strokes, high gravimetric work capacities, short cycle times, and high efficiencies are not realized for these fibers. This paper demonstrates here electrochemically powered carbon nanotube yarn muscles that provide tensile contraction as high as 16.5%, which is 12.7 times higher than previously obtained. These electrochemical muscles can deliver a contractile energy conversion efficiency of 5.4%, which is 4.1 times higher than reported for any organic-material-based artificial muscle. All-solid-state parallel muscles and braided muscles, which do not require a liquid electrolyte, provide tensile contractions of 11.6% and 5%, respectively. These artificial muscles might eventually be deployed for a host of applications, from robotics to perhaps even implantable medical devices. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Effects of commercially available pneumatic compression on muscle glycogen recovery after exercise.

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Keck, Nathan A; Cuddy, John S; Hailes, Walter S; Dumke, Charles L; Ruby, Brent C

2015-02-01

The purpose of this study was to investigate the effects of pneumatic compression pants on postexercise glycogen resynthesis. Active male subjects (n = 10) completed 2 trials consisting of a 90-minute glycogen depleting ride, followed by 4 hours of recovery with either a pneumatic compression device (PCD) or passive recovery (PR) in a random counterbalanced order. A carbohydrate beverage (1.8 g·kg bodyweight) was provided at 0 and 2 hours after exercise. Muscle biopsies (vastus lateralis) were obtained immediately and 4 hours after exercise for glycogen analyses. Blood samples were collected throughout recovery to measure glucose and insulin. Eight fingerstick blood samples for lactate were collected in the last 20 minutes of the exercise period and during the initial portion of the recovery period. Heart rate was monitored throughout the trial. During the PCD trial, subjects recovered using a commercially available recovery device (NormaTec PCD) operational at 0-60 and 120-180 minutes into recovery period. The same PCD was worn during the PR trial but was not turned on to create pulsatile pressures. There was no difference in muscle glycogen resynthesis during the recovery period (6.9 ± 0.8 and 6.9 ± 0.5 mmol·kg wet wt·h for the PR and PCD trials, respectively). Blood glucose, insulin, and lactate concentrations changed with respect to time but were not different between trials (p > 0.05). The use of PCD did not alter the rate of muscle glycogen resynthesis, blood lactate, or blood glucose and insulin concentrations associated with a postexercise oral glucose load.

Biologically inspired technologies using artificial muscles

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Bar-Cohen, Yoseph

2005-01-01

After billions of years of evolution, nature developed inventions that work, which are appropriate for the intended tasks and that last. The evolution of nature led to the introduction of highly effective and power efficient biological mechanisms that are scalable from micron to many meters in size. Imitating these mechanisms offers enormous potentials for the improvement of our life and the tools we use. Humans have always made efforts to imitate nature and we are increasingly reaching levels of advancement where it becomes significantly easier to imitate, copy, and adapt biological methods, processes and systems. Some of the biomimetic technologies that have emerged include artificial muscles, artificial intelligence, and artificial vision to which significant advances in materials science, mechanics, electronics, and computer science have contributed greatly. One of the newest fields of biomimetics is the electroactive polymers (EAP) that are also known as artificial muscles. To take advantage of these materials, efforts are made worldwide to establish a strong infrastructure addressing the need for comprehensive analytical modeling of their operation mechanism and develop effective processing and characterization techniques. The field is still in its emerging state and robust materials are not readily available however in recent years significant progress has been made and commercial products have already started to appear. This paper covers the state-of-the-art and challenges to making artificial muscles and their potential biomimetic applications.

Intermittent pneumatic compression regulates expression of nitric oxide synthases in skeletal muscles.

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Tan, Xiangling; Qi, Wen-Ning; Gu, Xiaosong; Urbaniak, James R; Chen, Long-En

2006-01-01

This study investigated the effects of intermittent pneumatic compression (IPC) on expression of nitric oxide synthase (NOS) isoforms in compressed (anterior tibialis, AT) and uncompressed (cremaster muscles, CM) skeletal muscles. Following IPC application of 0.5, 1, and 5h on both legs of rats, the endothelial NOS (eNOS) mRNA expression was significantly up-regulated to 1.2-, 1.8, and 2.7-fold from normal, respectively, in both AT and CM, and protein expression increased more than 1.5-fold of normal at each time point. Similarly, neuronal NOS expression was up-regulated, but to a lesser degree. In contrast, inducible NOS expression was significantly and time-dependently down-regulated in both muscles. After IPC cessation, eNOS levels returned to normal in both AT and CM. The results confirm our hypothesis that IPC-induced vasodilation is mediated by regulating expression of NOS isoforms, in particular eNOS, in both compressed and uncompressed skeletal muscles. The results also suggest the importance of precisely characterizing expression of each NOS isoform in tissue pathophysiology.

Artificial muscles for a novel simulator in minimally invasive spine surgery.

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Hollensteiner, Marianne; Fuerst, David; Schrempf, Andreas

2014-01-01

Vertebroplasty and kyphoplasty are commonly used minimally invasive methods to treat vertebral compression fractures. Novice surgeons gather surgical skills in different ways, mainly by "learning by doing" or training on models, specimens or simulators. Currently, a new training modality, an augmented reality simulator for minimally invasive spine surgeries, is going to be developed. An important step in investigating this simulator is the accurate establishment of artificial tissues. Especially vertebrae and muscles, reproducing a comparable haptical feedback during tool insertion, are necessary. Two artificial tissues were developed to imitate natural muscle tissue. The axial insertion force was used as validation parameter. It appropriates the mechanical properties of artificial and natural muscles. Validation was performed on insertion measurement data from fifteen artificial muscle tissues compared to human muscles measurement data. Based on the resulting forces during needle insertion into human muscles, a suitable material composition for manufacturing artificial muscles was found.

Three-dimensional hysteresis compensation enhances accuracy of robotic artificial muscles

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Zhang, Jun; Simeonov, Anthony; Yip, Michael C.

2018-03-01

Robotic artificial muscles are compliant and can generate straight contractions. They are increasingly popular as driving mechanisms for robotic systems. However, their strain and tension force often vary simultaneously under varying loads and inputs, resulting in three-dimensional hysteretic relationships. The three-dimensional hysteresis in robotic artificial muscles poses difficulties in estimating how they work and how to make them perform designed motions. This study proposes an approach to driving robotic artificial muscles to generate designed motions and forces by modeling and compensating for their three-dimensional hysteresis. The proposed scheme captures the nonlinearity by embedding two hysteresis models. The effectiveness of the model is confirmed by testing three popular robotic artificial muscles. Inverting the proposed model allows us to compensate for the hysteresis among temperature surrogate, contraction length, and tension force of a shape memory alloy (SMA) actuator. Feedforward control of an SMA-actuated robotic bicep is demonstrated. This study can be generalized to other robotic artificial muscles, thus enabling muscle-powered machines to generate desired motions.

Cardiac supporting device using artificial rubber muscle: preliminary study to active dynamic cardiomyoplasty.

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Saito, Yoshiaki; Suzuki, Yasuyuki; Goto, Takeshi; Daitoku, Kazuyuki; Minakawa, Masahito; Fukuda, Ikuo

2015-12-01

Dynamic cardiomyoplasty is a surgical treatment that utilizes the patient's skeletal muscle to support circulation. To overcome the limitations of autologous skeletal muscles in dynamic cardiomyoplasty, we studied the use of a wrapped-type cardiac supporting device using pneumatic muscles. Four straight rubber muscles (Fluidic Muscle, FESTO, Esslingen, Germany) were used and connected to pressure sensors, solenoid valves, a controller and an air compressor. The driving force was compressed air. A proportional-integral-derivative system was employed to control the device movement. An overflow-type mock circulation system was used to analyze the power and the controllability of this new device. The device worked powerfully with pumped flow against afterload of 88 mmHg, and the beating rate and contraction/dilatation time were properly controlled using simple software. Maximum pressure inside the ventricle and maximum output were 187 mmHg and 546.5 ml/min, respectively, in the setting of 50 beats per minute, a contraction/dilatation ratio of 1:2, a preload of 18 mmHg, and an afterload of 88 mmHg. By changing proportional gain, contraction speed could be modulated. This study showed the efficacy and feasibility of a pneumatic muscle for use in a cardiac supporting device.

Artificial muscle: facts and fiction.

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Schaub, Marcus C

2011-12-19

Mechanical devices are sought to support insufficient or paralysed striated muscles including the failing heart. Nickel-titanium alloys (nitinol) present the following two properties: (i) super-elasticity, and (ii) the potential to assume different crystal structures depending on temperature and/or stress. Starting from the martensite state nitinol is able to resume the austenite form (state of low potential energy and high entropy) even against an external resistance. This one-way shape change is deployed in self-expanding vascular stents. Heating induces the force generating transformation from martensite to the austenite state while cooling induces relaxation back to the martensite state. This two-way shape change oscillating between the two states may be used in cyclically contracting support devices of silicon-coated nitinol wires. Such a contractile device sutured to the right atrium has been tested in vitro in a bench model and in vivo in sheep. The contraction properties of natural muscles, specifically of the myocardium, and the tight correlation with ATP production by oxidative phosphorylation in the mitochondria is briefly outlined. Force development by the nitinol device cannot be smoothly regulated as in natural muscle. Its mechanical impact is forced onto the natural muscle regardless of the actual condition with regard to metabolism and Ca2+-homeostasis. The development of artificial muscle on the basis of nitinol wires is still in its infancy. The nitinol artificial muscle will have to prove its viability in the various clinical settings.

Modeling the Peano fluidic muscle and the effects of its material properties on its static and dynamic behavior

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Veale, Allan Joshua; Xie, Sheng Quan; Anderson, Iain Alexander

2016-06-01

The promise of wearable assistive robotics cannot be realized without the development of actuators that mimic the behavior and form of biological muscles. Planar fluidic muscles known as Peano muscles or pouch motors have the potential to provide the high force and compliance of McKibben pneumatic artificial muscles with the low threshold pressure of pleated pneumatic artificial muscles. Yet they do so in a soft and slim form that can be discreetly distributed over the human body. This work is an investigation into the empirical modeling of the Peano muscle, the effect of its material on its performance, and its capabilities and limitations. We discovered that the Peano muscle could provide responsive and discreet actuation of soft and rigid bodies requiring strains between 15% and 30%. Ideally, they are made of non-viscoelastic materials with high tensile and low bending stiffnesses. While Sarosi et al’s empirical model accurately captures its static behavior with an root mean square error of 10.2 N, their dynamic model overestimates oscillation frequency and damping. We propose that the Peano muscle be modeled by a parallel ideal contractile unit and viscoelastic element, both in series with another viscoelastic element.

Polymeric materials as artificial muscles: an overview.

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Ariano, Paolo; Accardo, Daisy; Lombardi, Mariangela; Bocchini, Sergio; Draghi, Lorenza; De Nardo, Luigi; Fino, Paolo

2015-03-18

The accurate selection of materials and the fine tuning of their properties represent a fundamental aspect in the realization of new active systems able to produce actuating forces, such as artificial muscles. In this regard, exciting opportunities for the design of new advanced systems are offered by materials belonging to the emerging class of functional polymers: exploiting their actuation response, specific devices can be realized. Along this direction, materials showing either shape-memory effect (SME) or shape-change effect (SCE) have been the subject of extensive studies aimed at designing of actuators as artificial muscles. Here, we concisely review active polymers in terms of properties and main applications in artificial muscle design. The main aspects related to material properties in both shape-memory polymers (SMPs) and electroactive polymers (EAPs) are reviewed, based on recent scientific literature. SME in thermally activated SMPs is presented by preliminarily providing a definition that encompasses the new theories regarding their fundamental properties. EAPs are briefly presented, describing the working mechanisms and highlighting the main properties and drawbacks, in view of their application as actuators. For both classes of materials, some key examples of effective application in artificial muscles are offered. The potential in polymer architecture design for the fabrication of actively moving systems is described to give a perspective on the main achievements and new research activities.

Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot.

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Ai, Qingsong; Zhu, Chengxiang; Zuo, Jie; Meng, Wei; Liu, Quan; Xie, Sheng Q; Yang, Ming

2017-12-28

A rehabilitation robot plays an important role in relieving the therapists' burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles' good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF) parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs). To solve the PM's nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC) method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions.

Design and Experimental Investigation of Pneumatic Movement Mechanism Supported by Mechanic Cam and Crank Shaft

Directory of Open Access Journals (Sweden)

Salih KORUCU

2015-02-01

Full Text Available The pressurized air is applied to many sectors required purity and velocity. One of these sectors is to use of air as impulsive force in the moving mechanisms. In this study, the movement mechanism prototype worked with compressed air was designed and produced forlight vehicle engine as motorbike and ATV (All-Terrain Vehicle. In developed mechanisms, pneumatic artificial muscles were used for a given movement of crankshaft. A cam system was also designed for synchronization pneumatic muscles. In this way, these muscles transmit the synchronous movement to crankshaft. At the end of the study, the developed mechanism was mounted on an ATV vehicle(110 cc/ Cubic Centimeter, engine displacement capacityand its performance was tested using the four different weights (50, 75, 100 and 150 kg, three different pressures (4, 5 and 6 bar and two different hoses (Ø 6 and Ø 8 mm. By considering experimental results and design criteria, power of the movement mechanism was obtained as 886 Watt. With this study, minimization of energy consumption for movement of passenger cars, and using clean and cheap energy as ATV which can be alternative for single or two passenger vehicles.

Work behaviors of artificial muscle based on cation driven polypyrrole.

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Fujisue, Hisashi; Sendai, Tomokazu; Yamato, Kentaro; Takashima, Wataru; Kaneto, Keiichi

2007-06-01

A soft actuator mimicking natural muscles (artificial muscle) has been developed using a flexible conducting polymer of polypyrrole films, which were driven by electrical stimulus in a saline solution. The work characteristics were studied under various load stresses and found to behave like natural muscles. The artificial muscles shrunk and stiffened by the positive electrical stimulus by 2-3% at the maximum force of 5 MPa, and relaxed by application of negative voltages. At larger load stresses, the artificial muscle shrunk slowly as natural muscles do. The driving current also lasted longer at larger loads, indicating that the muscle sensed the magnitude of the load stress. During contraction of the muscle, the conversion efficiency from the electrical input and mechanical output energies was estimated to be around 0.06%. The maximum volumetric work was approximately estimated to be 100 kJ m(-3). These figures are unexpectedly small compared with those of natural muscles.

Biologically inspired technologies using artificial muscles

Science.gov (United States)

Bar-Cohen, Yoseph

2005-01-01

One of the newest fields of biomimetics is the electroactive polymers (EAP) that are also known as artificial muscles. To take advantage of these materials, efforts are made worldwide to establish a strong infrastructure addressing the need for comprehensive analytical modeling of their response mechanism and develop effective processing and characterization techniques. The field is still in its emerging state and robust materials are still not readily available however in recent years significant progress has been made and commercial products have already started to appear. This paper covers the current state of- the-art and challenges to making artificial muscles and their potential biomimetic applications.

Artificial muscle: the human chimera is the future.

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Tozzi, P

2011-12-14

Severe heart failure and cerebral stroke are broadly associated with the impairment of muscular function that conventional treatments struggle to restore. New technologies enable the construction of "smart" materials that could be of great help in treating diseases where the main problem is muscle weakness. These materials "behave" similarly to biological systems, because the material directly converts energy, for example electrical energy into movement. The extension and contraction occur silently like in natural muscles. The real challenge is to transfer this amazing technology into devices that restore or replace the mechanical function of failing muscle. Cardiac assist devices based on artificial muscle technology could envelope a weak heart and temporarily improve its systolic function, or, if placed on top of the atrium, restore the atrial kick in chronic atrial fibrillation. Artificial sphincters could be used to treat urinary incontinence after prostatectomy or faecal incontinence associated with stomas. Artificial muscles can restore the ability of patients with facial paralysis due to stroke or nerve injury to blink. Smart materials could be used to construct an artificial oesophagus including peristaltic movement and lower oesophageal sphincter function to replace the diseased oesophagus thereby avoiding the need for laparotomy to mobilise stomach or intestine. In conclusion, in the near future, smart devices will integrate with the human body to fill functional gaps due to organ failure, and so create a human chimera.

Design and optimization of multi-class series-parallel linear electromagnetic array artificial muscle.

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Li, Jing; Ji, Zhenyu; Shi, Xuetao; You, Fusheng; Fu, Feng; Liu, Ruigang; Xia, Junying; Wang, Nan; Bai, Jing; Wang, Zhanxi; Qin, Xiansheng; Dong, Xiuzhen

2014-01-01

Skeletal muscle exhibiting complex and excellent precision has evolved for millions of years. Skeletal muscle has better performance and simpler structure compared with existing driving modes. Artificial muscle may be designed by analyzing and imitating properties and structure of skeletal muscle based on bionics, which has been focused on by bionic researchers, and a structure mode of linear electromagnetic array artificial muscle has been designed in this paper. Half sarcomere is the minimum unit of artificial muscle and electromagnetic model has been built. The structural parameters of artificial half sarcomere actuator were optimized to achieve better movement performance. Experimental results show that artificial half sarcomere actuator possesses great motion performance such as high response speed, great acceleration, small weight and size, robustness, etc., which presents a promising application prospect of artificial half sarcomere actuator.

One Nonlinear PID Control to Improve the Control Performance of a Manipulator Actuated by a Pneumatic Muscle Actuator

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Jun Zhong

2014-05-01

Full Text Available Braided pneumatic muscle actuator shows highly nonlinear properties between displacements and forces, which are caused by nonlinearity of pneumatic system and nonlinearity of its geometric construction. In this paper, a new model based on Bouc-Wen differential equation is proposed to describe the hysteretic behavior caused by its structure. The hysteretic loop between contractile force and displacement is dissolved into linear component and hysteretic component. Relationship between pressure within muscle actuator and parameters of the proposed model is discussed. A single degree of freedom manipulator actuated by PMA is designed. On the basis of the proposed model, a novel cascade position controller is designed. Single neuron adaptive PID algorithm is adopted to cope with the nonlinearity and model uncertainties of the manipulator. The outer loop of the controller is to handle position tracking problem and the inner loop is to control pressure. The controller is applied to the manipulator and experiments are conducted. Results demonstrate the effectiveness of the proposed controller.

Influences of inflation rate and duration on vasodilatory effect by intermittent pneumatic compression in distant skeletal muscle.

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Liu, K; Chen, L E; Seaber, A V; Urbaniak, J R

1999-05-01

Previous study has demonstrated that application of intermittent pneumatic compression on legs can cause vasodilation in distant skeletal muscle at the microcirculation level. This study evaluated the influence of inflation rate and peak-pressure duration on the vasodilatory effects of intermittent pneumatic compression. The cremaster muscles of 50 male rats were exposed and divided into five groups of 10 each. A specially designed intermittent pneumatic-compression device was applied in a medial-lateral fashion to both legs of all rats for 60 minutes, with an inflation rate and peak-pressure duration of 0.5 and 5 seconds, respectively, in group A, 5 and 0 seconds in group B, 5 and 5 seconds in group C, 10 and 0 seconds in group D, and 10 and 5 seconds in group E. Diameters of arterial segments were measured in vessels of three size categories (10-20, 21-40, and 41-70 microm) for 120 minutes. The results showed that the greatest increase in diameter was produced by intermittent pneumatic compression with the shortest inflation rate (0.5 seconds). A moderate increase resulted from compression with an inflation rate of 5 seconds, and no effective vasodilation occurred during compression with the longest inflation rate (10 seconds). When the groups with different inflation rates but the same peak-pressure duration were compared, there was a significant difference between any two groups among groups A, C, and E and between groups B and D. When the groups with different peak-pressure durations but the same inflation rate were compared, compression with a peak-pressure duration of 5 seconds caused a generally similar degree of diameter change as did compression without inflation at peak pressure. The findings suggest that inflation rate plays an important role in the modulation of distant microcirculation induced by intermittent pneumatic compression whereas peak-pressure duration does not significantly influence the vasodilatory effects of the compression. This may be

Role of nitric oxide in vasodilation in upstream muscle during intermittent pneumatic compression.

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Chen, Long-En; Liu, Kang; Qi, Wen-Ning; Joneschild, Elizabeth; Tan, Xiangling; Seaber, Anthony V; Stamler, Jonathan S; Urbaniak, James R

2002-02-01

This study investigated the dosage effects of nitric oxide synthase (NOS) inhibitor N(G)-monomethyl-L-arginine (L-NMMA) on intermittent pneumatic compression (IPC)-induced vasodilation in uncompressed upstream muscle and the effects of IPC on endothelial NOS (eNOS) expression in upstream muscle. After L-NMMA infusion, mean arterial pressure increased by 5% from baseline (99.5 +/- 18.7 mmHg; P < 0.05). Heart rate and respiratory rate were not significantly affected. One-hour IPC application on legs induced a 10% dilation from baseline in 10- to 20-microm arterioles and a 10-20% dilation in 21- to 40 microm arterioles and 41- to 70-microm arteries in uncompressed cremaster muscle. IPC-induced vasodilation was dose dependently reduced, abolished, or even reversed by concurrently infused L-NMMA. Moreover, expression of eNOS mRNA in uncompressed cremaster muscle was upregulated to 2 and 2.5 times normal at the end of 1- and 5-h IPC on legs, respectively, and the expression of eNOS protein was upregulated to 1.8 times normal. These increases returned to baseline level after cessation of IPC. The results suggest that eNOS plays an important role in regulating the microcirculation in upstream muscle during IPC.

Artificial muscles based on liquid crystal elastomers.

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Li, Min-Hui; Keller, Patrick

2006-10-15

This paper presents our results on liquid crystal (LC) elastomers as artificial muscle, based on the ideas proposed by de Gennes. In the theoretical model, the material consists of a repeated series of main-chain nematic LC polymer blocks, N, and conventional rubber blocks, R, based on the lamellar phase of a triblock copolymer RNR. The motor for the contraction is the reversible macromolecular shape change of the chain, from stretched to spherical, that occurs at the nematic-to-isotropic phase transition in the main-chain nematic LC polymers. We first developed a new kind of muscle-like material based on a network of side-on nematic LC homopolymers. Side-on LC polymers were used instead of main-chain LC polymers for synthetic reasons. The first example of these materials was thermo-responsive, with a typical contraction of around 35-45% and a generated force of around 210 kPa. Subsequently, a photo-responsive material was developed, with a fast photochemically induced contraction of around 20%, triggered by UV light. We then succeeded in preparing a thermo-responsive artificial muscle, RNR, with lamellar structure, using a side-on nematic LC polymer as N block.Micrometre-sized artificial muscles were also prepared. This paper illustrates the bottom-up design of stimuli-responsive materials, in which the overall material response reflects the individual macromolecular response, using LC polymer as building block.

Biologically inspired toys using artificial muscles

Science.gov (United States)

Bar-Cohen, Y.

2001-01-01

Recent developments in electroactive polymers, so-called artificial muscles, could one day be used to make bionics possible. Meanwhile, as this technology evolves novel mechanisms are expected to emerge that are biologically inspired.

An artificial neural network approach and sensitivity analysis in predicting skeletal muscle forces.

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Vilimek, Miloslav

2014-01-01

This paper presents the use of an artificial neural network (NN) approach for predicting the muscle forces around the elbow joint. The main goal was to create an artificial NN which could predict the musculotendon forces for any general muscle without significant errors. The input parameters for the network were morphological and anatomical musculotendon parameters, plus an activation level experimentally measured during a flexion/extension movement in the elbow. The muscle forces calculated by the 'Virtual Muscle System' provide the output. The cross-correlation coefficient expressing the ability of an artificial NN to predict the "true" force was in the range 0.97-0.98. A sensitivity analysis was used to eliminate the less sensitive inputs, and the final number of inputs for a sufficient prediction was nine. A variant of an artificial NN for a single specific muscle was also studied. The artificial NN for one specific muscle gives better results than a network for general muscles. This method is a good alternative to other approaches to calculation of muscle force.

Wet-Spun Biofiber for Torsional Artificial Muscles.

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Mirabedini, Azadeh; Aziz, Shazed; Spinks, Geoffrey M; Foroughi, Javad

2017-12-01

The demands for new types of artificial muscles continue to grow and novel approaches are being enabled by the advent of new materials and novel fabrication strategies. Self-powered actuators have attracted significant attention due to their ability to be driven by elements in the ambient environment such as moisture. In this study, we demonstrate the use of twisted and coiled wet-spun hygroscopic chitosan fibers to achieve a novel torsional artificial muscle. The coiled fibers exhibited significant torsional actuation where the free end of the coiled fiber rotated up to 1155 degrees per mm of coil length when hydrated. This value is 96%, 362%, and 2210% higher than twisted graphene fiber, carbon nanotube torsional actuators, and coiled nylon muscles, respectively. A model based on a single helix was used to evaluate the torsional actuation behavior of these coiled chitosan fibers.

A potential material to cut down infection caused by application of artificial muscles.

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Wang, Jiang-Ning; Li, Xiao-Rong; Wang, De-Cheng

2013-04-01

Artificial muscles are so important that can be used to cure prosthetic limbs. A new kind of taurine Schiff base sodium was synthesized by a series of chemical reactions, which may be applied to strengthen antibacterial activity of artificial muscle. The bioactivity of this material was screened by cytotoxicity test, antibacterial test, and thermal gravity test and so on. All results told us that this material had low toxicity, high antibacterial activity and thermal stability. Combine our deep studies on pharmacological activity of the active material with our knowledge on artificial muscles; we want to know if we can put this material into the content of artificial muscle, in order to strengthen its antimicrobial activity, so that the pains of the patients who were applied artificial muscle would be relieved. Copyright © 2013 Elsevier Ltd. All rights reserved.

Development of artificial muscles based on electroactive ionomeric polymer-metal composites.

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Hirano, Laos A; Escote, Márcia T; Martins-Filho, Luiz S; Mantovani, Gerson L; Scuracchio, Carlos H

2011-05-01

This work contextualizes the research of materials that can be applied as artificial muscles. The main motivation of this research is the importance of the development of mechatronic systems for the replacement of traditional devices of actuation and motion based on rotational electrical motors by other devices that reproduce biological muscle movements. Electroactive polymers (EAPs) are materials that respond to electric stimuli with shape and/or dimension changes, and accomplish movements that are smooth enough to mimic biological muscles. Among EAPs, the ionomeric polymer-metal composites (IPMCs) are an interesting alternative to biomimetic devices due to large displacements when submitted to low applied voltage. This article presents a brief review of IPMCs, a sample preparation procedure, and some electromechanical experimental results. We also discuss the applicability of this technology in medical devices and as artificial muscles. © 2011, Copyright the Authors. Artificial Organs © 2011, International Center for Artificial Organs and Transplantation and Wiley Periodicals, Inc.

A two-input sliding-mode controller for a planar arm actuated by four pneumatic muscle groups.

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Lilly, John H; Quesada, Peter M

2004-09-01

Multiple-input sliding-mode techniques are applied to a planar arm actuated by four groups of pneumatic muscle (PM) actuators in opposing pair configuration. The control objective is end-effector tracking of a desired path in Cartesian space. The inputs to the system are commanded input pressure differentials for the two opposing PM groups. An existing model for the muscle is incorporated into the arm equations of motion to arrive at a two-input, two-output nonlinear model of the planar arm that is affine in the input and, therefore, suitable for sliding-mode techniques. Relationships between static input pressures are derived for suitable arm behavior in the absence of a control signal. Simulation studies are reported.

A multiscale approach for modeling actuation response of polymeric artificial muscles.

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Sharafi, Soodabeh; Li, Guoqiang

2015-05-21

Artificial muscles are emerging materials in the field of smart materials with applications in aerospace, robotic, and biomedical industries. Despite extensive experimental investigations in this field, there is a need for numerical modeling techniques that facilitate cutting edge research and development. This work aims at studying an artificial muscle made of twisted Nylon 6.6 fibers that are highly cold-drawn. A computationally efficient phenomenological thermo-mechanical constitutive model is developed in which several physical properties of the artificial muscles are incorporated to minimize the trial-and-error numerical curve fitting processes. Two types of molecular chains are considered at the micro-scale level that control training and actuation processes viz. (a) helically oriented chains which are structural switches that store a twisted shape in their low temperature phase and restore their random configuration during the thermal actuation process, and (b) entropic chains which are highly drawn chains that could actuate as soon as the muscle heats up, and saturates when coil contact temperature is reached. The thermal actuation response of the muscle over working temperatures has been elaborated in the Modeling section. The performance of the model is validated by available experiments in the literature. The model may provide a design platform for future artificial muscle developments.

Cooperation of electrically stimulated muscle and pneumatic muscle to realize RUPERT bi-directional motion for grasping.

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Xikai Tu; Jiping He; Yue Wen; Jian Huang; Xinhan Huang; Hailong Huang; Meng Guo; Yong Yuan

2014-01-01

Robot-assisted rehabilitation is an active area of research to meet the demand of repetitive therapy in stroke rehabilitation. Robotic upper-extremity repetitive trainer (RUPERT) with its unidirectional pneumatic muscle actuation (PMA) can be used by most stroke patients that have difficulty moving in one direction because of a weak agonist or hyperactive antagonist. In this research, to broaden the usage of RUPERT, we not only add grasping functionality to the rehabilitation robot with the help of surface Functional Electrical Stimulation (FES) but also realize the robot joint bi-directional motion by using a PMA in cooperation with surface FES evoked paralyzed muscle force. This integrative rehabilitation strategy is explored for training patients to practice coordinated reaching and grasping functions. The effectiveness of this FES electrically evoked bio-actuator way is verified through a method that separates the mixed electromyogram (MEMG) into the electrically evoked electromyogram (EEMG) and voluntary electromyogram (VEMG). This is a promising approach to alleviate the size and mechanical complexity of the robot, thereby the cost of the joint bi-directional actuator rehabilitation robot by means of their own characteristics of stroke subjects.

Multidirectional Artificial Muscles from Nylon.

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Mirvakili, Seyed M; Hunter, Ian W

2017-01-01

Multidirectional artificial muscles are made from highly oriented nylon filaments. Thanks to the low thermal conductivity of nylon and its anisotropic thermal expansion, bending occurs when a nylon beam is differentially heated. This heat can be generated via a Joule heating mechanism or high power laser pulses. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

High Performance Artificial Muscles Using Nanofiber and Hybrid Yarns

Science.gov (United States)

2015-07-14

2. Above advance led to “Artificial Muscles From Fishing Line and Sewing Thread”, which was patent filed and then published in Science in 2014...consuming significant energy. The publication of Artificial Muscles From Fishing Line and Sewing Thread (Science, 2014) generated TV, radio, and other...gn f cant energy. The pub cat on of “Art f c a Musc es From F sh ng L ne and Sew ng Thread” (Sc ence, 2014) generated TV, rad o, and other wor d-w de

Miniaturization of a Quasi-Servo Valve and Its Application to Positon Control of a Rubber Artificial Muscle with Built-in Sensor

Directory of Open Access Journals (Sweden)

Moriwake Yoshinori

2016-01-01

Full Text Available Nowadays, the care and welfare pneumatic devices to support a nursing care and a self-reliance of the elderly and the disabled are actively researched and developed by many researchers. These wearable devices require many actuators and control valves for multi degrees of freedom. The total weight and volume of the wearable devices increases according to the degree of freedom. Our final goal is to develop a compact wearable actuator with built-in sensor, controller and control valve and to apply it to a wearable assisted device. In our previous study, a small-sized quasi-servo valve which consists of two on/off control valves and an embedded controller was developed. In this study, the quasi-servo valve composing of much smaller-sized (40% in mass, 42% in volume on/off valves is proposed and tested. In addition, the rubber artificial muscle with an ultrasonic sensor as a built-in displacement sensor is proposed and a position control of the muscle is carried out using the tested tiny valve and built-in sensor. As a result, it was confirmed that the position control of the muscle can be realized using the tested ultrasonic sensor.

[Artificial muscle and its prospect in application for direct cardiac compression assist].

Science.gov (United States)

Dong, Jing; Yang, Ming; Zheng, Zhejun; Yan, Guozheng

2008-12-01

Artificial heart is an effective device in solving insufficient native heart supply for heart transplant, and the research and application of novel actuators play an important role in the development of artificial heart. In this paper, artificial muscle is introduced as the actuators of direct cardiac compression assist, and some of its parameters are compared with those of native heart muscle. The open problems are also discussed.

New intraocular pressure measurement method using reflected pneumatic pressure from cornea deformed by air puff of ring-type nozzle.

Science.gov (United States)

Kim, Hyung Jin; Seo, Yeong Ho; Kim, Byeong Hee

2017-01-01

In this study, a non-contact type intraocular pressure (IOP) measuring system using reflected pneumatic pressure is proposed to overcome the disadvantages of existing measurement systems. A ring-type nozzle, a key component in the proposed system, is designed via computational fluid analysis. It predicts the reflected pneumatic pressure based on the nozzle exit angle and inner and outer diameters of the nozzle, which are 30°, 7 mm, and 9 mm, respectively. Performance evaluation is conducted using artificial eyes fabricated using polydimethylsiloxane with the specifications of human eyes. The IOP of the fabricated artificial eyes is adjusted to 10, 30, and 50 mm Hg, and the reflected pneumatic pressure is measured as a function of the distance between the ring-type nozzle and artificial eye. The measured reflected pneumatic pressure is high when the measurement distance is short and eye pressure is low. The cornea of an artificial eye is significantly deformed at a low IOP, and the applied pneumatic pressure is more concentrated in front of the ring-type nozzle because of the deformed cornea. Thus, the reflected pneumatic pressure at a low IOP has more inflows into the pressure sensor inserted inside the nozzle. The sensitivity of the output based on the IOP at measurement distances between 3-5 mm is -0.0027, -0.0022, -0.0018, -0.0015, and -0.0012. Sensitivity decreases as the measurement distance increases. In addition, the reflected pneumatic pressure owing to the misalignment at the measurement distances of 3-5 mm is not affected within a range of 0.5 mm. Therefore, the measurement range is acceptable up to a 1 mm diameter from the center of an artificial eye. However, the accuracy gradually decreases as the reflected pneumatic pressure from a misalignment of 1 mm or more decreases by 26% or more.

A mechanical actuator driven electrochemically by artificial molecular muscles.

Science.gov (United States)

Juluri, Bala Krishna; Kumar, Ajeet S; Liu, Yi; Ye, Tao; Yang, Ying-Wei; Flood, Amar H; Fang, Lei; Stoddart, J Fraser; Weiss, Paul S; Huang, Tony Jun

2009-02-24

A microcantilever, coated with a monolayer of redox-controllable, bistable [3]rotaxane molecules (artificial molecular muscles), undergoes reversible deflections when subjected to alternating oxidizing and reducing electrochemical potentials. The microcantilever devices were prepared by precoating one surface with a gold film and allowing the palindromic [3]rotaxane molecules to adsorb selectively onto one side of the microcantilevers, utilizing thiol-gold chemistry. An electrochemical cell was employed in the experiments, and deflections were monitored both as a function of (i) the scan rate (+0.4 V) and reducing (artificial molecular muscles, were compared with (i) data from nominally bare microcantilevers precoated with gold and (ii) those coated with two types of control compounds, namely, dumbbell molecules to simulate the redox activity of the palindromic bistable [3]rotaxane molecules and inactive 1-dodecanethiol molecules. The comparisons demonstrate that the artificial molecular muscles are responsible for the deflections, which can be repeated over many cycles. The microcantilevers deflect in one direction following oxidation and in the opposite direction upon reduction. The approximately 550 nm deflections were calculated to be commensurate with forces per molecule of approximately 650 pN. The thermal relaxation that characterizes the device's deflection is consistent with the double bistability associated with the palindromic [3]rotaxane and reflects a metastable contracted state. The use of the cooperative forces generated by these self-assembled, nanometer-scale artificial molecular muscles that are electrically wired to an external power supply constitutes a seminal step toward molecular-machine-based nanoelectromechanical systems (NEMS).

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

Directory of Open Access Journals (Sweden)

Alaa Al-Ibadi

2017-10-01

Full Text Available To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first formula describes the pulling force of the actuator based on the structure parameters; furthermore, the formula presented is the generalised contraction force for wholly-pneumatic muscle actuators. The second important model is the length formula, which is modified to our previous work to fit different actuator structures. Based on these two models, the stiffness of the actuator is formulated to illustrate its variability at different air pressure amounts. In addition, these formulas will make the selection of proper actuators for any robot arm structure easier using the knowledge gained from their performance. On the other hand, the desired behaviour of this type of actuator will be predefined and controlled.

Does peroperative external pneumatic leg muscle compression prevent post-operative venous thrombosis in neurosurgery?

Science.gov (United States)

Bynke, O; Hillman, J; Lassvik, C

1987-01-01

Post-operative deep venous thrombosis (DVT) is a frequent and potentially life-threatening complication in neurosurgery. In this field of surgery, with its special demands for exact haemostasis, prophylaxis against deep venous thrombosis with anticoagulant drugs has been utilized only reluctantly. Postoperative pneumatic muscle compression (EPC) has been shown to be effective, although there are several practical considerations involved with this method which limit its clinical applicability. In the present study per-operative EPC was evaluated and was found to provide good protection against DVT in patients with increased risk from this complication. This method has the advantage of being effective, safe, inexpensive and readily practicable.

Modeling of the energy savings of variable recruitment McKibben muscle bundles

Science.gov (United States)

Meller, Michael A.; Chipka, Jordan B.; Bryant, Matthew J.; Garcia, Ephrahim

2015-03-01

McKibben artificial muscles are often utilized in mobile robotic applications that require compliant and light weight actuation capable of producing large forces. In order to increase the endurance of these mobile robotic platforms, actuation efficiency must be addressed. Since pneumatic systems are rarely more than 30% efficient due to the compressibility of the working fluid, the McKibben muscles are hydraulically powered. Additionally, these McKibben artificial muscles utilize an inelastic bladder to reduce the energy losses associated with elastic energy storage in the usual rubber tube bladders. The largest energy losses in traditional valve-controlled hydraulic systems are found in the valving implementation to match the required loads. This is performed by throttling, which results in large pressure drops over the control valves and significant fluid power being wasted as heat. This paper discusses how these throttling losses are reduced by grouping multiple artificial muscles to form a muscle bundle where, like in skeletal muscle, more elements that make up the muscle bundle are recruited to match the load. This greatly lessens the pressure drops by effectively changing the actuator area, leading to much higher efficiencies over a broader operation envelope. Simulations of several different loading scenarios are discussed that reveal the benefits of such an actuation scheme.

Development and Physical Control Research on Prototype Artificial Leg

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Fei Li

2016-03-01

Full Text Available To provide an ideal platform for research on intelligent bionic leg (IBL, this paper proposes a model of a biped robot with heterogeneous legs (BRHL. A prototype of an artificial leg is developed based on biological structure and motion principle analysis of human lower extremities. With regard to the driving sources, servomotors are chosen for the hip joint and ankle joint, while pneumatic muscle actuators (PMAs are chosen for the knee joint. The control system of the bionic artificial leg is designed and a physical experimental platform is established. The physical control experiments are done based on proportional-integral-derivative (PID control strategy. The experimental results show that such a system can realize the expected goals.

Development and evaluation of a removable tissue-engineered muscle with artificial tendons.

Science.gov (United States)

Nakamura, Tomohiro; Takagi, Shunya; Kamon, Takafumi; Yamasaki, Ken-Ichi; Fujisato, Toshia

2017-02-01

Tissue-engineered skeletal muscles were potentially useful as physiological and biochemical in vitro models. Currently, most of the similar models were constructed without tendons. In this study, we aimed to develop a simple, highly versatile tissue-engineered muscle with artificial tendons, and to evaluate the contractile, histological and molecular dynamics during differentiation. C2C12 cells were embedded in a cold type-І collagen gel and placed between two artificial tendons on a silicone sheet. The construct shrank and tightly attached to the artificial tendons with differentiation, finally detaching from the silicone sheet within 1 week of culture onset. We successfully developed a tissue-engineered skeletal muscle with two artificial tendons from C2C12 myoblasts embedded in type-І collagen gel. The isometric twitch contractile force (TCF) significantly increased during differentiation. Time to Peak Tension (TPT) and Half-Relaxation Time (1/2RT) were significantly shortened during differentiation. Myogenic regulatory factors were maximally expressed at 2 weeks, and subsequently decreased at 3 weeks of culture. Histological analysis indicated that myotube formation increased markedly from 2 weeks and well-ordered sarcomere structures were observed on the surface of the 3D engineered muscle at 3 weeks of culture. These results suggested that robust muscle structure occurred by 3 weeks in the tissue-engineered skeletal muscle. Moreover, during the developmental process, the artificial tendons might contribute to well-ordered sarcomere formation. Our results indicated that this simple culture system could be used to evaluate the effects of various pharmacological and mechanical cues on muscle contractility in a variety of research areas. Copyright © 2016 The Society for Biotechnology, Japan. Published by Elsevier B.V. All rights reserved.

A comparison of the kinematics, kinetics and muscle activity between pneumatic and free weight resistance.

Science.gov (United States)

Frost, David Michael; Cronin, John Barry; Newton, Robert Usher

2008-12-01

Pneumatic devices provide a resistance comprising minimal mass, possibly affording greater movement velocities, compared to free weight, while reducing the influence of momentum. Thirty men completed three testing sessions [free weight (FW), ballistic (BALL) and pneumatic (P)] each consisting of a one repetition maximum (1RM) and six sets (15, 30, 45, 60, 75 and 90% 1RM) of four explosive repetitions of a bench press. Dependent variables were expressed as mean and as a percentage of the concentric displacement. Significant differences (P < 0.05) were evaluated using two way repeated measures ANOVAs with Holm-Sidak post hoc comparisons. On average, the mean and peak P velocity were 36.5 and 28.3% higher than FW, and 22.9 and 19.1% higher than the BALL movements. The FW and BALL peak force were both significantly higher than the P (26.3 and 22.7% for FW and BALL, respectively). BALL mean power output was significantly higher than the FW and P at loads of 15 and 30% 1RM; however, between loads of 60-90% 1RM the highest mean power was produced with a P resistance. A 15% 1RM load maximized the peak power for each condition and no significant differences were found between the P and BALL. For loads of 45-90% 1RM the force, power and muscle activity were higher during the last 10-20% of the concentric displacement when subjects employed the P resistance. In summary, pneumatic resistance may offer specific advantages over loads comprising only mass (FW and BALL), although not without its own limitations.

A photoactivated artificial muscle model unit: reversible, photoinduced sliding of nanosheets.

Science.gov (United States)

Nabetani, Yu; Takamura, Hazuki; Hayasaka, Yuika; Shimada, Tetsuya; Takagi, Shinsuke; Tachibana, Hiroshi; Masui, Dai; Tong, Zhiwei; Inoue, Haruo

2011-11-02

A novel photoactivated artificial muscle model unit is reported. Here we show that organic/inorganic hybrid nanosheets reversibly slide horizontally on a giant scale and the interlayer spaces in the layered hybrid structure shrink and expand vertically by photoirradiation. The sliding movement of the system on a giant scale is the first example of an artificial muscle model unit having much similarity with that in natural muscle fibrils. In particular, our layered hybrid molecular system exhibits a macroscopic morphological change on a giant scale (~1500 nm) relative to the molecular size of ~1 nm by means of a reversible sliding mechanism.

Characterizing the Peano fluidic muscle and the effects of its geometry properties on its behavior

Science.gov (United States)

Veale, Allan Joshua; Xie, Sheng Quan; Anderson, Iain Alexander

2016-06-01

In this work, we explore the basic static and dynamic behavior of a hydraulically actuated Peano muscle and how its geometry affects key static and dynamic performance metrics. The Peano muscle, or pouch motor is a fluid powered artificial muscle. Similar to McKibben pneumatic artificial muscles (PAMs), it has the ability to generate the high forces of biological muscles with the low threshold pressure of pleated PAMs, but in a slim, easily distributed form. We found that Peano muscles have similar characteristics to other PAMs, but produce lower free-strains. A test rig capable of measuring high-speed flow rates with a Venturi tube revealed that their efficiency peaks at about 40% during highly dynamic movements. Peano muscles with more tubes and of a greater size do not move faster. Also, their muscle tubes should have an aspect ratio of at least 1:3 and channel width greater than 20% to maximize performance. These findings suggest that finite element modeling be used to optimize more complex Peano muscle geometries.

Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

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Qingsong Ai

2017-12-01

Full Text Available A rehabilitation robot plays an important role in relieving the therapists’ burden and helping patients with ankle injuries to perform more accurate and effective rehabilitation training. However, a majority of current ankle rehabilitation robots are rigid and have drawbacks in terms of complex structure, poor flexibility and lack of safety. Taking advantages of pneumatic muscles’ good flexibility and light weight, we developed a novel two degrees of freedom (2-DOF parallel compliant ankle rehabilitation robot actuated by pneumatic muscles (PMs. To solve the PM’s nonlinear characteristics during operation and to tackle the human-robot uncertainties in rehabilitation, an adaptive backstepping sliding mode control (ABS-SMC method is proposed in this paper. The human-robot external disturbance can be estimated by an observer, who is then used to adjust the robot output to accommodate external changes. The system stability is guaranteed by the Lyapunov stability theorem. Experimental results on the compliant ankle rehabilitation robot show that the proposed ABS-SMC is able to estimate the external disturbance online and adjust the control output in real time during operation, resulting in a higher trajectory tracking accuracy and better response performance especially in dynamic conditions.

Enhancement of contractile force generation of artificial skeletal muscle tissues by mild and transient heat treatment.

Science.gov (United States)

Sato, Masanori; Ikeda, Kazushi; Kanno, Shota; Ito, Akira; Kawabe, Yoshinori; Kamihira, Masamichi

2014-01-01

Artificial skeletal muscle tissues composed of cells are expected to be used for applications of regenerative medicine and drug screening. Generally, however, the physical forces generated by tissue-engineered skeletal muscle are lower than those of skeletal muscle tissues found in the body. Local hyperthermia is used for many diseases including muscle injuries. It was recently reported that mild heat treatment improved skeletal muscle functions. In this study, we investigated the effects of mild heat treatment on the tissue-engineered skeletal muscle tissues in vitro. We used magnetite cationic liposomes to label C2C12 myoblast cells magnetically, and constructed densely packed artificial skeletal muscle tissues by using magnetic force. Cell culture at 39°C promoted the differentiation of myoblast cells into myotubes. Moreover, the mild and transient heat treatment improved the contractile properties of artificial skeletal muscle tissue constructs. These findings indicate that the culture method using heat treatment is a useful approach to enhance functions of artificial skeletal muscle tissue.

Biothermal sensing of a torsional artificial muscle.

Science.gov (United States)

Lee, Sung-Ho; Kim, Tae Hyeob; Lima, Márcio D; Baughman, Ray H; Kim, Seon Jeong

2016-02-14

Biomolecule responsive materials have been studied intensively for use in biomedical applications as smart systems because of their unique property of responding to specific biomolecules under mild conditions. However, these materials have some challenging drawbacks that limit further practical application, including their speed of response and mechanical properties, because most are based on hydrogels. Here, we present a fast, mechanically robust biscrolled twist-spun carbon nanotube yarn as a torsional artificial muscle through entrapping an enzyme linked to a thermally sensitive hydrogel, poly(N-isopropylacrylamide), utilizing the exothermic catalytic reaction of the enzyme. The induced rotation reached an equilibrated angle in less than 2 min under mild temperature conditions (25-37 °C) while maintaining the mechanical properties originating from the carbon nanotubes. This biothermal sensing of a torsional artificial muscle offers a versatile platform for the recognition of various types of biomolecules by replacing the enzyme, because an exothermic reaction is a general property accompanying a biochemical transformation.

Pneumatic tourniquets in extremity surgery.

LENUS (Irish Health Repository)

Wakai, A

2012-02-03

Pneumatic tourniquets maintain a relatively bloodless field during extremity surgery, minimize blood loss, aid identification of vital structures, and expedite the procedure. However, they may induce an ischemia-reperfusion injury with potentially harmful local and systemic consequences. Modern pneumatic tourniquets are designed with mechanisms to regulate and maintain pressure. Routine maintenance helps ensure that these systems are working properly. The complications of tourniquet use include postoperative swelling, delay of recovery of muscle power, compression neurapraxia, wound hematoma with the potential for infection, vascular injury, tissue necrosis, and compartment syndrome. Systemic complications can also occur. The incidence of complications can be minimized by use of wider tourniquets, careful preoperative patient evaluation, and adherence to accepted principles of tourniquet use.

Modeling the dynamic characteristics of pneumatic muscle.

Science.gov (United States)

Reynolds, D B; Repperger, D W; Phillips, C A; Bandry, G

2003-03-01

A pneumatic muscle (PM) system was studied to determine whether a three-element model could describe its dynamics. As far as the authors are aware, this model has not been used to describe the dynamics of PM. A new phenomenological model consists of a contractile (force-generating) element, spring element, and damping element in parallel. The PM system was investigated using an apparatus that allowed precise and accurate actuation pressure (P) control by a linear servo-valve. Length change of the PM was measured by a linear potentiometer. Spring and damping element functions of P were determined by a static perturbation method at several constant P values. These results indicate that at constant P, PM behaves as a spring and damper in parallel. The contractile element function of P was determined by the response to a step input in P, using values of spring and damping elements from the perturbation study. The study showed that the resulting coefficient functions of the three-element model describe the dynamic response to the step input of P accurately, indicating that the static perturbation results can be applied to the dynamic case. This model is further validated by accurately predicting the contraction response to a triangular P waveform. All three elements have pressure-dependent coefficients for pressure P in the range 207 < or = P < or = 621 kPa (30 < or = P < or = 90 psi). Studies with a step decrease in P (relaxation of the PM) indicate that the damping element coefficient is smaller during relaxation than contraction.

Artificial Leg Design and Control Research of a Biped Robot with Heterogeneous Legs Based on PID Control Algorithm

Directory of Open Access Journals (Sweden)

Hualong Xie

2015-04-01

Full Text Available A biped robot with heterogeneous legs (BRHL is proposed to provide an ideal test-bed for intelligent bionic legs (IBL. To make artificial leg gait better suited to a human, a four-bar mechanism is used as its knee joint, and a pneumatic artificial muscle (PAM is used as its driving source. The static mathematical model of PAM is established and the mechanical model of a single degree of freedom of a knee joint driven by PAM is analyzed. A control simulation of an artificial leg based on PID control algorithm is carried out and the simulation results indicate that the artificial leg can simulate precisely a normal human walking gait.

Development of nylon-based artificial muscles for the usage in robotic prosthetic limb

Science.gov (United States)

Atikah, Nurul Anis; Weng, Leong Yeng; Anuar, Adzly; Fat, Chau Chien; Abidin, Izham Zainal; Sahari, Khairul Salleh Mohamed

2017-09-01

This paper describes the development of nylon-based artificial muscles that is intended to be used in prosthetic limb for young amputees. Prosthetic limbs are very expensive and this situation is further compounded for young amputees who are very quickly out-grow their prosthesis. The proposed artificial muscles are made of nylon fishing strings from various size such as 0.45mm, 0.55mm, 0.65mm and 1.00mm. These fishing strings were twisted into coils to create Super Coiled Polymers (SCP) and tested using hot air blower. These artificial muscles react counterintuitively, where when it is exposed to heat, contracts, and when cooled, expands. Peltier devices, when switched-on acts as heat pump, where one side is hot and the other is cold. This phenomenon, when affixed in between 2 SCP's, creates tandem motion similar to triceps and biceps. As initial study, the hot side of the Peltier module was tested using these artificial muscles. The string was measured for both its force production, length contraction, the initial results were promising.

Control approach development for variable recruitment artificial muscles

Science.gov (United States)

Jenkins, Tyler E.; Chapman, Edward M.; Bryant, Matthew

2016-04-01

This study characterizes hybrid control approaches for the variable recruitment of fluidic artificial muscles with double acting (antagonistic) actuation. Fluidic artificial muscle actuators have been explored by researchers due to their natural compliance, high force-to-weight ratio, and low cost of fabrication. Previous studies have attempted to improve system efficiency of the actuators through variable recruitment, i.e. using discrete changes in the number of active actuators. While current variable recruitment research utilizes manual valve switching, this paper details the current development of an online variable recruitment control scheme. By continuously controlling applied pressure and discretely controlling the number of active actuators, operation in the lowest possible recruitment state is ensured and working fluid consumption is minimized. Results provide insight into switching control scheme effects on working fluids, fabrication material choices, actuator modeling, and controller development decisions.

In vivo generation of a mature and functional artificial skeletal muscle.

Science.gov (United States)

Fuoco, Claudia; Rizzi, Roberto; Biondo, Antonella; Longa, Emanuela; Mascaro, Anna; Shapira-Schweitzer, Keren; Kossovar, Olga; Benedetti, Sara; Salvatori, Maria L; Santoleri, Sabrina; Testa, Stefano; Bernardini, Sergio; Bottinelli, Roberto; Bearzi, Claudia; Cannata, Stefano M; Seliktar, Dror; Cossu, Giulio; Gargioli, Cesare

2015-04-01

Extensive loss of skeletal muscle tissue results in mutilations and severe loss of function. In vitro-generated artificial muscles undergo necrosis when transplanted in vivo before host angiogenesis may provide oxygen for fibre survival. Here, we report a novel strategy based upon the use of mouse or human mesoangioblasts encapsulated inside PEG-fibrinogen hydrogel. Once engineered to express placental-derived growth factor, mesoangioblasts attract host vessels and nerves, contributing to in vivo survival and maturation of newly formed myofibres. When the graft was implanted underneath the skin on the surface of the tibialis anterior, mature and aligned myofibres formed within several weeks as a complete and functional extra muscle. Moreover, replacing the ablated tibialis anterior with PEG-fibrinogen-embedded mesoangioblasts also resulted in an artificial muscle very similar to a normal tibialis anterior. This strategy opens the possibility for patient-specific muscle creation for a large number of pathological conditions involving muscle tissue wasting. © 2015 The Authors. Published under the terms of the CC BY 4.0 license.

Design and control of hybrid actuation lower limb exoskeleton

Directory of Open Access Journals (Sweden)

Hipolito Aguilar-Sierra

2015-06-01

Full Text Available In this article, two types of actuators are applied for a lower limb exoskeleton. They are DC motors with the harmonic drive and the pneumatic artificial muscles. This combination takes advantages of both the harmonic drive and the pneumatic artificial muscle. It provides both high accuracy position control and high ratio of strength and weight. The shortcomings of the two actuators are overcome by the hybrid actuation, for example, low control accuracy and modeling difficult of pneumatic artificial muscle, compactness, and structural flexibility of DC motors. The design and modeling processes are discussed to show the proposed exoskeleton can increase the strength of human lower limbs. Experiments and analysis of the exoskeleton are given to evaluate the effectiveness of the design and modeling.

Artificial muscles from fishing line and sewing thread.

Science.gov (United States)

Haines, Carter S; Lima, Márcio D; Li, Na; Spinks, Geoffrey M; Foroughi, Javad; Madden, John D W; Kim, Shi Hyeong; Fang, Shaoli; Jung de Andrade, Mônica; Göktepe, Fatma; Göktepe, Özer; Mirvakili, Seyed M; Naficy, Sina; Lepró, Xavier; Oh, Jiyoung; Kozlov, Mikhail E; Kim, Seon Jeong; Xu, Xiuru; Swedlove, Benjamin J; Wallace, Gordon G; Baughman, Ray H

2014-02-21

The high cost of powerful, large-stroke, high-stress artificial muscles has combined with performance limitations such as low cycle life, hysteresis, and low efficiency to restrict applications. We demonstrated that inexpensive high-strength polymer fibers used for fishing line and sewing thread can be easily transformed by twist insertion to provide fast, scalable, nonhysteretic, long-life tensile and torsional muscles. Extreme twisting produces coiled muscles that can contract by 49%, lift loads over 100 times heavier than can human muscle of the same length and weight, and generate 5.3 kilowatts of mechanical work per kilogram of muscle weight, similar to that produced by a jet engine. Woven textiles that change porosity in response to temperature and actuating window shutters that could help conserve energy were also demonstrated. Large-stroke tensile actuation was theoretically and experimentally shown to result from torsional actuation.

Perceptual evaluation and acoustic analysis of pneumatic artificial larynx.

Science.gov (United States)

Xu, Jie Jie; Chen, Xi; Lu, Mei Ping; Qiao, Ming Zhe

2009-12-01

To investigate the perceptual and acoustic characteristics of the pneumatic artificial larynx (PAL) and evaluate its speech ability and clinical value. Prospective study. The study was conducted in the Voice Lab, Department of Otorhinolaryngology, The First Affiliated Hospital of Nanjing Medical University. Forty-six laryngectomy patients using the PAL were rated for intelligibility and fluency of speech. The voice signals of sustained vowel /a/ for 40 healthy controls and 42 successful patients using the PAL were measured by a computer system. The acoustic parameters and sound spectrographs were analyzed and compared between the two groups. Forty-two of 46 patients using the PAL (91.3%) acquired successful speech capability. The intelligibility scores of 42 successful PAL speakers ranged from 71 to 95 percent, and the intelligibility range of four unsuccessful speakers was 30 to 50 percent. The fluency was judged as good or excellent in 42 successful patients, and poor or fair in four unsuccessful patients. There was no significant difference in average fundamental frequency, maximum intensity, jitter, shimmer, and normalized noise energy (NNE) between 42 successful PAL speakers and 40 healthy controls, while the maximum phonation time (MPT) of PAL speakers was slightly lower than that of the controls. The sound spectrographs of the patients using the PAL approximated those of the healthy controls. The PAL has the advantage of a high percentage of successful vocal rehabilitation. PAL speech is fluent and intelligible. The acoustic characteristics of the PAL are similar to those of a normal voice.

Pneumatic control technology

International Nuclear Information System (INIS)

Tae, Seong Gil; Kim, Won Hoe; Nam, Dae Hyun

1993-03-01

This book contains property of pneumatic pressure drive, pneumatic pressure device like air cleaning, pressure control, lubricators, air pressure pipe, kinds and function of pneumatic pressure equipment like pneumatic cylinders, pneumatic motor, flow control valve, direction control valve, design of pneumatic control circuit, pneumatic system design, cause and measurement of pneumatic circuit failure, PLC and pneumatic control like introduction and system application and method of PLC programing.

A durability study of a paracorporeal pulsatile electro-mechanical pneumatic biventricular assist device.

Science.gov (United States)

Choi, Hyuk; Lee, Heung-Man; Nam, Kyoung Won; Choi, Jaesoon; Lee, Jung-Joo; Kim, Ho Chul; Song, Seung Joon; Ahn, Chi Bum; Son, Ho Sung; Lim, Choon Hak; Son, Kuk Hui; Park, Yong Doo; Jeong, Gi Seok; Sun, Kyung

2011-06-01

In 2002, the paracorporeal pulsatile electro-mechanical pneumatic ventricular assist device (VAD) began to be developed by the Korea Artificial Organ Center at Korea University under a Health & Medical Technology Research and Development program which finished in 2008. In vitro durability testing was conducted on the paracorporeal pulsatile pneumatic VAD to determine device durability and to evaluate device failures. The 1- and 2-year reliability of the paracorporeal pulsatile pneumatic VAD was shown to be 91.2% and 54.9%, respectively, with an 80% confidence level. Failure modes were analyzed using fault tree analysis, with customized software continuously acquiring data during the test period. After this period, 21 in vivo animal tests were done, with 14 cases of left atrium to left ventricle (LV) inflow cannulation (36Fr)/outflow grafting to descending aorta, and seven cases of apex cannulation of LV to descending aorta (12 mm). The longest postoperative day (182 days) in Korea was recently recorded in in vivo animal testing (bovine, 90 kg, male, 3.5-4.0 L/min flow rate, and 55 bpm). © 2011, Copyright the Authors. Artificial Organs © 2011, International Center for Artificial Organs and Transplantation and Wiley Periodicals, Inc.

Artificial muscles made of chiral two-way shape memory polymer fibers

Science.gov (United States)

Yang, Qianxi; Fan, Jizhou; Li, Guoqiang

2016-10-01

In this work, we demonstrate the unusual improvement of the tensile actuation of hierarchically chiral structured artificial muscle made of two-way shape memory polymer (2W-SMP) fiber. Experimental results show that the chemically cross-linked poly(ethylene-co-vinyl acetate) 2W-SMP fibers possess an average negative coefficient of thermal expansion (NCTE) that is at least one order higher than that of the polyethylene fiber used previously. As expected, the increase in axial thermal contraction of the precursor fiber leads to an increase in the recovered torque ( 4.4 Nmm ) of the chiral fiber and eventually in the tensile actuation of the twisted-then-coiled artificial muscle ( 67.81 ±1.82 % ). A mechanical model based on Castigliano's second theorem is proposed, and the calculated result is consistent with the experimental result (64.17% tensile stroke). The model proves the significance of the NCTE and the recovered torque on tensile actuation of the artificial muscle and can be used as a guidance for the future design.

Carbon Nanotube Yarn-Based Glucose Sensing Artificial Muscle.

Science.gov (United States)

Lee, Junghan; Ko, Sachan; Kwon, Cheong Hoon; Lima, Márcio D; Baughman, Ray H; Kim, Seon Jeong

2016-04-01

Boronic acid (BA), known to be a reversible glucose-sensing material, is conjugated to a nanogel (NG) derived from hyaluronic acid biopolymer and used as a guest material for a carbon multiwalled nanotube (MWNT) yarn. By exploiting the swelling/deswelling of the NG that originates from the internal anionic charge changes resulting from BA binding to glucose, a NG MWNT yarn artificial muscle is obtained that provides reversible torsional actuation that can be used for glucose sensing. This actuator shows a short response time and high sensitivity (in the 5-100 × 10(-3) m range) for monitoring changes in glucose concentration in physiological buffer, without using any additional auxiliary substances or an electrical power source. It may be possible to apply the glucose-sensing MWNT yarn muscles as implantable glucose sensors that automatically release drugs when needed or as an artificial pancreas. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Dielectric elastomer strain and pressure sensing enable reactive soft fluidic muscles

Science.gov (United States)

Veale, Allan J.; Anderson, Iain A.; Xie, Sheng Q.

2016-04-01

Wearable assistive devices are the future of rehabilitation therapy and bionic limb technologies. Traditional electric, hydraulic, and pneumatic actuators can provide the precise and powerful around-the-clock assistance that therapists cannot deliver. However, they do so in the confines of highly controlled factory environments, resulting in actuators too rigid, heavy, and immobile for wearable applications. In contrast, biological skeletal muscles have been designed and proven in the uncertainty of the real world. Bioinspired artificial muscle actuators aim to mimic the soft, slim, and self-sensing abilities of natural muscle that make them tough and intelligent. Fluidic artificial muscles are a promising wearable assistive actuation candidate, sharing the high-force, inherent compliance of their natural counterparts. Until now, they have not been able to self-sense their length, pressure, and force in an entirely soft and flexible system. Their use of rigid components has previously been a requirement for the generation of large forces, but reduces their reliability and compromises their ability to be comfortably worn. We present the unobtrusive integration of dielectric elastomer (DE) strain and pressure sensors into a soft Peano fluidic muscle, a planar alternative to the relatively bulky McKibben muscle. Characterization of these DE sensors shows they can measure the full operating range of the Peano muscle: strains of around 18% and pressures up to 400 kPa with changes in capacitance of 2.4 and 10.5 pF respectively. This is a step towards proprioceptive artificial muscles, paving the way for wearable actuation that can truly feel its environment.

Hybrid carbon nanotube yarn artificial muscle inspired by spider dragline silk.

Science.gov (United States)

Chun, Kyoung-Yong; Hyeong Kim, Shi; Kyoon Shin, Min; Hoon Kwon, Cheong; Park, Jihwang; Tae Kim, Youn; Spinks, Geoffrey M; Lima, Márcio D; Haines, Carter S; Baughman, Ray H; Jeong Kim, Seon

2014-01-01

Torsional artificial muscles generating fast, large-angle rotation have been recently demonstrated, which exploit the helical configuration of twist-spun carbon nanotube yarns. These wax-infiltrated, electrothermally powered artificial muscles are torsionally underdamped, thereby experiencing dynamic oscillations that complicate positional control. Here, using the strategy spiders deploy to eliminate uncontrolled spinning at the end of dragline silk, we have developed ultrafast hybrid carbon nanotube yarn muscles that generated a 9,800 r.p.m. rotation without noticeable oscillation. A high-loss viscoelastic material, comprising paraffin wax and polystyrene-poly(ethylene-butylene)-polystyrene copolymer, was used as yarn guest to give an overdamped dynamic response. Using more than 10-fold decrease in mechanical stabilization time, compared with previous nanotube yarn torsional muscles, dynamic mirror positioning that is both fast and accurate is demonstrated. Scalability to provide constant volumetric torsional work capacity is demonstrated over a 10-fold change in yarn cross-sectional area, which is important for upscaled applications.

Dual sensing-actuation artificial muscle based on polypyrrole-carbon nanotube composite

Science.gov (United States)

Schumacher, J.; Otero, Toribio F.; Pascual, Victor H.

2017-04-01

Dual sensing artificial muscles based on conducting polymer are faradaic motors driven by electrochemical reactions, which announce the development of proprioceptive devices. The applicability of different composites has been investigated with the aim to improve the performance. Addition of carbon nanotubes may reduce irreversible reactions. We present the testing of a dual sensing artificial muscle based on a conducting polymer and carbon nanotubes composite. Large bending motions (up to 127 degrees) in aqueous solution and simultaneously sensing abilities of the operation conditions are recorded. The sensing and actuation equations are derived for incorporation into a control system.

Variable recruitment fluidic artificial muscles: modeling and experiments

International Nuclear Information System (INIS)

Bryant, Matthew; Meller, Michael A; Garcia, Ephrahim

2014-01-01

We investigate taking advantage of the lightweight, compliant nature of fluidic artificial muscles to create variable recruitment actuators in the form of artificial muscle bundles. Several actuator elements at different diameter scales are packaged to act as a single actuator device. The actuator elements of the bundle can be connected to the fluidic control circuit so that different groups of actuator elements, much like individual muscle fibers, can be activated independently depending on the required force output and motion. This novel actuation concept allows us to save energy by effectively impedance matching the active size of the actuators on the fly based on the instantaneous required load. This design also allows a single bundled actuator to operate in substantially different force regimes, which could be valuable for robots that need to perform a wide variety of tasks and interact safely with humans. This paper proposes, models and analyzes the actuation efficiency of this actuator concept. The analysis shows that variable recruitment operation can create an actuator that reduces throttling valve losses to operate more efficiently over a broader range of its force–strain operating space. We also present preliminary results of the design, fabrication and experimental characterization of three such bioinspired variable recruitment actuator prototypes. (paper)

Three-Dimensional Human iPSC-Derived Artificial Skeletal Muscles Model Muscular Dystrophies and Enable Multilineage Tissue Engineering

Directory of Open Access Journals (Sweden)

Sara Martina Maffioletti

2018-04-01

Full Text Available Summary: Generating human skeletal muscle models is instrumental for investigating muscle pathology and therapy. Here, we report the generation of three-dimensional (3D artificial skeletal muscle tissue from human pluripotent stem cells, including induced pluripotent stem cells (iPSCs from patients with Duchenne, limb-girdle, and congenital muscular dystrophies. 3D skeletal myogenic differentiation of pluripotent cells was induced within hydrogels under tension to provide myofiber alignment. Artificial muscles recapitulated characteristics of human skeletal muscle tissue and could be implanted into immunodeficient mice. Pathological cellular hallmarks of incurable forms of severe muscular dystrophy could be modeled with high fidelity using this 3D platform. Finally, we show generation of fully human iPSC-derived, complex, multilineage muscle models containing key isogenic cellular constituents of skeletal muscle, including vascular endothelial cells, pericytes, and motor neurons. These results lay the foundation for a human skeletal muscle organoid-like platform for disease modeling, regenerative medicine, and therapy development. : Maffioletti et al. generate human 3D artificial skeletal muscles from healthy donors and patient-specific pluripotent stem cells. These human artificial muscles accurately model severe genetic muscle diseases. They can be engineered to include other cell types present in skeletal muscle, such as vascular cells and motor neurons. Keywords: skeletal muscle, pluripotent stem cells, iPS cells, myogenic differentiation, tissue engineering, disease modeling, muscular dystrophy, organoids

Characterisation of a pneumatic muscle test station with two dynamic plants in cascade.

Science.gov (United States)

Serres, J L; Reynolds, D B; Phillips, C A; Rogers, D B; Repperger, D W

2010-02-01

Pneumatic muscle actuators (PMAs) offer significant advantages over more traditional actuators, which make them prime candidates in rehabilitation devices. A dynamic test station (DTS) is modified to demonstrate the use of a PMA for this application. The DTS includes two dynamic systems: a PMA and a DC servomotor. An overall transfer function was developed utilising characterisation data for the PMA and DC servomotor. A Tustin (bilinear) transform was performed on the overall transfer function to obtain a discrete time system. Model parameters were optimised and used to generate input voltage profiles that achieve isokinetic (constant velocity) task specifications. Percent root mean square error values (PRMSE) between the actual and ideal profiles were used to evaluate the accuracy of this method in achieving isokinetic displacement. For PMA pressures (in kPa) of 150, 350 and 550 PRMSE were 7.80, 5.40 and 2.76, respectively.

Change in cross-sectional area of esophageal muscle does not correlate with the outcome of achalasia after pneumatic balloon dilatation.

Science.gov (United States)

Sinn, Dong Hyun; Choi, Yong Sung; Kim, Jeong Hwan; Kim, Eun Ran; Son, Hee Jung; Kim, Jae J; Rhee, Jong Chul; Rhee, Poong-Lyul

2010-03-01

Patients with achalasia have a thicker muscularis propria compared to normal patients. Because pneumatic balloon dilatation (PD) is an effective treatment for achalasia, the changes in the esophageal muscles after PD may predict treatment outcomes, if muscular change is of primary importance. In the present study, we aimed to observe the changes in esophageal muscle thickness following PD and assessed whether symptom relapse can be predicted on the basis of the esophageal muscle cross-sectional area (CSA), as measured by high-frequency intraluminal ultrasound (HFIUS). Fifteen patients treated by PD were studied and followed up for a median of 3.6 years. An HFIUS was done before PD and 6 months after PD. The esophageal muscle CSA measured at the lower esophageal sphincter (LES), and 3 and 6 cm above the LES, was used to see whether any association was present between symptom recurrence and the esophageal muscle CSA. A single PD resulted in a 2-year remission rate of 66%. A significance variance in change (-65%-248%) was noticed in the muscle CSA after PD. The predilation muscle CSA, post-dilation muscle CSA, and change in the muscle CSA after PD was not associated with symptom recurrence. Our findings suggest that measuring the muscle CSA does not help to predict treatment outcome. Muscular changes in achalasia might be just reactive changes.

Pneumatic muscle actuator (PMA) task-specific resistance for potential use in microgravity exercise.

Science.gov (United States)

Hall, Kara L; Phillips, Chandler A; Reynolds, David B; Mohler, Stanley R; Neidhard-Doll, Amy T

2012-07-01

A pneumatic muscle actuator (PMA) is a device that mimics the behavior of skeletal muscle by contracting and generating force when activated. This type of actuator has a high power to weight ratio and unique characteristics which make it ideal for human interaction. PMAs, however, are difficult to control due to nonlinear dynamics. Our objective was to control a PMA as a source of task-specific resistance in simulated isokinetic strength training. Task-specific resistance will benefit those in need of strength training through a joint's range of motion, including astronauts who need to counteract muscle atrophy during prolonged spaceflight. The lightweight, clean, and compact PMA driven by pressurized air is able to produce resistance in microgravity. An open-loop control method based on a three-element phenomenological inverse model was developed to control the PMA. A motor was simultaneously controlled to act as simulated human quadriceps working against the PMA-produced resistance. For ankle weight replacement resistance profiles, the PMA control method produced resistance and PMA displacement tracking errors (RMSE) of 0.36-1.61 Nm and 0.55-1.59 mm, respectively. Motor position (simulated joint angle) tracking errors ranged from 0.47 to 2.82 degrees. Results indicate that the inverse model based control system produces task-specific PMA resistance and displacement. Closed-loop motor control was able to simulate isokinetic movement successfully. More complicated resistance profiles reveal the need for closed-loop control. Future work focuses on advancing both the PMA control strategies and the capabilities of the human simulator so that actual human operator applications can be realized.

SMA spring-based artificial muscle actuated by hot and cool water using faucet-like valve

Science.gov (United States)

Park, Cheol Hoon; Son, Young Su

2017-04-01

An artificial muscle for a human arm-like manipulator with high strain and high power density are under development, and an SMA(Shape memory alloy) spring is a good actuator for this application. In this study, an artificial muscle composed of a silicon tube and a bundle of SMA(Shape memory alloy) springs is evaluated. A bundle of SMA springs consists of five SMA springs which are fabricated by using SMA wires with a diameter of 0.5 mm, and hot and cool water actuates it by heating and cooling SMA springs. A faucet-like valve was also developed to mix hot water and cool water and control the water temperature. The mass of silicon tube and a bundle of SMA springs is only 3.3 g and 2.25 g, respectively, and the total mass of artificial muscle is 5.55 g. It showed good actuating performance for a load with a mass of 2.3 kg and the power density was more than 800 W/kg for continuous valve switching with a cycle of 0.6 s. The faucet-like valve can switch a water output from hot water to cold water within 0.3s, and the artificial muscle is actuated well in response to the valve position and speed. It is also presented that the temperature of the mixed water can be controlled depending on the valve position, and the displacement of the artificial muscle can be controlled well by the mixed water. Based on these results, SMA spring-based artificial muscle actuated by hot and cool water could be applicable to the human arm-like robot manipulators.

Electroactive polymer actuators as artificial muscles: are they ready for bioinspired applications?

DEFF Research Database (Denmark)

Carpi, Federico; Kornbluh, Roy; Sommer-Larsen, Peter

2011-01-01

Electroactive polymer (EAP) actuators are electrically responsive materials that have several characteristics in common with natural muscles. Thus, they are being studied as 'artificial muscles' for a variety of biomimetic motion applications. EAP materials are commonly classified into two major...

Artificial muscle for end-stage heart failure.

Science.gov (United States)

Tozzi, Piergiorgio; Michalis, Alexandre; Hayoz, Daniel; Locca, Didier; von Segesser, Ludwig K

2012-01-01

We describe a device made of artificial muscle for the treatment of end-stage heart failure as an alternative to current heart assist devices. The key component is a matrix of nitinol wires and aramidic fibers called Biometal muscle (BM). When heated electrically, it produces a motorless, smooth, and lifelike motion. The BM is connected to a carbon fiber scaffold, tightening the heart and providing simultaneous assistance to the left and right ventricles. A pacemaker-like microprocessor drives the contraction of the BM. We tested the device in a dedicated bench model of diseased heart. It generated a systolic pressure of 75 mm Hg and ejected a maximum of 330 ml/min, with an ejection fraction of 12%. The device required a power supply of 6 V, 250 mA. This could be the beginning of an era in which BMs integrate or replace the mechanical function of natural muscles.

Effect of pneumatic compressing powered orthosis in stroke patients: preliminary study.

Science.gov (United States)

Kim, Eun Sil; Yoon, Yong-Soon; Sohn, Min Kyun; Kwak, Soo-Hyun; Choi, Jong Ho; Oh, Ji Sun

2015-04-01

To evaluate the feasibility and effectiveness of a knee-ankle-foot orthosis powered by artificial pneumatic muscles (PKAFO). Twenty-three hemiplegic patients (age, 59.6±13.7 years) were assessed 19.7±36.6 months after brain lesion. The 10-m walking time was measured as a gait parameter while the individual walked on a treadmill. Walking speed (m/s), step cycle (cycle/s), and step length (m) were also measured on a treadmill with and without PKAFO, and before and after gait training. Clinical parameters measured before and after gait training included Korean version of Modified Bathel Index (K-MBI), manual muscle test (MMT), and Modified Ashworth Scale (MAS) of hemiplegic ankle. Gait training comprised treadmill walking for 20 minutes, 5 days a week for 3 weeks at a comfortable speed. The 10-m walking time, walking speed, step length, and step cycle were significantly greater with PKAFO than without PKAFO, and after gait training (both p<0.05). K-MBI was improved after gait training (p<0.05), but MMT and MAS were not. PKAFO may improve gait function in hemiplegic patients. It can be a useful orthosis for gait training in hemiplegic patients.

Biomimetic artificial sphincter muscles: status and challenges

Science.gov (United States)

Leung, Vanessa; Fattorini, Elisa; Karapetkova, Maria; Osmani, Bekim; Töpper, Tino; Weiss, Florian; Müller, Bert

2016-04-01

Fecal incontinence is the involuntary loss of bowel content and affects more than 12% of the adult population, including 45% of retirement home residents. Severe fecal incontinence is often treated by implanting an artificial sphincter. Currently available implants, however, have long-term reoperation rates of 95% and definitive explantation rates of 40%. These statistics show that the implants fail to reproduce the capabilities of the natural sphincter and that the development of an adaptive, biologically inspired implant is required. Dielectric elastomer actuators (DEA) are being developed as artificial muscles for a biomimetic sphincter, due to their suitable response time, reaction forces, and energy consumption. However, at present the operation voltage of DEAs is too high for artificial muscles implanted in the human body. To reduce the operating voltage to tens of volts, we are using microfabrication to reduce the thickness of the elastomer layer to the nanometer level. Two microfabrication methods are being investigated: molecular beam deposition and electrospray deposition. This communication covers the current status and a perspective on the way forward, including the long-term prospects of constructing a smart sphincter from low-voltage sensors and actuators based on nanometer-thin dielectric elastomer films. As DEA can also provide sensory feedback, a biomimetic sphincter can be designed in accordance with the geometrical and mechanical parameters of its natural counterpart. The availability of such technology will enable fast pressure adaption comparable to the natural feedback mechanism, so that tissue atrophy and erosion can be avoided while maintaining continence du ring daily activities.

Multi-functional dielectric elastomer artificial muscles for soft and smart machines

Science.gov (United States)

Anderson, Iain A.; Gisby, Todd A.; McKay, Thomas G.; O'Brien, Benjamin M.; Calius, Emilio P.

2012-08-01

Dielectric elastomer (DE) actuators are popularly referred to as artificial muscles because their impressive actuation strain and speed, low density, compliant nature, and silent operation capture many of the desirable physical properties of muscle. Unlike conventional robots and machines, whose mechanisms and drive systems rapidly become very complex as the number of degrees of freedom increases, groups of DE artificial muscles have the potential to generate rich motions combining many translational and rotational degrees of freedom. These artificial muscle systems can mimic the agonist-antagonist approach found in nature, so that active expansion of one artificial muscle is taken up by passive contraction in the other. They can also vary their stiffness. In addition, they have the ability to produce electricity from movement. But departing from the high stiffness paradigm of electromagnetic motors and gearboxes leads to new control challenges, and for soft machines to be truly dexterous like their biological analogues, they need precise control. Humans control their limbs using sensory feedback from strain sensitive cells embedded in muscle. In DE actuators, deformation is inextricably linked to changes in electrical parameters that include capacitance and resistance, so the state of strain can be inferred by sensing these changes, enabling the closed loop control that is critical for a soft machine. But the increased information processing required for a soft machine can impose a substantial burden on a central controller. The natural solution is to distribute control within the mechanism itself. The octopus arm is an example of a soft actuator with a virtually infinite number of degrees of freedom (DOF). The arm utilizes neural ganglia to process sensory data at the local "arm" level and perform complex tasks. Recent advances in soft electronics such as the piezoresistive dielectric elastomer switch (DES) have the potential to be fully integrated with actuators

High performance electrochemical and electrothermal artificial muscles from twist-spun carbon nanotube yarn

Science.gov (United States)

Lee, Jae Ah; Baughman, Ray H.; Kim, Seon Jeong

2015-04-01

High performance torsional and tensile artificial muscles are described, which utilize thermally- or electrochemically-induced volume changes of twist-spun, guest-filled, carbon nanotube (CNT) yarns. These yarns were prepared by incorporating twist in carbon nanotube sheets drawn from spinnable CNT forests. Inserting high twist into the CNT yarn results in yarn coiling, which can dramatically amplify tensile stroke and work capabilities compared with that for the non-coiled twisted yarn. When electrochemically driven in a liquid electrolyte, these artificial muscles can generate a torsional rotation per muscle length that is over 1000 times higher than for previously reported torsional muscles. All-solid-state torsional electrochemical yarn muscles have provided a large torsional muscle stroke (53° per mm of yarn length) and a tensile stroke of up to 1.3% when lifting loads that are ~25 times heavier than can be lifted by the same diameter human skeletal muscle. Over a million torsional and tensile actuation cycles have been demonstrated for thermally powered CNT hybrid yarns muscles filled with paraffin wax, wherein a muscle spins a rotor at an average 11,500 revolutions/minute or delivers 3% tensile contraction at 1200 cycles/minute. At lower actuation rates, these thermally powered muscles provide tensile strokes of over 10%.

Dependence of Force Produced by Polypyrrole Based Artificial Muscles on Ionic Species Involved

DEFF Research Database (Denmark)

Careem, M.A.; Vidanapathirana, K.P.; Skaarup, Steen

2004-01-01

Artificial muscles have been fabricated in the form bilayer strips using an insulating polymer layer and polypyrrole (PPy) conducting polymer film, and the force produced by them during redox processes have been investigated. This study reports the effects of anions in the polymerization electrol......Artificial muscles have been fabricated in the form bilayer strips using an insulating polymer layer and polypyrrole (PPy) conducting polymer film, and the force produced by them during redox processes have been investigated. This study reports the effects of anions in the polymerization...

Mechanical implications of pneumatic neck vertebrae in sauropod dinosaurs

Science.gov (United States)

Schwarz-Wings, Daniela; Meyer, Christian A.; Frey, Eberhard; Manz-Steiner, Hans-Rudolf; Schumacher, Ralf

2010-01-01

The pre-sacral vertebrae of most sauropod dinosaurs were surrounded by interconnected, air-filled diverticula, penetrating into the bones and creating an intricate internal cavity system within the vertebrae. Computational finite-element models of two sauropod cervical vertebrae now demonstrate the mechanical reason for vertebral pneumaticity. The analyses show that the structure of the cervical vertebrae leads to an even distribution of all occurring stress fields along the vertebrae, concentrated mainly on their external surface and the vertebral laminae. The regions between vertebral laminae and the interior part of the vertebral body including thin bony struts and septa are mostly unloaded and pneumatic structures are positioned in these regions of minimal stress. The morphology of sauropod cervical vertebrae was influenced by strongly segmented axial neck muscles, which require only small attachment areas on each vertebra, and pneumatic epithelia that are able to resorb bone that is not mechanically loaded. The interaction of these soft tissues with the bony tissue of the vertebrae produced lightweight, air-filled vertebrae in which most stresses were borne by the external cortical bone. Cervical pneumaticity was therefore an important prerequisite for neck enlargement in sauropods. Thus, we expect that vertebral pneumaticity in other parts of the body to have a similar role in enabling gigantism. PMID:19801376

Artificial muscle for reanimation of the paralyzed face: durability and biocompatibility in a gerbil model.

Science.gov (United States)

Ledgerwood, Levi G; Tinling, Steven; Senders, Craig; Wong-Foy, Annjoe; Prahlad, Harsha; Tollefson, Travis T

2012-11-01

Current management of permanent facial paralysis centers on nerve grafting and muscle transfer; however, limitations of those procedures call for other options. To determine the durability and biocompatibility of implanted artificial muscle in a gerbil model and the degree of inflammation and fibrosis at the host tissue-artificial muscle interface. Electroactive polymer artificial muscle (EPAM) devices engineered in medical-grade silicone were implanted subcutaneously in 13 gerbils. The implanted units were stimulated with 1 kV at 1 Hz, 24 h/d via a function generator. Electrical signal input/output was recorded up to 40 days after implantation. The animals were euthanized between 23 and 65 days after implantation, and the host tissue-implant interface was evaluated histologically. The animals tolerated implantation of the EPAM devices well, with no perioperative deaths. The muscle devices created motion for a mean of 30.3 days (range, 19-40 days), with a mean of 2.6 × 106 cycles (range, 1.6 × 106 to 3.5 × 106 cycles). Histologic examination of the explanted devices revealed the development of a minimal fibrous capsule surrounding the implants, with no evidence of bacterial infection or inflammatory infiltrate. No evidence of device compromise, corrosion, or silicone breakdown was noted. Artificial muscle implanted in this short-term animal model was safe and functional in this preliminary study. We believe that EPAM devices will be a safe and viable option for restoration of facial motions in patients with irreversible facial paralysis.

Functional evaluation of artificial skeletal muscle tissue constructs fabricated by a magnetic force-based tissue engineering technique.

Science.gov (United States)

Yamamoto, Yasunori; Ito, Akira; Fujita, Hideaki; Nagamori, Eiji; Kawabe, Yoshinori; Kamihira, Masamichi

2011-01-01

Skeletal muscle tissue engineering is currently applied in a variety of research fields, including regenerative medicine, drug screening, and bioactuator development, all of which require the fabrication of biomimic and functional skeletal muscle tissues. In the present study, magnetite cationic liposomes were used to magnetically label C2C12 myoblast cells for the construction of three-dimensional artificial skeletal muscle tissues by an applied magnetic force. Skeletal muscle functions, such as biochemical and contractile properties, were evaluated for the artificial tissue constructs. Histological studies revealed that elongated and multinucleated myotubes were observed within the tissue. Expression of muscle-specific markers, such as myogenin, myosin heavy chain and tropomyosin, were detected in the tissue constructs by western blot analysis. Further, creatine kinase activity increased during differentiation. In response to electric pulses, the artificial tissue constructs contracted to generate a physical force (the maximum twitch force, 33.2 μN [1.06 mN/mm2]). Rheobase and chronaxie of the tissue were determined as 4.45 V and 0.72 ms, respectively. These results indicate that the artificial skeletal muscle tissue constructs fabricated in this study were physiologically functional and the data obtained for the evaluation of their functional properties may provide useful information for future skeletal muscle tissue engineering studies.

Sleeve Muscle Actuator and Its Application in Transtibial Prostheses

Science.gov (United States)

Zheng, Hao; Shen, Xiangrong

2014-01-01

This paper describes the concept of a new sleeve muscle actuator, and a transtibial prosthesis design powered by this novel actuator. Inspired by the functioning mechanism of the traditional pneumatic muscle actuator, the sleeve muscle actuator incorporates a cylindrical insert to the center of the pneumatic muscle, which eliminates the central portion of the internal volume. As a result of this change, the sleeve muscle provides multiple advantages over the traditional pneumatic muscle, including the increased force capacity over the entire range of motion, reduced energy consumption, and faster dynamic response. Furthermore, utilizing the load-bearing tube as the insert, the sleeve muscle enables an innovative “actuation-load bearing” structure, which has a potential of generating a highly compact actuation system suitable for prosthetic use. Utilizing this new actuator, the preliminary design of a transtibial prosthesis is presented, which is able to provide sufficient torque output and range of motion for a 75 Kg amputee user in level walking. PMID:24187262

Technical concept and evaluation of a novel shoulder simulator with adaptive muscle force generation and free motion

Directory of Open Access Journals (Sweden)

Verjans Mark

2016-09-01

Full Text Available The human shoulder is one of the most complex joints of the human body, and due to the high range of motion and the complex soft tissue apparatus prone to injuries. Surgical therapies and joint replacements often lead to unsatisfactory results. To improve the understanding of the complex biomechanics of the shoulder, experimental investigations have to be conducted. For this purpose a new shoulder simulator with an innovative muscle force generation was developed. On the basis of a modular concept six artificial pneumatic muscles were integrated to represent the functionally most important muscles of the shoulder joint, whereby a free and controlled movement of the humerus can be conducted. For each muscle individual setpoints for muscle length control based on a user defined shoulder movement for any artificial or cadaver specimen are created by manual motion “Teach-In”. Additional to muscle forces and lengths, optical tracking and a joint force measurement is used to enable different biomechanical studies of the shoulder joint. This paper describes the technical setup as well as the control strategy and first results of its experimental functional validation.

Characterisation of a phenomenological model for commercial pneumatic muscle actuators.

Science.gov (United States)

Serres, J L; Reynolds, D B; Phillips, C A; Gerschutz, M J; Repperger, D W

2009-08-01

This study focuses on the parameter characterisation of a three-element phenomenological model for commercially available pneumatic muscle actuators (PMAs). This model consists of a spring, damping and contractile element arranged in parallel. Data collected from static loading, contraction and relaxation experiments were fitted to theoretical solutions of the governing equation for the three-element model resulting in prediction profiles for the spring, damping and contractile force coefficient. For the spring coefficient, K N/mm, the following relationships were found: K = 32.7 - 0.0321P for 150 < or = P < or = 314 kPa and K = 17 + 0.0179P for 314 < or = P < or = 550 kPa. For the damping coefficient, B Ns/mm, the following relationship was found during contraction: B = 2.90 for 150 < or = P < or = 550 kPa. During relaxation, B = 1.57 for 150 < or = P < or = 372 kPa and B = 0.311 + 0.00338P for 372 < or = P < or = 550. The following relationship for the contractile force coefficient, F(ce) N, was also determined: F(ce) = 2.91P+44.6 for 150 < or = P < or = 550 kPa. The model was then validated by reasonably predicting the response of the PMA to a triangular wave input in pressure under a constant load on a dynamic test station.

Flexidrive: a soft artificial muscle motor

Science.gov (United States)

Anderson, Iain A.; Tse, Tony C. H.; Inamura, Tokushu; O'Brien, Benjamin; McKay, Thomas; Gisby, Todd

2011-04-01

We use our thumbs and forefingers to rotate an object such as a control knob on a stereo system by moving our finger relative to our thumb. Motion is imparted without sliding and in a precise manner. In this paper we demonstrate how an artificial muscle membrane can be used to mimic this action. This is achieved by embedding a soft gear within the membrane. Deformation of the membrane results in deformation of the polymer gear and this can be used for motor actuation by rotating the shaft. The soft motors were fabricated from 3M VHB4905 membranes 0.5mm thick that were pre-stretched equibiaxially to a final thickness of 31 μm. Each membrane had polymer acrylic soft gears inserted at the center. Sectors of each membrane (60° sector) were painted on both sides with conducting carbon grease leaving gaps between adjoining sectors to avoid arcing between them. Each sector was electrically connected to a power supply electrode on the rigid acrylic frame via narrow avenues of carbon-grease. The motors were supported in rigid acrylic frames aligned concentrically. A flexible shaft was inserted through both gears. Membranes were charged using a step wave PWM voltage signal delivered using a Biomimetics Lab EAP Control unit. Both membrane viscoelasticity and the resisting torque on the shaft influence motor speed by changing the effective circumference of the flexible gear. This new soft motor opens the door to artificial muscle machines molded as a single part.

Using reactive artificial muscles to determine water exchange during reactions

International Nuclear Information System (INIS)

Otero, T F; Martínez, J G; Zaifoglu, B

2013-01-01

Artificial muscles based on films of conducting polymers translate film volume variations, driven by electrochemical reactions (Faradaic motors), into macroscopic movements with generation of mechanical energy. The reaction promotes exchange of counterions (anions here) and solvent molecules with the electrolyte. Attributing here both the film volume variation and the movement originated by these exchanges of ions and solvent, the described angles can be used to quantify the exchanged solvent. Different angles described by bending muscles consuming equal driving charges in electrolytes having the same cation and different anions were measured. The number of exchanged counterions is given by the consumed charge and the ion valence: this is a Faradaic reaction. The described angle fraction due to the exchanged anions is given by the number of anions and the crystallographic radius. Taking as reference the anion giving the shorter angle, whatever the consumed charge, the relative number of solvent molecules exchanged by the polymeric membrane during a reversible reaction was determined. Actuators and artificial muscles can be used as useful tools for, at least, an initial study of the solvent exchange during reactions in reactive gels. (paper)

Design of a pneumatically powered wearable exoskeleton with biomimetic support and actuation

Science.gov (United States)

Sergeyev, A.; Alaraje, N.; Seidel, C.; Carlson, Z.; Breda, B.

Powered exoskeletons are designed to assist and protect the wearer. Depending on the situation they may be used to protect soldiers and construction workers, aid the survival of people in dangerous environments, or assist patients in rehabilitation. Regardless of the application there are strict requirements for designing and producing exoskeleton suites. They must be durable but light weight and flexible, have reliable power control and modulation, capable of detecting unsafe and invalid motions, and may require significant weight lifting capabilities. In this article we present an on-going research on robotic exoskeleton replicating of human muscle functions. A single wearable knee-joint prototype described in this article combines the use of soft pneumatic muscle-like actuators and a control system based off the users own natural muscle signals. The Pneumatic Exoskeleton uses bioelectrical signals to detect movement intention from the pilot. This paper details the technical design aspects of a lower-limb robotic exoskeleton with possibility of further expansion to fully functioning robotic exoskeleton suit.

Does intermittent pneumatic leg compression enhance muscle recovery after strenuous eccentric exercise?

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Cochrane, D J; Booker, H R; Mundel, T; Barnes, M J

2013-11-01

Intermittent pneumatic compression (IPC) has gained rapid popularity as a post-exercise recovery modality. Despite its widespread use and anecdotal claims for enhancing muscle recovery there is no scientific evidence to support its use. 10 healthy, active males performed a strenuous bout of eccentric exercise (3 sets of 100 repetitions) followed by IPC treatment or control performed immediately after exercise and at 24 and 48 h post-exercise. Muscular performance measurements were taken prior to exercise and 24, 48 and 72 h post-exercise and included single-leg vertical jump (VJ) and peak and average isometric [knee angle 75º] (ISO), concentric (CON) and eccentric (ECC) contractions performed at slow (30° · s⁻¹) and fast (180° · s⁻¹) velocities. Plasma creatine kinase (CK) samples were taken at pre- and post-exercise 24, 48 and 72 h. Strenuous eccentric exercise resulted in a significant decrease in peak ISO, peak and average CON (30° · s⁻¹) at 24 h compared to pre-exercise for both IPC and control, however VJ performance remained unchanged. There were no significant differences between conditions (IPC and control) or condition-time interactions for any of the contraction types (ISO, CON, ECC) or velocities (CON, ECC 30° · s⁻¹ and 180° · s⁻¹). However, CK was significantly elevated at 24 h compared to pre-exercise in both conditions (IPC and control). IPC did not attenuate muscle force loss following a bout of strenuous eccentric exercise in comparison to a control. While IPC has been used in the clinical setting to treat pathologic conditions, the parameters used to treat muscle damage following strenuous exercise in healthy participants are likely to be very different than those used to treat pathologic conditions. © Georg Thieme Verlag KG Stuttgart · New York.

Caudal pneumaticity and pneumatic hiatuses in the sauropod dinosaurs Giraffatitan and Apatosaurus.

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Mathew J Wedel

Full Text Available Skeletal pneumaticity is found in the presacral vertebrae of most sauropod dinosaurs, but pneumaticity is much less common in the vertebrae of the tail. We describe previously unrecognized pneumatic fossae in the mid-caudal vertebrae of specimens of Giraffatitan and Apatosaurus. In both taxa, the most distal pneumatic vertebrae are separated from other pneumatic vertebrae by sequences of three to seven apneumatic vertebrae. Caudal pneumaticity is not prominent in most individuals of either of these taxa, and its unpredictable development means that it may be more widespread than previously recognised within Sauropoda and elsewhere in Saurischia. The erratic patterns of caudal pneumatization in Giraffatitan and Apatosaurus, including the pneumatic hiatuses, show that pneumatic diverticula were more broadly distributed in the bodies of the living animals than are their traces in the skeleton. Together with recently published evidence of cryptic diverticula--those that leave few or no skeletal traces--in basal sauropodomorphs and in pterosaurs, this is further evidence that pneumatic diverticula were widespread in ornithodirans, both across phylogeny and throughout anatomy.

Artificial Muscles Based on Electroactive Polymers as an Enabling Tool in Biomimetics

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Bar-Cohen, Y.

2007-01-01

Evolution has resolved many of nature's challenges leading to working and lasting solutions that employ principles of physics, chemistry, mechanical engineering, materials science, and many other fields of science and engineering. Nature's inventions have always inspired human achievements leading to effective materials, structures, tools, mechanisms, processes, algorithms, methods, systems, and many other benefits. Some of the technologies that have emerged include artificial intelligence, artificial vision, and artificial muscles, where the latter is the moniker for electroactive polymers (EAPs). To take advantage of these materials and make them practical actuators, efforts are made worldwide to develop capabilities that are critical to the field infrastructure. Researchers are developing analytical model and comprehensive understanding of EAP materials response mechanism as well as effective processing and characterization techniques. The field is still in its emerging state and robust materials are still not readily available; however, in recent years, significant progress has been made and commercial products have already started to appear. In the current paper, the state-of-the-art and challenges to artificial muscles as well as their potential application to biomimetic mechanisms and devices are described and discussed.

Deep sedation during pneumatic reduction of intussusception.

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Ilivitzki, Anat; Shtark, Luda Glozman; Arish, Karin; Engel, Ahuva

2012-05-01

Pneumatic reduction of intussusception under fluoroscopic guidance is a routine procedure. The unsedated child may resist the procedure, which may lengthen its duration and increase the radiation dose. We use deep sedation during the procedure to overcome these difficulties. The purpose of this study was to summarize our experience with deep sedation during fluoroscopic reduction of intussusception and assess the added value and complication rate of deep sedation. All children with intussusception who underwent pneumatic reduction in our hospital between January 2004 and June 2011 were included in this retrospective study. Anesthetists sedated the children using propofol. The fluoroscopic studies, ultrasound (US) studies and the childrens' charts were reviewed. One hundred thirty-one attempted reductions were performed in 119 children, of which 121 (92%) were successful and 10 (8%) failed. Two perforations (1.5%) occurred during attempted reduction. Average fluoroscopic time was 1.5 minutes. No complication to sedation was recorded. Deep sedation with propofol did not add any complication to the pneumatic reduction. The fluoroscopic time was short. The success rate of reduction was high,raising the possibility that sedation is beneficial, possibly by smooth muscle relaxation.

All-solid-state carbon nanotube torsional and tensile artificial muscles.

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Lee, Jae Ah; Kim, Youn Tae; Spinks, Geoffrey M; Suh, Dongseok; Lepró, Xavier; Lima, Mácio D; Baughman, Ray H; Kim, Seon Jeong

2014-05-14

We report electrochemically powered, all-solid-state torsional and tensile artificial yarn muscles using a spinnable carbon nanotube (CNT) sheet that provides attractive performance. Large torsional muscle stroke (53°/mm) with minor hysteresis loop was obtained for a low applied voltage (5 V) without the use of a relatively complex three-electrode electromechanical setup, liquid electrolyte, or packaging. Useful tensile muscle strokes were obtained (1.3% at 2.5 V and 0.52% at 1 V) when lifting loads that are ∼25 times heavier than can be lifted by the same diameter human skeletal muscle. Also, the tensile actuator maintained its contraction following charging and subsequent disconnection from the power supply because of its own supercapacitor property at the same time. Possible eventual applications for the individual tensile and torsional muscles are in micromechanical devices, such as for controlling valves and stirring liquids in microfluidic circuits, and in medical catheters.

The effects of powered ankle-foot orthoses on joint kinematics and muscle activation during walking in individuals with incomplete spinal cord injury

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Domingo Antoinette

2006-02-01

Full Text Available Abstract Background Powered lower limb orthoses could reduce therapist labor during gait rehabilitation after neurological injury. However, it is not clear how patients respond to powered assistance during stepping. Patients might allow the orthoses to drive the movement pattern and reduce their muscle activation. The goal of this study was to test the effects of robotic assistance in subjects with incomplete spinal cord injury using pneumatically powered ankle-foot orthoses. Methods Five individuals with chronic incomplete spinal cord injury (ASIA C-D participated in the study. Each subject was fitted with bilateral ankle-foot orthoses equipped with artificial pneumatic muscles to power ankle plantar flexion. Subjects walked on a treadmill with partial bodyweight support at four speeds (0.36, 0.54, 0.72 and 0.89 m/s under three conditions: without wearing orthoses, wearing orthoses unpowered (passively, and wearing orthoses activated under pushbutton control by a physical therapist. Subjects also attempted a fourth condition wearing orthoses activated under pushbutton control by them. We measured joint angles, electromyography, and orthoses torque assistance. Results A therapist quickly learned to activate the artificial pneumatic muscles using the pushbuttons with the appropriate amplitude and timing. The powered orthoses provided ~50% of peak ankle torque. Ankle angle at stance push-off increased when subjects walked with powered orthoses versus when they walked with passive-orthoses (ANOVA, p Two of the five subjects were able to control the orthoses themselves using the pushbuttons. The other three subjects found it too difficult to coordinate pushbutton timing. Orthoses assistance and maximum ankle angle at push-off were smaller when the subject controlled the orthoses compared to when the therapist-controlled the orthoses (p Conclusion Mechanical assistance from powered ankle-foot orthoses improved ankle push-off kinematics without

Efficient, Absorption-Powered Artificial Muscles Based on Carbon Nanotube Hybrid Yarns.

Science.gov (United States)

Lima, Márcio Dias; Hussain, Mohammad W; Spinks, Geoffrey M; Naficy, Sina; Hagenasr, Daniela; Bykova, Julia S; Tolly, Derrick; Baughman, Ray H

2015-07-01

A new type of absorption-powered artificial muscle provides high performance without needing a temperature change. These muscles, comprising coiled carbon nanotube fibers infiltrated with silicone rubber, can contract up to 50% to generate up to 1.2 kJ kg(-1) . The drive mechanism for actuation is the rubber swelling during exposure to a nonpolar solvent. Theoretical energy efficiency conversion can be as high as 16%. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Intermittent pneumatic leg compressions acutely upregulate VEGF and MCP-1 expression in skeletal muscle.

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Roseguini, Bruno T; Mehmet Soylu, S; Whyte, Jeffrey J; Yang, H T; Newcomer, Sean; Laughlin, M Harold

2010-06-01

Application of intermittent pneumatic compressions (IPC) is an extensively used therapeutic strategy in vascular medicine, but the mechanisms by which this method works are unclear. We tested the hypothesis that acute application (150 min) of cyclic leg compressions in a rat model signals upregulation of angiogenic factors in skeletal muscle. To explore the impact of different pressures and frequency of compressions, we divided rats into four groups as follows: 120 mmHg (2 s inflation/2 s deflation), 200 mmHg (2 s/2 s), 120 mmHg (4 s/16 s), and control (no intervention). Blood flow and leg oxygenation (study 1) and the mRNA expression of angiogenic mediators in the rat tibialis anterior muscle (study 2) were assessed after a single session of IPC. In all three groups exposed to the intervention, a modest hyperemia (approximately 37% above baseline) between compressions and a slight, nonsignificant increase in leg oxygen consumption (approximately 30%) were observed during IPC. Compared with values in the control group, vascular endothelial growth factor (VEGF) and monocyte chemotactic protein-1 (MCP-1) mRNA increased significantly (P < 0.05) only in rats exposed to the higher frequency of compressions (2 s on/2 s off). Endothelial nitric oxide synthase, matrix metalloproteinase-2, and hypoxia-inducible factor-1alpha mRNA did not change significantly following the intervention. These findings show that IPC application augments the mRNA content of key angiogenic factors in skeletal muscle. Importantly, the magnitude of changes in mRNA expression appeared to be modulated by the frequency of compressions such that a higher frequency (15 cycles/min) evoked more robust changes in VEGF and MCP-1 compared with a lower frequency (3 cycles/min).

Effect of voluntary vs. artificial activation on the relationship of muscle torque to speed

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Dudley, Gary A.; Harris, Robert T.; Duvoisin, Marc R.; Hather, Bruce M.; Buchanan, Paul

1990-01-01

The suggestion by Phillips and Petrofsky (1980) and Wickiewicz et al. (1984) that artificial activation of the knee extensor muscles should result in greater relative changes in torque than those evident with maximal voluntary activation is examined by investigating the speed-torque relationship of the right knee extensor muscle group in eight human subjects in whom activation was achieved by 'maximal' voluntary effort or by electrical stimulation. Torque was measured at a specific knee angle during isokinetic concentric or eccentric actions at velocities between 0.17 and 3.66 rad/s and during isometric actions. It is shown that, with artificial activation, the relative changes in both eccentric and concentric torque were greater as the speed increased; the speed-torque relationship was independed of the extent of activation and was similar to that of an isolated muscle. On the other hand, activation by the central nervous system during maximal effort depended on the speed and the type of muscle action performed.

A computational simulated control system for a high-force pneumatic muscle actuator: system definition and application as an augmented orthosis.

Science.gov (United States)

Gerschutz, Maria J; Phillips, Chandler A; Reynolds, David B; Repperger, Daniel W

2009-04-01

High-force pneumatic muscle actuators (PMAs) are used for force assistance with minimal displacement applications. However, poor control due to dynamic nonlinearities has limited PMA applications. A simulated control system is developed consisting of: (1) a controller relating an input position angle to an output proportional pressure regulator voltage, (2) a phenomenological model of the PMA with an internal dynamic force loop (system time constant information), (3) a physical model of a human sit-to-stand task and (4) an external position angle feed-back loop. The results indicate that PMA assistance regarding the human sit-to-stand task is feasible within a specified PMA operational pressure range.

EDITORIAL: Artificial Muscles: Selected papers from the 5th World Congress on Biomimetics, Artificial Muscles and Nano-Bio (Osaka, Japan, 25-27 November 2009) Artificial Muscles: Selected papers from the 5th World Congress on Biomimetics, Artificial Muscles and Nano-Bio (Osaka, Japan, 25-27 November 2009)

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Shahinpoor, Mohsen

2011-12-01

The 5th World Congress on Biomimetics, Artificial Muscles and Nano-Bio and the 4th International Conference on Artificial Muscles were held in Osaka, Japan, 23-27 November 2009. This special section of Smart Materials and Structures is devoted to a selected number of research papers presented at this international conference and congress. Of the 76 or so papers presented at the conference, only 10 papers were finally selected, reviewed and accepted for this special section, following the regular reviewing procedures of the journal. This special section is focused on polymeric artificial muscles, electroactive polymers, multifunctional nanocomposites and their applications. In particular, an electromechanical model for self-sensing ionic polymer-metal composite actuating devices with patterned surface electrodes is presented which discusses the concept of creating self-sensing ionic polymer-metal composite (IPMC) actuating devices with patterned surface electrodes where actuator and sensor elements are separated by a grounded shielding electrode. Eventually, an electromechanical model of the device is also proposed and validated. Following that, there is broad coverage of polytetrahydrofurane-polyethylene oxide-PEDOT conducting interpenetrating polymer networks (IPNs) for high speed actuators. The conducting polymer (poly(3,4-ethylenedioxythiophene)) is incorporated within the IPNs, which are synthesized from polyethylene oxide (PEO)/polytetrahydrofurane (PTHF) networks. PEO/PTHF IPNs are prepared using poly(ethylene glycol) methacrylate and dimethacrylate and hydroxythelechelic PTHF as starting materials. The conducting IPN actuators are prepared by oxidative polymerization of 3,4-ethylenedioxithiophene (EDOT) using FeCl3 as an oxidizing agent within the PEO/PTHF IPN host matrix. Subsequently, giant and reversible magnetorheology of carrageenan/iron oxide magnetic gels are discussed and the effect of magnetic fields on the viscoelastic properties

Artificial control of muscle by endoneural multi electrode stimulation and sensing

NARCIS (Netherlands)

Rutten, Wim; Bouwman, R.L.M.

1991-01-01

Artificial electrical stimulation of motor nerves for muscle control can be made selective by using intrafascicular micro electrode arrays which contact many individual or small groups of nerve fibres. If at the same time te electrode arrays could record afferent information from the stimulated

Light-Triggered Soft Artificial Muscles: Molecular-Level Amplification of Actuation Control Signals.

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Dicker, Michael P M; Baker, Anna B; Iredale, Robert J; Naficy, Sina; Bond, Ian P; Faul, Charl F J; Rossiter, Jonathan M; Spinks, Geoffrey M; Weaver, Paul M

2017-08-23

The principle of control signal amplification is found in all actuation systems, from engineered devices through to the operation of biological muscles. However, current engineering approaches require the use of hard and bulky external switches or valves, incompatible with both the properties of emerging soft artificial muscle technology and those of the bioinspired robotic systems they enable. To address this deficiency a biomimetic molecular-level approach is developed that employs light, with its excellent spatial and temporal control properties, to actuate soft, pH-responsive hydrogel artificial muscles. Although this actuation is triggered by light, it is largely powered by the resulting excitation and runaway chemical reaction of a light-sensitive acid autocatalytic solution in which the actuator is immersed. This process produces actuation strains of up to 45% and a three-fold chemical amplification of the controlling light-trigger, realising a new strategy for the creation of highly functional soft actuating systems.

Antagonistic Mono- and Bi-Articular Lower-Limb Muscle Activities’ Model Characterization at Different Speeds

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Dzahir M.A.M

2017-01-01

Full Text Available Nowadays, medical rehabilitation system has become a requirement due to increment in national rehabilitation centres and medical hospitals. An assistive rehabilitation orthosis becomes essential and was used for rehabilitation therapy, condition monitoring, and physical strengthening. This study focused on the lower limb assistive rehabilitation orthosis development using pneumatic artificial muscle. To successfully control this orthosis system which consists of antagonistic mono- and biarticular muscle actuators, it is necessary to construct a reliable control algorithm. The suitable control scheme and strategy to manoeuvre this orthosis system similar to human musculoskeletal system have yet to be fully developed and established. Based on the review study, it is said that the co-contraction controls of anterior-posterior pneumatic muscles was able to improve the joint stiffness and stability of the orthosis as well as good manoeuvrability. Therefore, a characterization model of an antagonistic mono- and bi-articular muscles activities of human's lowerlimb during walking motion will be necessary. A healthy young male subject was used as test subject to obtain the sEMG muscle activities for antagonistic mono- and bi-articular muscles (i.e., Vastus Medialis-VM, Vastus Lateralis-VL, Rectus Femoris-RF, and Bicep Femoris-BF. The tests were carried out at different speeds of 2km/h, 3km/h, and 4km/h for one minute walking motion on a treadmill. Then, the patterns of the sEMG muscle activities were modelled and characterised using fifth order polynomial equation. Based on the results, it is shown that the anterior and posterior muscles were exhibited a muscle synergy in-between multiple anterior or posterior muscles and muscle co-contraction between anteriorposterior muscles in order to control the movements at the joints during walking motion. As conclusion, it is proven that the sEMG muscle activities of the antagonistic mono- and bi

Effect of heat stress on contractility of tissue-engineered artificial skeletal muscle.

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Takagi, Shunya; Nakamura, Tomohiro; Fujisato, Toshia

2018-01-23

The effects of heat stress on tissue like skeletal muscle have been widely studied. However, the mechanism responsible for the effect of heat stress is still unclear. A useful experimental tissue model is necessary because muscle function in cell culture may differ from native muscle and measuring its contractility is difficult. We previously reported three-dimensional tissue-engineered artificial skeletal muscle (TEM) that can be easily set in a measurement apparatus for quantitative evaluation of contractility. We have now applied TEM to the investigation of heat stress. We analyzed contractility immediately after thermal exposure at 39 °C for 24 or 48 h to evaluate the acute effects and after thermal exposure followed by normal culture to evaluate the aftereffects. Peak twitch contractile force and time-to-peak twitch were used as contractile parameters. Heat stress increased the TCF in the early stage (1 week) after normal culture; the TCF decreased temporarily in the middle to late stages (2-3 weeks). These results suggest that heat stress may affect both myoblast fusion and myotube differentiation in the early stage of TEM culture, but not myotube maturation in the late stage. The TCF increase rate with thermal exposure was significantly higher than that without thermal exposure. Although detailed analysis at the molecular level is necessary for further investigation, our artificial skeletal muscle may be a promising tool for heat stress investigation.

Finite-element analysis of some pneumatically-actuated wrist-rehabilitation equipment

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Filip Ovidiu

2017-01-01

Full Text Available The paper presents some wrist-rehabilitation equipment, actuated by a pneumatic muscle. This one drives, through a rack-pinion mechanism, a Fin Ray-type mechanism, with a view to mobilizing the injured palm. Unlike other rehabilitation equipments, the one presented in this paper, ensures the movement of both palm and fingers.

Bionic Humans Using EAP as Artificial Muscles Reality and Challenges

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Yoseph Bar-Cohen

2008-11-01

Full Text Available For many years, the idea of a human with bionic muscles immediately conjures up science fiction images of a TV series superhuman character that was implanted with bionic muscles and portrayed with strength and speed far superior to any normal human. As fantastic as this idea may seem, recent developments in electroactive polymers (EAP may one day make such bionics possible. Polymers that exhibit large displacement in response to stimulation that is other than electrical signal were known for many years. Initially, EAP received relatively little attention due to their limited actuation capability. However, in the recent years, the view of the EAP materials has changed due to the introduction of effective new materials that significantly surpassed the capability of the widely used piezoelectric polymer, PVDF. As this technology continues to evolve, novel mechanisms that are biologically inspired are expected to emerge. EAP materials can potentially provide actuation with lifelike response and more flexible configurations. While further improvements in performance and robustness are still needed, there already have been several reported successes. In recognition of the need for cooperation in this multidisciplinary field, the author initiated and organized a series of international forums that are leading to a growing number of research and development projects and to great advances in the field. In 1999, he challenged the worldwide science and engineering community of EAP experts to develop a robotic arm that is actuated by artificial muscles to win a wrestling match against a human opponent. In this paper, the field of EAP as artificial muscles will be reviewed covering the state of the art, the challenges and the vision for the progress in future years.

Three-Dimensional Human iPSC-Derived Artificial Skeletal Muscles Model Muscular Dystrophies and Enable Multilineage Tissue Engineering.

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Maffioletti, Sara Martina; Sarcar, Shilpita; Henderson, Alexander B H; Mannhardt, Ingra; Pinton, Luca; Moyle, Louise Anne; Steele-Stallard, Heather; Cappellari, Ornella; Wells, Kim E; Ferrari, Giulia; Mitchell, Jamie S; Tyzack, Giulia E; Kotiadis, Vassilios N; Khedr, Moustafa; Ragazzi, Martina; Wang, Weixin; Duchen, Michael R; Patani, Rickie; Zammit, Peter S; Wells, Dominic J; Eschenhagen, Thomas; Tedesco, Francesco Saverio

2018-04-17

Generating human skeletal muscle models is instrumental for investigating muscle pathology and therapy. Here, we report the generation of three-dimensional (3D) artificial skeletal muscle tissue from human pluripotent stem cells, including induced pluripotent stem cells (iPSCs) from patients with Duchenne, limb-girdle, and congenital muscular dystrophies. 3D skeletal myogenic differentiation of pluripotent cells was induced within hydrogels under tension to provide myofiber alignment. Artificial muscles recapitulated characteristics of human skeletal muscle tissue and could be implanted into immunodeficient mice. Pathological cellular hallmarks of incurable forms of severe muscular dystrophy could be modeled with high fidelity using this 3D platform. Finally, we show generation of fully human iPSC-derived, complex, multilineage muscle models containing key isogenic cellular constituents of skeletal muscle, including vascular endothelial cells, pericytes, and motor neurons. These results lay the foundation for a human skeletal muscle organoid-like platform for disease modeling, regenerative medicine, and therapy development. Copyright © 2018 The Author(s). Published by Elsevier Inc. All rights reserved.

Tracking Control of a 2-DOF Arm Actuated by Pneumatic Muscle Actuators Using Adaptive Fuzzy Sliding Mode Control

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Chang, Ming-Kun; Wu, Jui-Chi

Pneumatic muscle actuators (PMAs) have the highest power/weight ratio and power/volume ratio of any actuator. Therefore, they can be used not only in the rehabilitation engineering, but also as an actuator in robots, including industrial robots and therapy robots. It is difficult to achieve excellent tracking performance using classical control methods because the compressibility of gas and the nonlinear elasticity of bladder container causes parameter variations. An adaptive fuzzy sliding mode control is developed in this study. The fuzzy sliding surface can be used to reduce fuzzy rule numbers, and the adaptive control law is used to modify fuzzy rules on-line. A model matching technique is then adopted to adjust scaling factors. The experimental results show that this control strategy can attain excellent tracking performance.

Soft Plastic Robots and Artificial Muscles

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Mohsen Shahinpoor

2008-11-01

Full Text Available Ionic polymeric materials suitably made into a functionally-graded composite with a conductor such as a metal, graphite or synthetic metal such as conductive polymers that act as a distributed electrode can exhibit large dynamic deformation if placed in a time-varying electric field (see Fig.s 1and 2 [Shahinpoor 1992, 1993, Adolf, Shahinpoor, Segalman and Witkowski, 1993]. A recent book by Shahinpoor, Kim and Mojarrad (2004 and 4 fundamental review papers by Shahinpoor and Kim (2001, 2003, 2004 and 2005 presents a thorough coverage of the existing knowledge in connection with ionic polymeric cond uctor composites (IPCC?s including ionic polymeric metal composites (IPMC?s as biomimetic distributed nanosensors, nanoactuators and artificial muscles and electrically controllable polymeric network structures. Furthermore, in reference [Shahinpoor, Kim and Mojarrad, 2004], methods of fabrication of several electrically and chemically active ionic polymeric gel muscles such as polyacrylonitrile (PAN, poly(2- acrylamido-2-methyl-1-propane sulfonic acid (PAMPS, and polyacrylic-acid-bis-acrylamide (PAAM as well as a new class of electrically active composite muscle such as Ionic Polymeric Conductor Composites (IPCC?s or Ionic Polymer Metal Composites (IPMC?s made with perfluorinated sulfonic or carboxylic ionic membranes (chlor-alkali family are introduced and investigated that have resulted in seven US patents regarding their fabrication and application capabilities as distributed biomimetic nanoactuators, nanotransducers, nanorobots and nanosensors. Theories and numerical simulations associated with ionic polymer gels electrodynamics and chemodynamics are also discussed, analyzed and modeled for the manufactured material.

Prospective follow-up study of artificial urinary sphincter placement preserving the bulbospongiosus muscle.

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Collado Serra, Argimiro; Domínguez-Escrig, José; Gómez-Ferrer, Álvaro; Batista Miranda, Emilio; Rubio-Briones, José; Solsona Narbón, Eduardo

2017-06-01

Artificial urinary sphincter (AUS) AMS-800® is an effective treatment for male stress urinary incontinence. The aim of the study was to assess the long-term effectiveness and complications of artificial urinary sphincter placement preserving the bulbospongiosus muscle. From April 2004 to March 2014, all consecutive male patients with urinary incontinence who underwent an AUS prosthesis insertion were prospectively evaluated. Surgical technique consisted of a perineal incision for cuff placement around the bulbous urethra preserving the bulbospongiosus muscle. Cure rate was defined as no pad use. A total of 82 consecutive patients (median age 68 years, range: 54-78) were prospectively evaluated (median follow-up 46 months, range: 12-135). Bulbospongiosus muscles were preserved intact in all cases with no intraoperative complications. Postoperative complications were reported in 14 patients (1 urethral erosion). The overall cure rate (dry rate) was 76.8% and the median ICIQ-UI score improved from 18 (range: 8-21) to 4 (range: 0-17) (P Artificial urinary sphincter survival rate was 95.5% (95%CI 89.4-100%) at 24 months and 62.6% (95%CI 45.5-79.6%) at 60 months. The mechanical failure rate was 6.3% (median 46.1 months, range: 22.2-100.9) and urethral atrophy and/or inadequate compression rate was 9.5% (median 58.6 months, range: 39-101.4 months). Our study suggests that placement of AUS preserving the bulbospongiosus muscle is technically easy and efficient, reports excellent continence rates and lower urethral erosion rates, and could delay the onset of urethral atrophy compared to other surgical procedures used for sphincter placement. © 2016 Wiley Periodicals, Inc.

Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles.

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Liu, Quan; Liu, Aiming; Meng, Wei; Ai, Qingsong; Xie, Sheng Q

2017-01-01

Traditional compliance control of a rehabilitation robot is implemented in task space by using impedance or admittance control algorithms. The soft robot actuated by pneumatic muscle actuators (PMAs) is becoming prominent for patients as it enables the compliance being adjusted in each active link, which, however, has not been reported in the literature. This paper proposes a new compliance control method of a soft ankle rehabilitation robot that is driven by four PMAs configured in parallel to enable three degrees of freedom movement of the ankle joint. A new hierarchical compliance control structure, including a low-level compliance adjustment controller in joint space and a high-level admittance controller in task space, is designed. An adaptive compliance control paradigm is further developed by taking into account patient's active contribution and movement ability during a previous period of time, in order to provide robot assistance only when it is necessarily required. Experiments on healthy and impaired human subjects were conducted to verify the adaptive hierarchical compliance control scheme. The results show that the robot hierarchical compliance can be online adjusted according to the participant's assessment. The robot reduces its assistance output when participants contribute more and vice versa , thus providing a potentially feasible solution to the patient-in-loop cooperative training strategy.

Linear pneumatic actuator

OpenAIRE

Avram Mihai; Niţu Constantin; Bucşan Constantin; Grămescu Bogdan

2017-01-01

The paper presents a linear pneumatic actuator with short working stroke. It consists of a pneumatic motor (a simple stroke cylinder or a membrane chamber), two 2/2 pneumatic distributors “all or nothing” electrically commanded for controlling the intake/outtake flow to/from the active chamber of the motor, a position transducer and a microcontroller. There is also presented the theoretical analysis (mathematical modelling and numerical simulation) accomplished.

Position Control of a Pneumatic Muscle Actuator Using RBF Neural Network Tuned PID Controller

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Jie Zhao

2015-01-01

Full Text Available Pneumatic Muscle Actuator (PMA has a broad application prospect in soft robotics. However, PMA has highly nonlinear and hysteretic properties among force, displacement, and pressure, which lead to difficulty in accurate position control. A phenomenological model is developed to portray the hysteretic behavior of PMA. This phenomenological model consists of linear component and hysteretic component force. The latter component is described by Duhem model. An experimental apparatus is built up and sets of experimental data are acquired. Based on the experimental data, parameters of the model are identified. Validation of the model is performed. Then a novel cascade position PID controller is devised for a 1-DOF manipulator actuated by PMA. The outer loop of the controller is to cope with position control whilst the inner loop deals with pressure dynamics within PMA. To enhance the adaptability of the PID algorithm to the high nonlinearities of the manipulator, PID parameters are tuned online using RBF Neural Network. Experiments are performed and comparison between position response of RBF Neural Network based PID controller and that of classic PID controller demonstrates the effectiveness of the novel adaptive controller on the manipulator.

Intermittent pneumatic leg compressions enhance muscle performance and blood flow in a model of peripheral arterial insufficiency.

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Roseguini, Bruno T; Arce-Esquivel, Arturo A; Newcomer, Sean C; Yang, Hsiao T; Terjung, Ronald; Laughlin, M H

2012-05-01

Despite the escalating prevalence in the aging population, few therapeutic options exist to treat patients with peripheral arterial disease. Application of intermittent pneumatic leg compressions (IPC) is regarded as a promising noninvasive approach to treat this condition, but the clinical efficacy, as well the mechanistic basis of action of this therapy, remain poorly defined. We tested the hypothesis that 2 wk of daily application of IPC enhances exercise tolerance by improving blood flow and promoting angiogenesis in skeletal muscle in a model of peripheral arterial insufficiency. Male Sprague-Dawley rats were subjected to bilateral ligation of the femoral artery and randomly allocated to treatment or sham groups. Animals were anesthetized daily and exposed to 1-h sessions of bilateral IPC or sham treatment for 14-16 consecutive days. A third group of nonligated rats was also studied. Marked increases in treadmill exercise tolerance (∼33%, P < 0.05) and improved muscle performance in situ (∼10%, P < 0.05) were observed in IPC-treated animals. Compared with sham-treated controls, blood flow measured with isotope-labeled microspheres during in situ contractions tended to be higher in IPC-treated animals in muscles composed of predominantly fast-twitch white fibers, such as the plantaris (∼93%, P = 0.02). Capillary contacts per fiber and citrate synthase activity were not significantly altered by IPC treatment. Collectively, these data indicate that IPC improves exercise tolerance in a model of peripheral arterial insufficiency in part by enhancing blood flow to collateral-dependent tissues.

Development of a linear induction motor based artificial muscle system.

Science.gov (United States)

Gruber, A; Arguello, E; Silva, R

2013-01-01

We present the design of a linear induction motor based on electromagnetic interactions. The engine is capable of producing a linear movement from electricity. The design consists of stators arranged in parallel, which produce a magnetic field sufficient to displace a plunger along its axial axis. Furthermore, the winding has a shell and cap of ferromagnetic material that amplifies the magnetic field. This produces a force along the length of the motor that is similar to that of skeletal muscle. In principle, the objective is to use the engine in the development of an artificial muscle system for prosthetic applications, but it could have multiple applications, not only in the medical field, but in other industries.

Influence of Isoinertial-Pneumatic Mixed Resistances on Force-Velocity Relationship.

Science.gov (United States)

Avrillon, Simon; Jidovtseff, Boris; Hug, François; Guilhem, Gaël

2017-03-01

Muscle strengthening is commonly based on the use of isoinertial loading, whereas variable resistances such as pneumatic loading may be implemented to optimize training stimulus. The purpose of the current study was to determine the effect of the ratio between pneumatic and isoinertial resistance on the force-velocity relationship during ballistic movements. A total of 15 participants performed 2 concentric repetitions of ballistic bench-press movements with intention to throw the bar at 30%, 45%, 60%, 75%, and 90% of the maximal concentric repetition with 5 resistance ratios including 100%, 75%, 50%, 25%, or 0% of pneumatic resistance, the additional load being isoinertial. Force-, velocity-, and power-time patterns were assessed and averaged over the concentric phase to determine the force-velocity and power-velocity relationships for each resistance ratio. Each 25% increase in the pneumatic part in the resistance ratio elicited higher movement velocity (+0.11 ± 0.03 m/s from 0% to 80% of the concentric phase) associated with lower force levels (-43.6 ± 15.2 N). Increased isoinertial part in the resistance ratio resulted in higher velocity toward the end of the movement (+0.23 ± 0.01 m/s from 90% to 100%). The findings show that the resistance ratio could be modulated to develop the acceleration phase and force toward the end of the concentric phase (pneumatic-oriented resistance). Inversely, isoinertial-oriented resistance should be used to develop maximal force and maximal power. Resistance modality could, therefore, be considered an innovative variable to modulate the training stimulus according to athletic purposes.

Linear pneumatic actuator

Directory of Open Access Journals (Sweden)

Avram Mihai

2017-01-01

Full Text Available The paper presents a linear pneumatic actuator with short working stroke. It consists of a pneumatic motor (a simple stroke cylinder or a membrane chamber, two 2/2 pneumatic distributors “all or nothing” electrically commanded for controlling the intake/outtake flow to/from the active chamber of the motor, a position transducer and a microcontroller. There is also presented the theoretical analysis (mathematical modelling and numerical simulation accomplished.

Laser-cutting pneumatics

OpenAIRE

Groenhuis, Vincent; Stramigioli, Stefano

2016-01-01

Pneumatic devices require tight tolerances to keep them leak-free. Specialized companies offer various off-the-shelf devices, while these work well for many applications, there are also situations where custom design and production of pneumatic parts are desired. Cost efficiency, design flexibility, rapid prototyping, and MRI compatibility requirements are reasons why we investigated a method to design and produce different pneumatic devices using a laser cutter from acrylic, acetal, and rubb...

Measurement of Static Characteristics Pneumatic Motors with Elastic Working Elements

Directory of Open Access Journals (Sweden)

Kamil FOJTÁŠEK

2012-06-01

Full Text Available Into a category of pneumatic motors with elastic working parts belong air bellows, diaphragm motors and fluid muscles. All three types of these motors have some elastic part usually made of rubber. This part is deformed under the pressure of a compressed air or a mass load resulting in a final working effect. This paper deals with measuring of static characteristics of these motors.

Muscle injury induced beneath and distal to a pneumatic tourniquet: A quantitative animal study of effects of tourniquet pressure and duration

Energy Technology Data Exchange (ETDEWEB)

Pedowitz, R.A.; Gershuni, D.H.; Schmidt, A.H.; Friden, J.; Rydevik, B.L.; Hargens, A.R. (Division of Orthopaedics and Rehabilitation, University of California, San Diego (United States))

1991-07-01

Previous recommendations regarding the safe period of tourniquet hemostasis were based largely on studies of ischemia distal to the tourniquet. This study quantitatively analyzed skeletal muscle injury induced beneath and distal to a pneumatic tourniquet applied to the hindlimbs of rabbits for 1, 2, or 4 hours with a cuff inflation pressure of 125, 200, or 350 mm Hg. Technetium Tc 99m pyrophosphate incorporation after systemic injection (Tc 99 uptake) and correlative histology were used to evaluate tissue damage 2 days after tourniquet application. Compared with the contralateral control limbs, compression and ischemia induced statistically significant increases in Tc 99 uptake in the thigh and leg regions of all groups. Pyrophosphate incorporation was significantly greater in the thigh region than in the leg region after 2 hours of compression in the 200 and 350 mm Hg pressure groups and following 4 hours of compression in all pressure groups. Focal and regional fiber necrosis and degeneration were observed in thigh muscles after 2 hours of tourniquet compression. Two hours of continuous tourniquet application at clinically relevant cuff inflation pressures induced significant skeletal muscle necrosis beneath the tourniquet. Use of the lowest possible inflation pressure for a limited duration should minimize the degree of tissue injury caused by tourniquet application.

Muscle injury induced beneath and distal to a pneumatic tourniquet: a quantitative animal study of effects of tourniquet pressure and duration.

Science.gov (United States)

Pedowitz, R A; Gershuni, D H; Schmidt, A H; Fridén, J; Rydevik, B L; Hargens, A R

1991-07-01

Previous recommendations regarding the "safe" period of tourniquet hemostasis were based largely on studies of ischemia distal to the tourniquet. This study quantitatively analyzed skeletal muscle injury induced beneath and distal to a pneumatic tourniquet applied to the hindlimbs of rabbits for 1, 2, or 4 hours with a cuff inflation pressure of 125, 200, or 350 mm Hg. Technetium Tc 99m pyrophosphate incorporation after systemic injection (Tc 99 uptake) and correlative histology were used to evaluate tissue damage 2 days after tourniquet application. Compared with the contralateral control limbs, compression and ischemia induced statistically significant increases in Tc 99 uptake in the thigh and leg regions of all groups. Pyrophosphate incorporation was significantly greater in the thigh region than in the leg region after 2 hours of compression in the 200 and 350 mm Hg pressure groups and following 4 hours of compression in all pressure groups. Focal and regional fiber necrosis and degeneration were observed in thigh muscles after 2 hours of tourniquet compression. Two hours of continuous tourniquet application at clinically relevant cuff inflation pressures induced significant skeletal muscle necrosis beneath the tourniquet. Use of the lowest possible inflation pressure for a limited duration should minimize the degree of tissue injury caused by tourniquet application.

Muscle injury induced beneath and distal to a pneumatic tourniquet: A quantitative animal study of effects of tourniquet pressure and duration

International Nuclear Information System (INIS)

Pedowitz, R.A.; Gershuni, D.H.; Schmidt, A.H.; Friden, J.; Rydevik, B.L.; Hargens, A.R.

1991-01-01

Previous recommendations regarding the safe period of tourniquet hemostasis were based largely on studies of ischemia distal to the tourniquet. This study quantitatively analyzed skeletal muscle injury induced beneath and distal to a pneumatic tourniquet applied to the hindlimbs of rabbits for 1, 2, or 4 hours with a cuff inflation pressure of 125, 200, or 350 mm Hg. Technetium Tc 99m pyrophosphate incorporation after systemic injection (Tc 99 uptake) and correlative histology were used to evaluate tissue damage 2 days after tourniquet application. Compared with the contralateral control limbs, compression and ischemia induced statistically significant increases in Tc 99 uptake in the thigh and leg regions of all groups. Pyrophosphate incorporation was significantly greater in the thigh region than in the leg region after 2 hours of compression in the 200 and 350 mm Hg pressure groups and following 4 hours of compression in all pressure groups. Focal and regional fiber necrosis and degeneration were observed in thigh muscles after 2 hours of tourniquet compression. Two hours of continuous tourniquet application at clinically relevant cuff inflation pressures induced significant skeletal muscle necrosis beneath the tourniquet. Use of the lowest possible inflation pressure for a limited duration should minimize the degree of tissue injury caused by tourniquet application

Pneumatic dilation and botulinum toxin: when and why?

Science.gov (United States)

Bozzi, Rosamaria; Di Martino, Vincenzo; Inzirillo, Antonio; D'Avenia, Eugenio; Inzirillo, Maurizio; Cattaneo, Fabio; Cattaneo, Domenico

2013-01-01

Pneumatic dilation and botulinum toxin:when and why? The endoscopic treatment options of achalasia include botulinum toxin (BT) injection and pneumatic dilation (PD) of the lower esophageal sphincter (LES). BT can reduce the LES pressure by blocking the release of acetylcoline from presynaptic cholinergic nerve terminals in the myenteric plexus. Although the procedure is safe and good initial response is reported, there is a wide variability in the duration of the response and the effect tends to decrease over time. BT is usually recommended for elderly patients or patients with comorbid illnesses, who are poor candidates for more invasive procedures. PD aims at tearing the muscle fibers of the LES and is considered the most effective nonsurgical treatment for achalasia. Technical details of the procedure vary in different institutions and in many clinical settings the choice between PD or minimally invasive surgical myotomy depends upon local expertise in the procedures. Further endoscopic treatment options such as submucosal esophageal myotomy or self-expanding metallic stents are being studied.

Design and simulative experiment of an innovative trailing edge morphing mechanism driven by artificial muscles embedded in skin

Science.gov (United States)

Li, Hongda; Liu, Long; Xiao, Tianhang; Ang, Haisong

2016-09-01

In this paper, conceptual design of a tailing edge morphing mechanism developed based on a new kind of artificial muscle embedded in skin, named Driving Skin, is proposed. To demonstrate the feasibility of this conceptual design, an experiment using ordinary fishing lines to simulate the function of artificial muscles was designed and carried out. Some measures were designed to ensure measurement accuracy. The experiment result shows that the contraction ratio and force required by the morphing mechanism can be satisfied by the new artificial muscles, and a relationship between contraction ratios and morphing angles can be found. To demonstrate the practical application feasibility of this conceptual design, a wing section using ordinary ropes to simulate the function of the Driving Skin mechanism was designed and fabricated. The demonstration wing section, extremely light in weight and capable of changing thickness, performs well, with a -30^\\circ /+30^\\circ morphing angle achieved. The trailing edge morphing mechanism is efficient in re-contouring the wing profile.

Hierarchical Compliance Control of a Soft Ankle Rehabilitation Robot Actuated by Pneumatic Muscles

Directory of Open Access Journals (Sweden)

Quan Liu

2017-12-01

Full Text Available Traditional compliance control of a rehabilitation robot is implemented in task space by using impedance or admittance control algorithms. The soft robot actuated by pneumatic muscle actuators (PMAs is becoming prominent for patients as it enables the compliance being adjusted in each active link, which, however, has not been reported in the literature. This paper proposes a new compliance control method of a soft ankle rehabilitation robot that is driven by four PMAs configured in parallel to enable three degrees of freedom movement of the ankle joint. A new hierarchical compliance control structure, including a low-level compliance adjustment controller in joint space and a high-level admittance controller in task space, is designed. An adaptive compliance control paradigm is further developed by taking into account patient’s active contribution and movement ability during a previous period of time, in order to provide robot assistance only when it is necessarily required. Experiments on healthy and impaired human subjects were conducted to verify the adaptive hierarchical compliance control scheme. The results show that the robot hierarchical compliance can be online adjusted according to the participant’s assessment. The robot reduces its assistance output when participants contribute more and vice versa, thus providing a potentially feasible solution to the patient-in-loop cooperative training strategy.

A pneumatic Bionic Voice prosthesis-Pre-clinical trials of controlling the voice onset and offset.

Science.gov (United States)

Ahmadi, Farzaneh; Noorian, Farzad; Novakovic, Daniel; van Schaik, André

2018-01-01

Despite emergent progress in many fields of bionics, a functional Bionic Voice prosthesis for laryngectomy patients (larynx amputees) has not yet been achieved, leading to a lifetime of vocal disability for these patients. This study introduces a novel framework of Pneumatic Bionic Voice Prostheses as an electronic adaptation of the Pneumatic Artificial Larynx (PAL) device. The PAL is a non-invasive mechanical voice source, driven exclusively by respiration with an exceptionally high voice quality, comparable to the existing gold standard of Tracheoesophageal (TE) voice prosthesis. Following PAL design closely as the reference, Pneumatic Bionic Voice Prostheses seem to have a strong potential to substitute the existing gold standard by generating a similar voice quality while remaining non-invasive and non-surgical. This paper designs the first Pneumatic Bionic Voice prosthesis and evaluates its onset and offset control against the PAL device through pre-clinical trials on one laryngectomy patient. The evaluation on a database of more than five hours of continuous/isolated speech recordings shows a close match between the onset/offset control of the Pneumatic Bionic Voice and the PAL with an accuracy of 98.45 ±0.54%. When implemented in real-time, the Pneumatic Bionic Voice prosthesis controller has an average onset/offset delay of 10 milliseconds compared to the PAL. Hence it addresses a major disadvantage of previous electronic voice prostheses, including myoelectric Bionic Voice, in meeting the short time-frames of controlling the onset/offset of the voice in continuous speech.

Improving dynamic performances of PWM-driven servo-pneumatic systems via a novel pneumatic circuit.

Science.gov (United States)

Taghizadeh, Mostafa; Ghaffari, Ali; Najafi, Farid

2009-10-01

In this paper, the effect of pneumatic circuit design on the input-output behavior of PWM-driven servo-pneumatic systems is investigated and their control performances are improved using linear controllers instead of complex and costly nonlinear ones. Generally, servo-pneumatic systems are well known for their nonlinear behavior. However, PWM-driven servo-pneumatic systems have the advantage of flexibility in the design of pneumatic circuits which affects the input-output linearity of the whole system. A simple pneumatic circuit with only one fast switching valve is designed which leads to a quasi-linear input-output relation. The quasi-linear behavior of the proposed circuit is verified both experimentally and by simulations. Closed loop position control experiments are then carried out using linear P- and PD-controllers. Since the output position is noisy and cannot be directly differentiated, a Kalman filter is designed to estimate the velocity of the cylinder. Highly improved tracking performances are obtained using these linear controllers, compared to previous works with nonlinear controllers.

Laser-cutting pneumatics

NARCIS (Netherlands)

Groenhuis, Vincent; Stramigioli, Stefano

Pneumatic devices require tight tolerances to keep them leak-free. Specialized companies offer various off-the-shelf devices, while these work well for many applications, there are also situations where custom design and production of pneumatic parts are desired. Cost efficiency, design flexibility,

Design and performance of heart assist or artificial heart control systems

Science.gov (United States)

Webb, J. A., Jr.; Gebben, V. D.

1978-01-01

The factors leading to the design of a controlled driving system for either a heart assist pump or artificial heart are discussed. The system provides square pressure waveform to drive a pneumatic-type blood pump. For assist usage the system uses an R-wave detector circuit that can detect the R-wave of the electrocardiogram in the presence of electrical disturbances. This circuit provides a signal useful for synchronizing an assist pump with the natural heart. It synchronizes a square wave circuit, the output of which is converted into square waveforms of pneumatic pressure suitable for driving both assist device and artificial heart. The pressure levels of the driving waveforms are controlled by means of feedback channels to maintain physiological regulation of the artificial heart's output flow. A more compact system that could achieve similar regulatory characteristics is also discussed.

Analysis of micro-failure behaviors in artificial muscles based on fishing line and sewing thread

Science.gov (United States)

Xu, J. B.; Cheng, K. F.; Tu, S. L.; He, X. M.; Ma, C.; Jin, Y. Z.; Kang, X. N.; Sun, T.; Zhang, Y.

2017-06-01

The aim of the present study was to discuss a new and effective method for testing artificial muscles based on micro-failure behaviors analysis. Thermo-mechanical actuators based on fishing line and sewing thread, also, the capability of responding to ambient temperature variations producing a large amount of shrinkage ratio of a resulting variation in longitudinal length. The minimum micro-failure value is 0.02μm and the maximum value is 1.72μm with nylon twist pattern. The discovery of an innovative effective testing of artificial muscles based on polymeric fibers specimens on micro-failure, rupture, slippage, etc. This research finds out a micro-failure behavior analysis of thermo-mechanical actuators based on fishing line and sewing thread. The specimens show large deformations when heated together with warping performance in terms of shrinkage of energy and densities. With the purpose of providing useful analysis data for the further technology applications, we attempt micrometre-sized artificial muscles which were also tested was readily accessible and also can be applied to other polymeric fibers. Effective use of this technique achievement relies on rotate speed, temperature and tensile direction. The results of the tensile testing experiments were outstanding with respect to some important issues related to the response of micro-structure, twisted polymeric fibers and shrinkage ratio.

Fast Torsional Artificial Muscles from NiTi Twisted Yarns.

Science.gov (United States)

Mirvakili, Seyed M; Hunter, Ian W

2017-05-17

Torsional artificial muscles made of multiwalled carbon nanotube/niobium nanowire yarns have shown remarkable torsional speed and gravimetric torque. The muscle structure consists of a twisted yarn with half of its length infiltrated with a stimuli-responsive guest material such as paraffin wax. The volumetric expansion of the guest material creates the torsional actuation in the yarn. In the present work, we show that this type of actuation is not unique to wax-infiltrated carbon multiwalled nanotube (MWCNT) or niobium nanowire yarns and that twisted yarn of NiTi alloy fibers also produces fast torsional actuation. By gold-plating half the length of a NiTi twisted yarn and Joule heating it, we achieved a fully reversible torsional actuation of up to 16°/mm with peak torsional speed of 10 500 rpm and gravimetric torque of 8 N·m/kg. These results favorably compare to those of MWCNTs and niobium nanowire yarns.

Effect of pneumatic tourniquet on muscle oxygen tension.

Science.gov (United States)

Santavirta, S; Höckerstedt, K; Niinikoski, J

1978-10-01

Recent investigations suggest that circulation in a limb can be reduced with a tourniquet to less than 1 per cent of the control limb, or even completely occluded. The development of tissue oxygen tonometry with implanted silastic tubes has provided new possibilities for assessing muscle tissue oxygen tension. In the present work, this method was employed to register the effect of tourniquet blackade on the lower limb muscle PO2 in rabbits. The duration of the tourniquet blockade was 60, 120 and 180 minutes. The baseline muscle PO2 in the tibialis anterior muscle was 22.6 +/- 0.6 mmHg. During the tourniquet blockade the oxygen tension dropped to minimal values between 9.2 +/- 0.5 and 10.7 +/- 0.6 mmHg in these experimental groups, but the tissue microclimate never reached fully anoxic conditions. The rapid response of muscle PO2 to oxygen breathing after release of the blockade suggests that limb microcirculation tolerates tourniquet occlusion well.

Development of a Simple Structured Artificial Muscle Using SMA Wire

International Nuclear Information System (INIS)

Ibuki, Ryuta; Maruyama, Shigenao; Komiya, Atsuki

2006-01-01

Artificial heart muscle using SMA wire is developed to assist weaken heartbeat. Simple structure design was adopted for large output force, large displacement and rapid cyclic motion of the actuator. The actuator was designed and fabricated from the viewpoint of heat transfer. Moving performance of the actuator was experimentally measured under 10N of loading condition. Under the maximum efficiency condition, the actuator shows cyclic motion with 1mm of displacement and time period of about 2 seconds in one cycle

Modeling the Static Force of a Festo Pneumatic Muscle Actuator: A New Approach and a Comparison to Existing Models

Directory of Open Access Journals (Sweden)

Mirco Martens

2017-11-01

Full Text Available In this paper, a new approach for modeling the static force characteristic of Festo pneumatic muscle actuators (PMAs will be presented. The model is physically motivated and therefore gives a deeper understanding of the Festo PMA. After introducing the new model, it will be validated through a comparison to a measured force map of a Festo DMSP-10-250 and a DMSP-20-300, respectively. It will be shown that the error between the new model and the measured data is below 4.4% for the DMSP-10-250 and below 2.35% for the DMSP-20-300. In addition, the quality of the presented model will be compared to the quality of existing models by comparing the maximum error. It can be seen that the newly introduced model is closer to the measured force characteristic of a Festo PMA than any existing model.

A pneumatic Bionic Voice prosthesis-Pre-clinical trials of controlling the voice onset and offset.

Directory of Open Access Journals (Sweden)

Farzaneh Ahmadi

Full Text Available Despite emergent progress in many fields of bionics, a functional Bionic Voice prosthesis for laryngectomy patients (larynx amputees has not yet been achieved, leading to a lifetime of vocal disability for these patients. This study introduces a novel framework of Pneumatic Bionic Voice Prostheses as an electronic adaptation of the Pneumatic Artificial Larynx (PAL device. The PAL is a non-invasive mechanical voice source, driven exclusively by respiration with an exceptionally high voice quality, comparable to the existing gold standard of Tracheoesophageal (TE voice prosthesis. Following PAL design closely as the reference, Pneumatic Bionic Voice Prostheses seem to have a strong potential to substitute the existing gold standard by generating a similar voice quality while remaining non-invasive and non-surgical. This paper designs the first Pneumatic Bionic Voice prosthesis and evaluates its onset and offset control against the PAL device through pre-clinical trials on one laryngectomy patient. The evaluation on a database of more than five hours of continuous/isolated speech recordings shows a close match between the onset/offset control of the Pneumatic Bionic Voice and the PAL with an accuracy of 98.45 ±0.54%. When implemented in real-time, the Pneumatic Bionic Voice prosthesis controller has an average onset/offset delay of 10 milliseconds compared to the PAL. Hence it addresses a major disadvantage of previous electronic voice prostheses, including myoelectric Bionic Voice, in meeting the short time-frames of controlling the onset/offset of the voice in continuous speech.

A pneumatic Bionic Voice prosthesis—Pre-clinical trials of controlling the voice onset and offset

Science.gov (United States)

Noorian, Farzad; Novakovic, Daniel; van Schaik, André

2018-01-01

Despite emergent progress in many fields of bionics, a functional Bionic Voice prosthesis for laryngectomy patients (larynx amputees) has not yet been achieved, leading to a lifetime of vocal disability for these patients. This study introduces a novel framework of Pneumatic Bionic Voice Prostheses as an electronic adaptation of the Pneumatic Artificial Larynx (PAL) device. The PAL is a non-invasive mechanical voice source, driven exclusively by respiration with an exceptionally high voice quality, comparable to the existing gold standard of Tracheoesophageal (TE) voice prosthesis. Following PAL design closely as the reference, Pneumatic Bionic Voice Prostheses seem to have a strong potential to substitute the existing gold standard by generating a similar voice quality while remaining non-invasive and non-surgical. This paper designs the first Pneumatic Bionic Voice prosthesis and evaluates its onset and offset control against the PAL device through pre-clinical trials on one laryngectomy patient. The evaluation on a database of more than five hours of continuous/isolated speech recordings shows a close match between the onset/offset control of the Pneumatic Bionic Voice and the PAL with an accuracy of 98.45 ±0.54%. When implemented in real-time, the Pneumatic Bionic Voice prosthesis controller has an average onset/offset delay of 10 milliseconds compared to the PAL. Hence it addresses a major disadvantage of previous electronic voice prostheses, including myoelectric Bionic Voice, in meeting the short time-frames of controlling the onset/offset of the voice in continuous speech. PMID:29466455

Muscle necrosis - computer tomography aspects

International Nuclear Information System (INIS)

Franze, I.; Goebel, N.; Stuckmann, G.

1985-01-01

In four patients muscle necroses were observed. In two patients these were caused by intraoperative positioning, in one by having worked with a pneumatic hammer and in one possibly by alcohol. CT showed hypodense areas in the affected muscles which were - in the state of subacute necroses - surrounded by hyperaemic borders. The diagnosis was confirmed by puncture or biopsy. After six months hypodense areas were still perceptible in the atrophic muscles of two patients. (orig.) [de

Rotary pneumatic valve

Science.gov (United States)

Hardee, Harry C.

1991-01-01

A rotary pneumatic valve which is thrust balanced and the pneumatic pressure developed produces only radial loads on the valve cylinder producing negligible resistance and thus minimal torque on the bearings of the valve. The valve is multiplexed such that at least two complete switching cycles occur for each revolution of the cylinder spindle.

Impact of external pneumatic compression target inflation pressure on transcriptome-wide RNA expression in skeletal muscle.

Science.gov (United States)

Martin, Jeffrey S; Kephart, Wesley C; Haun, Cody T; McCloskey, Anna E; Shake, Joshua J; Mobley, Christopher B; Goodlett, Michael D; Kavazis, Andreas; Pascoe, David D; Zhang, Lee; Roberts, Michael D

2016-11-01

Next-generation RNA sequencing was employed to determine the acute and subchronic impact of peristaltic pulse external pneumatic compression (PEPC) of different target inflation pressures on global gene expression in human vastus lateralis skeletal muscle biopsy samples. Eighteen (N = 18) male participants were randomly assigned to one of the three groups: (1) sham (n = 6), 2) EPC at 30-40 mmHg (LP-EPC; n = 6), and 3) EPC at 70-80 mmHg (MP-EPC; n = 6). One hour treatment with sham/EPC occurred for seven consecutive days. Vastus lateralis skeletal muscle biopsies were performed at baseline (before first treatment; PRE), 1 h following the first treatment (POST1), and 24 h following the last (7th) treatment (POST2). Changes from PRE in gene expression were analyzed via paired comparisons within each group. Genes were filtered to include only those that had an RPKM ≥ 1.0, a fold-change of ≥1.5 and a paired t-test value of <0.01. For the sham condition, two genes at POST1 and one gene at POST2 were significantly altered. For the LP-EPC condition, nine genes were up-regulated and 0 genes were down-regulated at POST1 while 39 genes were up-regulated and one gene down-regulated at POST2. For the MP-EPC condition, two genes were significantly up-regulated and 21 genes were down-regulated at POST1 and 0 genes were altered at POST2. Both LP-EPC and MP-EPC acutely alter skeletal muscle gene expression, though only LP-EPC appeared to affect gene expression with subchronic application. Moreover, the transcriptome response to EPC demonstrated marked heterogeneity (i.e., genes and directionality) with different target inflation pressures. © 2016 The Authors. Physiological Reports published by Wiley Periodicals, Inc. on behalf of The Physiological Society and the American Physiological Society.

Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems

Directory of Open Access Journals (Sweden)

Hao Zheng

2013-11-01

Full Text Available This paper presents a new type of muscle-like actuator, namely double-acting (DA sleeve muscle actuator, which is suitable for the actuation of biologically-inspired and biomedical robotic systems, especially those serving human-assistance purposes (prostheses, orthoses, etc.. Developed based on the traditional pneumatic muscle actuator, the new DA sleeve muscle incorporates a unique insert at the center. With the insert occupying the central portion of the internal volume, this new actuator enjoys multiple advantages relative to the traditional pneumatic muscle, including a consistent increase of force capacity over the entire range of motion, and a significant decrease of energy consumption in operation. Furthermore, the insert encompasses an additional chamber, which generates an extension force when pressurized. As such, this new actuator provides a unique bi-directional actuation capability, and, thus, has a potential to significantly simplify the design of a muscle actuator-powered robotic system. To demonstrate this new actuator concept, a prototype has been designed and fabricated, and experiments conducted on this prototype demonstrated the enhanced force capacity and the unique bi-directional actuation capability.

Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems

Science.gov (United States)

Zheng, Hao; Shen, Xiangrong

2014-01-01

This paper presents a new type of muscle-like actuator, namely double-acting (DA) sleeve muscle actuator, which is suitable for the actuation of biologically-inspired and biomedical robotic systems, especially those serving human-assistance purposes (prostheses, orthoses, etc.). Developed based on the traditional pneumatic muscle actuator, the new DA sleeve muscle incorporates a unique insert at the center. With the insert occupying the central portion of the internal volume, this new actuator enjoys multiple advantages relative to the traditional pneumatic muscle, including a consistent increase of force capacity over the entire range of motion, and a significant decrease of energy consumption in operation. Furthermore, the insert encompasses an additional chamber, which generates an extension force when pressurized. As such, this new actuator provides a unique bi-directional actuation capability, and, thus, has a potential to significantly simplify the design of a muscle actuator-powered robotic system. To demonstrate this new actuator concept, a prototype has been designed and fabricated, and experiments conducted on this prototype demonstrated the enhanced force capacity and the unique bi-directional actuation capability. PMID:25264492

Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems.

Science.gov (United States)

Zheng, Hao; Shen, Xiangrong

2013-11-25

This paper presents a new type of muscle-like actuator, namely double-acting (DA) sleeve muscle actuator, which is suitable for the actuation of biologically-inspired and biomedical robotic systems, especially those serving human-assistance purposes (prostheses, orthoses, etc .). Developed based on the traditional pneumatic muscle actuator, the new DA sleeve muscle incorporates a unique insert at the center. With the insert occupying the central portion of the internal volume, this new actuator enjoys multiple advantages relative to the traditional pneumatic muscle, including a consistent increase of force capacity over the entire range of motion, and a significant decrease of energy consumption in operation. Furthermore, the insert encompasses an additional chamber, which generates an extension force when pressurized. As such, this new actuator provides a unique bi-directional actuation capability, and, thus, has a potential to significantly simplify the design of a muscle actuator-powered robotic system. To demonstrate this new actuator concept, a prototype has been designed and fabricated, and experiments conducted on this prototype demonstrated the enhanced force capacity and the unique bi-directional actuation capability.

Dynamics and Thermodynamics of Artificial Muscles Based on Nematic Gels

Science.gov (United States)

Hébert, M.; Kant, R.; de Gennes, P.-G.

1997-07-01

A scheme based on nemato-mechanical conversion has been proposed for potential artificial muscle applications (de Gennes P.-G., Hébert M. and Kant R., to appear in Macromol. Symp. (1996)). As the temperature in a nematic gel is reduced through the transition temperature, strong uniaxial deformation is encountered. We briefly expose the dynamics of contraction/elongation in this system. Work and dissipative losses are calculated for an operating cycle to get an approximative expression of the ratio work/losses, which can then be compared with real muscular efficiencies.

Self-plied and twist-stable carbon nanotube yarn artificial muscles driven by organic solvent adsorption.

Science.gov (United States)

Jin, Kaiyun; Zhang, Silan; Zhou, Susheng; Qiao, Jian; Song, Yanhui; Di, Jiangtao; Zhang, Dengsong; Li, Qingwen

2018-05-03

Artificial yarn/fiber muscles have recently attracted considerable interest for various applications. These muscles can provide large-stroke tensile and torsional actuations, resulting from inserted twists. However, tensional tethering of twisted muscles is generally needed to avoid muscle snarling and untwisting. In this paper a carbon nanotube (CNT) yarn muscle that is tethering-free and twist-stable is reported. The yarn muscle is prepared by allowing the self-plying of a coiled CNT yarn. When driven by acetone adsorption, this muscle shows decoupled actuations, which provide fast and reversible ∼13.3% contraction strain against a constant stress corresponding to ∼38 000 times the muscle weight but almost zero torsional strokes. The cycling test shows that the self-plied muscle has very good structural stability and actuation reversibility. Applied joule heating can help increase the desorption of acetone and increase the operation frequency of the self-plied muscle. Furthermore, by controlling the coupling between the joule heating and acetone adsorption/desorption, tensile actuations from negative to positive have been achieved. This twist-stable feature could considerably facilitate the practical applications of such muscle.

Pneumatic conveying design guide

CERN Document Server

Mills, David

1990-01-01

Pneumatic Conveying Design Guide is a guide for the design of pneumatic conveying systems and includes detailed data and information on the conveying characteristics of a number of materials with a wide range of properties. This book includes logic diagrams for design procedures and scaling parameters for the conveying line configuration. It also explains how to improve the performance of pneumatic conveyors by optimizing, uprating, and extending the system or adapting it for a change of material. This book consists of 15 chapters divided into three sections and opens with an overview of the s

Vertebral Pneumaticity in the Ornithomimosaur Archaeornithomimus (Dinosauria: Theropoda Revealed by Computed Tomography Imaging and Reappraisal of Axial Pneumaticity in Ornithomimosauria.

Directory of Open Access Journals (Sweden)

Akinobu Watanabe

Full Text Available Among extant vertebrates, pneumatization of postcranial bones is unique to birds, with few known exceptions in other groups. Through reduction in bone mass, this feature is thought to benefit flight capacity in modern birds, but its prevalence in non-avian dinosaurs of variable sizes has generated competing hypotheses on the initial adaptive significance of postcranial pneumaticity. To better understand the evolutionary history of postcranial pneumaticity, studies have surveyed its distribution among non-avian dinosaurs. Nevertheless, the degree of pneumaticity in the basal coelurosaurian group Ornithomimosauria remains poorly known, despite their potential to greatly enhance our understanding of the early evolution of pneumatic bones along the lineage leading to birds. Historically, the identification of postcranial pneumaticity in non-avian dinosaurs has been based on examination of external morphology, and few studies thus far have focused on the internal architecture of pneumatic structures inside the bones. Here, we describe the vertebral pneumaticity of the ornithomimosaur Archaeornithomimus with the aid of X-ray computed tomography (CT imaging. Complementary examination of external and internal osteology reveals (1 highly pneumatized cervical vertebrae with an elaborate configuration of interconnected chambers within the neural arch and the centrum; (2 anterior dorsal vertebrae with pneumatic chambers inside the neural arch; (3 apneumatic sacral vertebrae; and (4 a subset of proximal caudal vertebrae with limited pneumatic invasion into the neural arch. Comparisons with other theropod dinosaurs suggest that ornithomimosaurs primitively exhibited a plesiomorphic theropod condition for axial pneumaticity that was extended among later taxa, such as Archaeornithomimus and large bodied Deinocheirus. This finding corroborates the notion that evolutionary increases in vertebral pneumaticity occurred in parallel among independent lineages of bird

Biomimetic actuators using electroactive polymers (EAP) as artificial muscles

Science.gov (United States)

Bar-Cohen, Yoseph

2006-01-01

Evolution has resolved many of nature's challenges leading to lasting solutions with maximal performance and effective use of resources. Nature's inventions have always inspired human achievements leading to effective materials, structures, tools, mechanisms, processes, algorithms, methods, systems and many other benefits. The field of mimicking nature is known as Biomimetics and one of its topics includes electroactive polymers that gain the moniker artificial muscles. Integrating EAP with embedded sensors, self-repair and many other capabilities that are used in composite materials can add greatly to the capability of smart biomimetic systems. Such development would enable fascinating possibilities potentially turning science fiction ideas into engineering reality.

Impact of a single session of intermittent pneumatic leg compressions on skeletal muscle and isolated artery gene expression in rats.

Science.gov (United States)

Roseguini, Bruno T; Arce-Esquivel, Arturo A; Newcomer, Sean C; Laughlin, M H

2011-12-01

Intermittent pneumatic leg compressions (IPC) have proven to be an effective noninvasive approach for treatment of patients with claudication, but the mechanisms underlying the clinical benefits remain elusive. In the present study, a rodent model of claudication produced by bilateral ligation of the femoral artery was used to investigate the acute impact of a single session of IPC (150 min) on hemodynamics, skeletal muscle (tibialis anterior), and isolated collateral artery (perforating artery) expression of a subset of genes associated with inflammation and vascular remodeling. In addition, the effect of compression frequency (15 vs. 3 compressions/min) on the expression of these factors was studied. In ligated animals, IPC evoked an increase of monocyte chemoattractant protein-1 (MCP-1) and cytokine-induced neutrophil chemoattractant 1 (CXCL1) mRNA (P < 0.01) and immunostaining (P < 0.05), as well as a minor increase in VEGF immunostaining in the muscle endomysium 150 min postintervention. Further, collateral arteries from these animals showed an increased expression of MCP-1 (approximately twofold, P = 0.02). These effects were most evident in the group exposed to the high-frequency protocol (15 compressions/min). In contrast, IPC in sham-operated control animals evoked a modest initial upregulation of VEGF (P = 0.01), MCP-1 (P = 0.02), and CXCL1 (P = 0.03) mRNA in the muscle without concomitant changes in protein levels. No changes in gene expression were observed in arteries isolated from sham animals. In conclusion, IPC acutely up-regulates the expression of important factors involved in vascular remodeling in the compressed muscle and collateral arteries in a model of hindlimb ischemia. These effects appear to be dependent on the compression frequency, such that a high compression frequency (15 compressions/min) evokes more consistent and robust effects compared with the frequency commonly employed clinically to treat patients with claudication (3

Practical pneumatics

CERN Document Server

Stacey, Chris

2012-01-01

Pneumatic power is ideal for the ever increasing range of 'light' applications in which a cheap, clean, adaptable source of power is needed. Used in conjunction with microprocessor control it forms the basis of manufacturing automation from basic conveying and handling lines to complex robotic assembly systems. Training courses and books aimed at the technician have not kept pace with these developments. This book is written to cover the British Fluid Power Association Pneumatics Certificate, which is also awarded as part of CGLI scheme 2340, and is in the process of NVQ accreditation at level

Artificial muscle-like function from hierarchical supramolecular assembly of photoresponsive molecular motors.

Science.gov (United States)

Chen, Jiawen; Leung, Franco King-Chi; Stuart, Marc C A; Kajitani, Takashi; Fukushima, Takanori; van der Giessen, Erik; Feringa, Ben L

2018-02-01

A striking feature of living systems is their ability to produce motility by amplification of collective molecular motion from the nanoscale up to macroscopic dimensions. Some of nature's protein motors, such as myosin in muscle tissue, consist of a hierarchical supramolecular assembly of very large proteins, in which mechanical stress induces a coordinated movement. However, artificial molecular muscles have often relied on covalent polymer-based actuators. Here, we describe the macroscopic contractile muscle-like motion of a supramolecular system (comprising 95% water) formed by the hierarchical self-assembly of a photoresponsive amphiphilic molecular motor. The molecular motor first assembles into nanofibres, which further assemble into aligned bundles that make up centimetre-long strings. Irradiation induces rotary motion of the molecular motors, and propagation and accumulation of this motion lead to contraction of the fibres towards the light source. This system supports large-amplitude motion, fast response, precise control over shape, as well as weight-lifting experiments in water and air.

Artificial muscle-like function from hierarchical supramolecular assembly of photoresponsive molecular motors

Science.gov (United States)

Chen, Jiawen; Leung, Franco King-Chi; Stuart, Marc C. A.; Kajitani, Takashi; Fukushima, Takanori; van der Giessen, Erik; Feringa, Ben L.

2018-02-01

A striking feature of living systems is their ability to produce motility by amplification of collective molecular motion from the nanoscale up to macroscopic dimensions. Some of nature's protein motors, such as myosin in muscle tissue, consist of a hierarchical supramolecular assembly of very large proteins, in which mechanical stress induces a coordinated movement. However, artificial molecular muscles have often relied on covalent polymer-based actuators. Here, we describe the macroscopic contractile muscle-like motion of a supramolecular system (comprising 95% water) formed by the hierarchical self-assembly of a photoresponsive amphiphilic molecular motor. The molecular motor first assembles into nanofibres, which further assemble into aligned bundles that make up centimetre-long strings. Irradiation induces rotary motion of the molecular motors, and propagation and accumulation of this motion lead to contraction of the fibres towards the light source. This system supports large-amplitude motion, fast response, precise control over shape, as well as weight-lifting experiments in water and air.

Treadmill walking of the pneumatic biped Lucy: Walking at different speeds and step-lengths

Science.gov (United States)

Vanderborght, B.; Verrelst, B.; Van Ham, R.; Van Damme, M.; Versluys, R.; Lefeber, D.

2008-07-01

Actuators with adaptable compliance are gaining interest in the field of legged robotics due to their capability to store motion energy and to exploit the natural dynamics of the system to reduce energy consumption while walking and running. To perform research on compliant actuators we have built the planar biped Lucy. The robot has six actuated joints, the ankle, knee and hip of both legs with each joint powered by two pleated pneumatic artificial muscles in an antagonistic setup. This makes it possible to control both the torque and the stiffness of the joint. Such compliant actuators are used in passive walkers to overcome friction when walking over level ground and to improve stability. Typically, this kind of robots is only designed to walk with a constant walking speed and step-length, determined by the mechanical design of the mechanism and the properties of the ground. In this paper, we show that by an appropriate control, the robot Lucy is able to walk at different speeds and step-lengths and that adding and releasing weights does not affect the stability of the robot. To perform these experiments, an automated treadmill was built

Pneumatic muscle actuator for resistive exercise in microgravity: test with a leg model.

Science.gov (United States)

Serres, Jennifer L; Phillips, Chandler A; Reynolds, David B; Mohler, Stanley R; Rogers, Dana B; Repperger, Daniel W; Gerschutz, Maria J

2010-02-01

A proof-of-concept demonstration is described in which a DC servomotor (simulating the quadriceps of a human operator) rotated a pulley 90 degrees (simulating knee extension). A pneumatic muscle actuator (PMA) generated an opposing force (antagonist) to the rotating pulley. One application of such a device is for use in microgravity environments because the PMA is compact, simple, and of relatively small mass (283 g). In addition, the operator can set a computer-controlled force-level range in response to individual user changes in exercise conditioning over time. A PMA was used in this study and interacted with a DC servomotor. For each trial, the PMA contracted in response to internal pressure. An input voltage profile activated the DC servomotor, resulting in the following three phases: an isokinetic counterclockwise pulley rotation of 90 degrees over 5 s (Phase I), the position was held for 5 s (Phase II), and an isokinetic clockwise rotation of 90 degrees over 5 s (Phase III). Root mean square error (RMSE) values were used to evaluate the pulley rotation. For Phase I, when the PMA pressures (in kPa) were 300, 450, and 575, the percent RMSE, respectively, were 5.24, 6.23, and 4.59. For Phase II, the percent RMSE were 2.81, 2.57, and 5.63, respectively. For Phase III, the percent RMSE were 5.69, 2.63, and 3.30, respectively. This study presents a demonstration of a PMA device that can enhance exercise by providing a wide range of resistive loads.

Estimation of airway smooth muscle stiffness changes due to length oscillation using artificial neural network.

Science.gov (United States)

Al-Jumaily, Ahmed; Chen, Leizhi

2012-10-07

This paper presents a novel approach to estimate stiffness changes in airway smooth muscles due to external oscillation. Artificial neural networks are used to model the stiffness changes due to cyclic stretches of the smooth muscles. The nonlinear relationship between stiffness ratios and oscillation frequencies is modeled by a feed-forward neural network (FNN) model. The structure of the FNN is selected through the training and validation using literature data from 11 experiments with different muscle lengths, muscle masses, oscillation frequencies and amplitudes. Data pre-processing methods are used to improve the robustness of the neural network model to match the non-linearity. The validation results show that the FNN model can predict the stiffness ratio changes with a mean square error of 0.0042. Copyright © 2012 Elsevier Ltd. All rights reserved.

Synthesis of Servo Pneumatic/Hydraulic Drive

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K D. Efremova

2017-01-01

Full Text Available Servo pneumatic and / or hydraulic drives are widely used in modern engineering and process control. The efficiency of using pneumatic / hydraulic drives depends on their parameters and characteristics. To select the optimal drive parameters, various methods are used, based on finding the minimum of the target (target or criteria function.The objective of this paper was to apply one crucial criterion (target function that provides determination of optimal parameters of the pneumatic / hydraulic drive with the translational motion of the end-effector as well as its use in the synthesis of the servo pneumatic cylinder. The article shows the form of the target function representing a set of drive parameters that do not have direct relationships with each other in a dimensionless form for the pneumatic / hydraulic drive with the translational motion of the end-effector. To calculate the parameters of the servo drive close to the optimal ones, a two-criteria LPτ search was used. As criteria, were used the decisive criterion - the proposed target function, and the power developed by the actuator of the pneumatic / hydraulic drive, which were presented in a dimensionless form. It is shown that the criterion for solution optimality is the minimum distance of the selected point in the space of the normalized criteria from the origin. This point was determined. In addition to the proposed criteria, non-formalised requirements were taken into account: actual and mass-produced components of drive, in terms of which its parameters close to the optimal ones were determined, and the maximum relative error of the obtained useful power value of the servo pneumatic drive was estimated. The paper presents design features of two types of the servo pneumatic drive created, taking into account the proposed target function, implemented according to the schemes "hidden" and "spaced apart". The experimental static characteristic of the servo pneumatic drive is

The influence of an artificial playing surface on injury risk and perceptions of muscle soreness in elite Rugby Union.

Science.gov (United States)

Williams, S; Trewartha, G; Kemp, S P T; Michell, R; Stokes, K A

2016-01-01

This prospective cohort study investigated the influence of an artificial playing surface on injury risk and perceptions of muscle soreness in elite English Premiership Rugby Union players. Time loss (from 39.5 matches) and abrasion (from 27 matches) injury risk was compared between matches played on artificial turf and natural grass. Muscle soreness was reported over the 4 days following one match played on each surface by 95 visiting players (i.e., normally play on natural grass surfaces). There was a likely trivial difference in the overall injury burden relating to time-loss injuries between playing surfaces [rate ratio = 1.01, 90% confidence interval (CI): 0.73-1.38]. Abrasions were substantially more common on artificial turf (rate ratio = 7.92, 90% CI: 4.39-14.28), although the majority of these were minor and only two resulted in any reported time loss. Muscle soreness was consistently higher over the 4 days following a match on artificial turf in comparison with natural grass, although the magnitude of this effect was small (effect sizes ranging from 0.26 to 0.40). These results suggest that overall injury risk is similar for the two playing surfaces, but further surveillance is required before inferences regarding specific injury diagnoses and smaller differences in overall injury risk can be made. © 2015 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Ground reaction force comparison of bilateral symmetry with pneumatic resistance squat device and free weights - biomed 2009.

Science.gov (United States)

Paulus, David C; Schilling, Brian K

2009-01-01

The unloading of spaceflight leads to bone and muscle atrophy, and a pneumatic resistance squat exercise countermeasure has the potential to provide optimized controllable resistance in a lightweight and compact configuration. However each end of the barbell in the proposed device is connected to a separate resistance cylinder which could lead to bilaterally asymmetric loading. Therefore, the purpose of the study is to compare the unilateral ground reaction forces (GRF) of the new squat device compared to free weights. Four previously trained men (mean +/- SD; age = 20+/-2 years, body mass = 99+/-18 kg) performed three sets of three repetitions of maximal exertion squat exercises with pneumatically controlled constant resistance and free weights each with a resistance level set to half of the body weight of each subject. Unilateral GRF data for each lifting modality at the negative to positive transition of the squat exercise was measured with a force plate under each foot. The pneumatic resistance GRF (N; mean +/- SD) was 749+/-114 on the left leg and 786+/-123 on the right leg and the free weight GRF was 786+/-114 left and 861+/-111 right resulting in a 5% difference between left and right GRF with pneumatics and 9% difference with free weights. The correlation coefficient between left and right GRF was 0.92 with pneumatics and 0.80 with free weights. Because the pneumatic device elicited more bilaterally symmetric GRF than traditional free weights, the separate resistance cylinders are an acceptable design configuration.

Preparation and Characterizing of PANI/PDMS Elastomer for Artificial Muscles

Science.gov (United States)

Zhang, Yiyang; Zhang, Jie; Wang, Genlin; Zhang, Ming; Luo, Zhiwei

2018-01-01

A dielectric elastomer has been synthesized using organic soluble PANI and PDMS through solution blending method for applications as artificial muscles. The dielectric constant of PANI/PDMS composite reached 4.82 with a filling amount of 0.8 wt.%, which was 2.24 times of pure silicone, due to the dipole polarization in matrix network and electron polarization in conductive polyaniline. The actuated strain of 0.8w.t % PANI/PDMS was 16.57% compared to 8.52% of pure silicone at an electric field of 10V/μm, and can be applied as a soft actuator.

Flexible adaptation to an artificial recurrent connection from muscle to peripheral nerve in man.

Science.gov (United States)

Kato, Kenji; Sasada, Syusaku; Nishimura, Yukio

2016-02-01

Controlling a neuroprosthesis requires learning a novel input-output transformation; however, how subjects incorporate this into limb control remains obscure. To elucidate the underling mechanisms, we investigated the motor adaptation process to a novel artificial recurrent connection (ARC) from a muscle to a peripheral nerve in healthy humans. In this paradigm, the ulnar nerve was electrically stimulated in proportion to the activation of the flexor carpi ulnaris (FCU), which is ulnar-innervated and monosynaptically innervated from Ia afferents of the FCU, defined as the "homonymous muscle," or the palmaris longus (PL), which is not innervated by the ulnar nerve and produces similar movement to the FCU, defined as the "synergist muscle." The ARC boosted the activity of the homonymous muscle and wrist joint movement during a visually guided reaching task. Participants could control muscle activity to utilize the ARC for the volitional control of wrist joint movement and then readapt to the absence of the ARC to either input muscle. Participants reduced homonymous muscle recruitment with practice, regardless of the input muscle. However, the adaptation process in the synergist muscle was dependent on the input muscle. The activity of the synergist muscle decreased when the input was the homonymous muscle, whereas it increased when it was the synergist muscle. This reorganization of the neuromotor map, which was maintained as an aftereffect of the ARC, was observed only when the input was the synergist muscle. These findings demonstrate that the ARC induced reorganization of neuromotor map in a targeted and sustainable manner. Copyright © 2016 the American Physiological Society.

Estimation of Physical Human-Robot Interaction Using Cost-Effective Pneumatic Padding

Directory of Open Access Journals (Sweden)

André Wilkening

2016-08-01

Full Text Available The idea to use a cost-effective pneumatic padding for sensing of physical interaction between a user and wearable rehabilitation robots is not new, but until now there has not been any practical relevant realization. In this paper, we present a novel method to estimate physical human-robot interaction using a pneumatic padding based on artificial neural networks (ANNs. This estimation can serve as rough indicator of applied forces/torques by the user and can be applied for visual feedback about the user’s participation or as additional information for interaction controllers. Unlike common mostly very expensive 6-axis force/torque sensors (FTS, the proposed sensor system can be easily integrated in the design of physical human-robot interfaces of rehabilitation robots and adapts itself to the shape of the individual patient’s extremity by pressure changing in pneumatic chambers, in order to provide a safe physical interaction with high user’s comfort. This paper describes a concept of using ANNs for estimation of interaction forces/torques based on pressure variations of eight customized air-pad chambers. The ANNs were trained one-time offline using signals of a high precision FTS which is also used as reference sensor for experimental validation. Experiments with three different subjects confirm the functionality of the concept and the estimation algorithm.

A review on robotic fish enabled by ionic polymer-metal composite artificial muscles.

Science.gov (United States)

Chen, Zheng

2017-01-01

A novel actuating material, which is lightweight, soft, and capable of generating large flapping motion under electrical stimuli, is highly desirable to build energy-efficient and maneuverable bio-inspired underwater robots. Ionic polymer-metal composites are important category of electroactive polymers, since they can generate large bending motions under low actuation voltages. IPMCs are ideal artificial muscles for small-scale and bio-inspired robots. This paper takes a system perspective to review the recent work on IPMC-enabled underwater robots, from modeling, fabrication, and bio-inspired design perspectives. First, a physics-based and control-oriented model of IPMC actuator will be reviewed. Second, a bio-inspired robotic fish propelled by IPMC caudal fin will be presented and a steady-state speed model of the fish will be demonstrated. Third, a novel fabrication process for 3D actuating membrane will be introduced and a bio-inspired robotic manta ray propelled by two IPMC pectoral fins will be demonstrated. Fourth, a 2D maneuverable robotic fish propelled by multiple IPMC fin will be presented. Last, advantages and challenges of using IPMC artificial muscles in bio-inspired robots will be concluded.

Sliding pressure control valve for pneumatic hammer drill

Science.gov (United States)

Polsky, Yarom [Albuquerque, NM

2011-08-30

A pneumatic device control apparatus and method comprising a ported valve slidably fitted over a feed tube of the pneumatic device, and using a compliant biasing device to constrain motion of the valve to provide asymmetric timing for extended pressurization of a power chamber and reduced pressurization of a return chamber of the pneumatic device. The pneumatic device can be a pneumatic hammer drill.

Development of body weight support gait training system using pneumatic Mckibben actuators -control of lower extremity orthosis.

Science.gov (United States)

Mat Dzahir, M A; Nobutomo, T; Yamamoto, S I

2013-01-01

Recently, robot assisted therapy devices are increasingly used for spinal cord injury (SCI) rehabilitation in assisting handicapped patients to regain their impaired movements. Assistive robotic systems may not be able to cure or fully compensate impairments, but it should be able to assist certain impaired functions and ease movements. In this study, the control system of lower extremity orthosis for the body weight support gait training system which implements pneumatic artificial muscle (PAM) is proposed. The hip and knee joint angles of the gait orthosis system are controlled based on the PAM coordinates information from the simulation. This information provides the contraction data for the mono- and bi-articular PAMs that are arranged as posterior and anterior actuators to simulate the human walking motion. The proposed control system estimates the actuators' contraction as a function of hip and knee joint angles. Based on the contraction model obtained, input pressures for each actuators are measured. The control system are performed at different gait cycles and two PMA settings for the mono- and bi-articular actuators are evaluated in this research. The results showed that the system was able to achieve the maximum muscle moment at the joints, and able to perform the heel contact movement. This explained that the antagonistic mono- and bi-articular actuators worked effectively.

Dust emissions eliminated in pneumatic harvesting

International Nuclear Information System (INIS)

Kallio, M.

1998-01-01

Pneumatic harvesting is the most efficient milled peat production method in unsteady weather conditions. In good summers, the best contractors harvest more than 1 000 m 3 /ha milled peat from suitable production fields. The greatest problem of the method is caused by dust emissions, in particular in fields close to settled areas. About 15 % of Finland's present peat production is collected using pneumatic harvesters. A pneumatic harvester with smaller dust emissions has been developed by VTT Energy and Vapo Oy. The wagon is based on two-stage separation of peat. The main part of the coarser milled peat is first separated, e.g. in a settling chamber, and fine dry peat dust in correctly dimensioned side by side cyclones. The first series of pneumatic harvesters based on the new separation technology was employed in summer 1996. Besides decreasing the dust emissions the harvesting capacity of the new equipment was increased. The collection capacity of the pneumatic harvester can be made more effective by enlarging the container size, be decreasing the weight, by increasing the driving speed and by developing the suction capacity. Using lighter and durable construction materials combined with advanced design lighter and stronger pneumatic harvesters have been constructed. Nozzles and their mounting have also been developed. In the improvement of nozzles, the former studies with pneumatic simulator of VTT Energy, have been of great help. Studies with the pneumatic simulator and field conditions have been made in collaboration with Turveruukki Oy, Turvemetalli Oy, Raussin Metalli Oy and Vapo Oy, as well as VNIITP of St. Petersburg, Russia

Pneumatic strength assessment device: design and isometric measurement.

Science.gov (United States)

Paulus, David C; Reiser, Raoul F; Troxell, Wade O

2004-01-01

In order to load a muscle optimally during resistance exercise, it should be heavily taxed throughout the entire range of motion for that exercise. However, traditional constant resistance squats only tax the lower-extremity muscles to their limits at the "sticking region" or a critical joint configuration of the exercise cycle. Therefore, a linear motion (Smith) exercise machine was modified with pneumatics and appropriate computer control so that it could be capable of adjusting force to control velocity within a repetition of the squat exercise or other exercise performed with the device. Prior to application of this device in a dynamic squat setting, the maximum voluntary isometric force (MVIF) produced over a spectrum of knee angles is needed. This would reveal the sticking region and overall variation in strength capacity. Five incremental knee angles (90, 110, 130, 150, and 170 degrees, where 180 degrees defined full extension) were examined. After obtaining university-approved informed consent, 12 men and 12 women participated in the study. The knee angle was set, and the pneumatic cylinder was pressurized such that the subject could move the barbell slightly but no more than two-centimeters. The peak pressure exerted over a five-second maximum effort interval was recorded at each knee angle in random order and then repeated. The average of both efforts was then utilized for further analysis. The sticking region occurred consistently at a 90 degrees knee angle, however, the maximum force produced varied between 110 degrees and 170 degrees with the greatest frequency at 150 degrees for both men and women. The percent difference between the maximum and minimum MVIF was 46% for men and 57% for women.

Selected papers from the 7th International Conference on Biomimetics, Artificial Muscles and Nano-bio (BAMN2013)

Science.gov (United States)

Shahinpoor, Mohsen; Oh, Ilkwon

2014-07-01

The 7th International Congress on Biomimetics, Artificial Muscles and Nano-Bio was held on the magnificent and beautiful Jeju Island in Korea on 26-30 August 2013. In June 2007, the volcanic island and lava tube cave systems were designated as UNESCO World Natural Heritage Sites for their natural beauty and unique geographical values. The aim of the congress was to offer high-level lectures, extensive discussions and communications covering the state-of-the-art on biomimetics, artificial muscles, and nano-bio technologies providing an overview of their potential applications in the industrial, biomedical, scientific and robotic fields. This conference provided a necessary platform for an ongoing dialogue between researchers from different areas (chemistry, physics, biology, medicine, engineering, robotics, etc) within biomimetics, artificial muscle and nano-bio technologies. This special issue of Smart Materials and Structures is devoted to a selected number of research papers that were presented at BAMN2013. Of the 400 or so papers and over 220 posters presented at this international congress, 15 papers were finally received, reviewed and accepted for this special issue, following the regular peer review procedures of the journal. The special issue covers polymeric artificial muscles, electroactive polymers, multifunctional nanocomposites, and their applications. In particular, electromechanical performance and other characteristics of ionic polymer-metal composites (IPMCs) fabricated with various commercially available ion exchange membranes are discussed. Additionally, the control of free-edge interlaminar stresses in composite laminates using piezoelectric actuators is elaborated on. Further, the electrode effects of a cellulose-based electroactive paper energy harvester are described. Next, a flexible tactile-feedback touch screen using transparent ferroelectric polymer film vibrators is discussed. A broad coverage of bio-applications of IPMC transducers is

Enhanced muscle blood flow with intermittent pneumatic compression of the lower leg during plantar flexion exercise and recovery.

Science.gov (United States)

Zuj, K A; Prince, C N; Hughson, R L; Peterson, S D

2018-02-01

This study tested the hypothesis that intermittent compression of the lower limb would increase blood flow during exercise and postexercise recovery. Data were collected from 12 healthy individuals (8 men) who performed 3 min of standing plantar flexion exercise. The following three conditions were tested: no applied compression (NoComp), compression during the exercise period only (ExComp), and compression during 2 min of standing postexercise recovery. Doppler ultrasound was used to determine superficial femoral artery (SFA) blood flow responses. Mean arterial pressure (MAP) and cardiac stroke volume (SV) were assessed using finger photoplethysmography, with vascular conductance (VC) calculated as VC = SFA flow/MAP. Compared with the NoComp condition, compression resulted in increased MAP during exercise [+3.5 ± 4.1 mmHg (mean ± SD)] but not during postexercise recovery (+1.6 ± 5.9 mmHg). SV increased with compression during both exercise (+4.8 ± 5.1 ml) and recovery (+8.0 ± 6.6 ml) compared with NoComp. There was a greater increase in SFA flow with compression during exercise (+52.1 ± 57.2 ml/min) and during recovery (+58.6 ± 56.7 ml/min). VC immediately following exercise was also significantly greater in the ExComp condition compared with the NoComp condition (+0.57 ± 0.42 ml·min -1 ·mmHg -1 ), suggesting the observed increase in blood flow during exercise was in part because of changes in VC. Results from this study support the hypothesis that intermittent compression applied during exercise and recovery from exercise results in increased limb blood flow, potentially contributing to changes in exercise performance and recovery. NEW & NOTEWORTHY Blood flow to working skeletal muscle is achieved in part through the rhythmic actions of the skeletal muscle pump. This study demonstrated that the application of intermittent pneumatic compression during the diastolic phase of the cardiac cycle, to mimic the mechanical

Sulfur and Nitrogen Co-Doped Graphene Electrodes for High-Performance Ionic Artificial Muscles.

Science.gov (United States)

Kotal, Moumita; Kim, Jaehwan; Kim, Kwang J; Oh, Il-Kwon

2016-02-24

Sulfur and nitrogen co-doped graphene electrodes for bioinspired ionic artificial muscles, which exhibit outstanding actuation performances (bending strain of 0.36%, 4.5 times higher than PSS electrodes, and 96% of initial strain after demonstration over 18 000 cycles), provide remarkable electro-chemo-mech anical properties: specific capacitance, electrical conductivity, and large surface area with mesoporosity. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Revisiting the Closed-Loop Pneumatic Drive Design

Directory of Open Access Journals (Sweden)

K D. Efremova

2017-01-01

Full Text Available Compressibility of air used as a working medium in pneumatic control systems raise certain difficulties in calculating dynamic characteristics of the pneumatic drive and solving problems of its regulation. These difficulties are due to a number of factors:   - flow of compressed air through the narrow working splits of distributive and throttling devices of pneumatic control;   - filling in and discharging the pneumatic actuator cavities of variable volume (piston and rod cavities of the air-cylinder under conditions of heat and mass transfer;   - simultaneous filling in and discharging a pneumatic cavity of permanent volume (receiver;   - pneumatic cylinder piston end positioning alteration under variable loading and at the moment of shutdown;A number of factors have a significant impact on the piston end positioning alteration value, namely an initial positioning of the piston at the moment of its shutdown, which determines the volume of the pneumatic cylinder cavity; a value of the permanent component of the load at the moment the piston shuts down and its change during keeping time period; transmission coefficient of the positioning component of the load; a working area of the air-cylinder piston and also an atmospheric pressure reduction, which can significantly affect the operation of control systems of a small aircraft at high altitudes.With a view to deepening the problem of calculation and design of pneumatic actuators, it is shown that the relationship between the parameters of compressed air and their changes is determined by the properties of thermodynamic processes under conditions of heat and mass transfer. In pneumatic actuators for general industrial use, the pressure of compressed air does not exceed a value equal to 1 MPa. In this case, the working medium can be regarded as an ideal gas in simplified calculations.Based on the general equation of thermodynamics, the paper considers the particular cases of a changing gas

Pneumatic automation systems in coal mines

Energy Technology Data Exchange (ETDEWEB)

Shmatkov, N.A.; Kiklevich, Yu.N.

1981-04-01

Giprougleavtomatizatsiya, Avtomatgormash, Dongiprouglemash, VNIIGD and other plants develop 30 new pneumatic systems for mine machines and equipment control each year. The plants produce about 200 types of pneumatic systems. Major pneumatic systems for face systems, machines and equipment are reviewed: Sirena system for remote control of ANShch and AShchM face systems for steep coal seams, UPS control systems for pump stations, PAUZA control system for stowing machines, remote control system of B100-200 drilling machines, PUSK control system for coal cutter loaders with pneumatic drive (A-70, Temp), PUVSh control system for ventilation barriers activated from moving electric locomotives, PAZ control system for skip hoist loading. Specifications of the systems are given. Economic benefit produced by the pneumatic control systems are evaluated (from 1,500 to 40,000 rubles/year). Using the systems increases productivity of face machines and other machines used in black coal mines by 5 to 30%.

Detecting and Predicting Muscle Fatigue during Typing By SEMG Signal Processing and Artificial Neural Networks

Directory of Open Access Journals (Sweden)

Elham Ghoochani

2011-03-01

Full Text Available Introduction: Repetitive strain injuries are one of the most prevalent problems in occupational diseases. Repetition, vibration and bad postures of the extremities are physical risk factors related to work that can cause chronic musculoskeletal disorders. Repetitive work on a computer with low level contraction requires the posture to be maintained for a long time, which can cause muscle fatigue. Muscle fatigue in shoulders and neck is one of the most prevalent problems reported with computer users especially during typing. Surface electromyography (SEMG signals are used for detecting muscle fatigue as a non-invasive method. Material and Methods: Nine healthy females volunteered for signal recoding during typing. EMG signals were recorded from the trapezius muscle, which is subjected to muscle fatigue during typing.  After signal analysis and feature extraction, detecting and predicting muscle fatigue was performed by using the MLP artificial neural network. Results: Recorded signals were analyzed in time and frequency domains for feature extraction. Results of classification showed that the MLP neural network can detect and predict muscle fatigue during typing with 80.79 % ± 1.04% accuracy. Conclusion: Intelligent classification and prediction of muscle fatigue can have many applications in human factors engineering (ergonomics, rehabilitation engineering and biofeedback equipment for mitigating the injuries of repetitive works.

Analysis of Dielectric Electro Active Polymer Actuator and its High Voltage Driving Circuits

DEFF Research Database (Denmark)

Thummala, Prasanth; Huang, Lina; Zhang, Zhe

2012-01-01

Actuators based on dielectric elastomers have promising applications in artificial muscles, space robotics, mechatronics, micro-air vehicles, pneumatic and electric automation technology, heating valves, loud speakers, tissue engineering, surgical tools, wind turbine flaps, toys, rotary motors...

Forecast for Artificial Muscle Tremor Behavior Based on Dynamic Additional Grey Catastrophe Prediction

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Yu Fu

2018-02-01

Full Text Available Recently, bio-inspired artificial muscles based on ionic polymers have shown a bright perspective in engineering and medical research, but the inherent tremor behavior can cause instability of output response. In this paper, dynamic additional grey catastrophe prediction (DAGCP is proposed to forecast the occurrence time of tremor behavior, providing adequate preparation time for the suppression of the chitosan-based artificial muscles. DAGCP constructs various dimensions of time subsequence models under different starting points based on the threshold of tremor occurrence times and peak-to-peak values in unit time. Next, the appropriate subsequence is selected according to grey correlation degree and prediction accuracy, then it is updated with the newly generated values to achieve a real-time forecast of forthcoming tremor time. Compared with conventional grey catastrophe prediction (GCP, the proposed method has the following advantages: (1 the degradation of prediction accuracy caused by the immobilization of original parameters is prevented; (2 the dynamic input, real-time update and gradual forecast of time sequence are incorporated into the model. The experiment results show that the novel DAGCP can predict forthcoming tremor time earlier and more accurately than the conventional GCP. The generation mechanism of tremor behavior is illustrated as well.

An artificial muscle model unit based on inorganic nanosheet sliding by photochemical reaction.

Science.gov (United States)

Nabetani, Yu; Takamura, Hazuki; Hayasaka, Yuika; Sasamoto, Shin; Tanamura, Yoshihiko; Shimada, Tetsuya; Masui, Dai; Takagi, Shinsuke; Tachibana, Hiroshi; Tong, Zhiwei; Inoue, Haruo

2013-04-21

From the viewpoint of developing photoresponsive supramolecular systems in microenvironments to exhibit more sophisticated photo-functions even at the macroscopic level, inorganic/organic hybrid compounds based on clay or niobate nanosheets as the microenvironments were prepared, characterized, and examined for their photoreactions. We show here a novel type of artificial muscle model unit having much similarity with that in natural muscle fibrils. Upon photoirradiation, the organic/inorganic hybrid nanosheets reversibly slide horizontally on a giant scale, and the interlayer spaces in the layered hybrid structure shrink and expand vertically. In particular, our layered hybrid molecular system exhibits a macroscopic morphological change on a giant scale (~1500 nm) compared with the molecular size of ~1 nm, based on a reversible sliding mechanism.

[Reduced muscular oxygen tension and nerve impulse transmission from antishock hose. Reduction of oxygen tension in the tibial muscle and impulse transmission in the peroneal nerve from pneumatic -1 pressure from antishock hose].

Science.gov (United States)

Willy, C; Völker, H U; Weber, F; Albert, U; Sterk, J; Helm, M; Gerngross, H; Thomas, A

1998-07-01

The aim of the study was to assess, whether the pneumatic pressure of an antishock-trouser (AST) of 20-40 mm Hg induces a decreased oxygenation of the anterior tibial muscle and attenuates muscular response potential (MRP) of n. peronaeus profundus? Among 22 normotensive, healthy volunteers the AST were tested by applying pressure values between 0 and 100 mm Hg and measuring the intracompartmental pressure, the muscular oxygen pressure as well as the MRP by electroneurographic means within a period of 6 hours. The median initial intracompartmental pressure value of the m. tibialis anterior was 12.0 mm Hg (Q25%/Q75%: 8.9/17.3), the muscular oxygen pressure 14.8 mm Hg (Q25%/Q75%: 11.5/22.0). Transmission of the pneumatic AST-leg segment pressure to the muscle: 97.7% (Q25%/Q75%: 89.2/99.8). Already in the low AST pressure field (20-40 mm Hg) a severe hypoxia occurred in one case. A reduction of MRP was noticed at an AST pressure rate of 10 mm Hg. In 5 of 6 cases AST pressure values of 60 mm Hg led to pathological pO2-values within 5-20 minutes. Almost without exception AST-pressure rates < 60 mm Hg resulted in an anoxia of the muscle and loss of the MRP. We should demand that the AST are only applied with models where the pressure generated within the single segments can be controlled by pressure gauge. The application of the AST seems to be justified for polytraumatised in severe haemorrhagic shock where the risk of a local tissue ischemia with systemical consequences must deliberately be accepted.

Ultrathin Alvarez lens system actuated by artificial muscles.

Science.gov (United States)

Petsch, S; Grewe, A; Köbele, L; Sinzinger, S; Zappe, H

2016-04-01

A key feature of Alvarez lenses is that they may be tuned in focal length using lateral rather than axial translation, thus reducing the overall length of a focus-tunable optical system. Nevertheless the bulk of classical microsystems actuators limits further miniaturization. We present here a new, ultrathin focus-tunable Alvarez lens fabricated using molding techniques and actuated using liquid crystal elastomer (LCE) artificial muscle actuators. The large deformation generated by the LCE actuators permits the integration of the actuators in-plane with the mechanical and optical system and thus reduces the device thickness to only 1.6 mm. Movement of the Alvarez lens pair of 178 μm results in a focal length change of 3.3 mm, based on an initial focal length of 28.4 mm. This design is of considerable interest for realization of ultraflat focus-tunable and zoom systems.

Hydraulics and pneumatics

CERN Document Server

Parr, Andrew

2006-01-01

Nearly all industrial processes require objects to be moved, manipulated or subjected to some sort of force. This is frequently accomplished by means of electrical equipment (such as motors or solenoids), or via devices driven by air (pneumatics) or liquids (hydraulics).This book has been written by a process control engineer as a guide to the operation of hydraulic and pneumatic systems for all engineers and technicians who wish to have an insight into the components and operation of such a system.This second edition has been fully updated to include all recent developments su

Echipament acționat cu mușchi pneumatici destinat recuperării pacienților cu afecțiuni posttraumatice ale articulației cotului/Pneumatic muscle actuated equipment for the rehabilitation of patients with post-traumatic affections of the elbow joint

Directory of Open Access Journals (Sweden)

Georgiana VETRICE

2016-12-01

Full Text Available Loss of motion following joint surgery is a common complication and has negative effects on individuals. The diminished motion autonomy of persons suffering from post-traumatic affections of the elbow joint can be addressed by continuous passive motion, a treatment method entailing constant moving of the joint, however, without requiring any patient effort. The paper presents a novel type of rehabilitation equipment for the elbow joint, using this technique. The novelty consists in the utilization of pneumatic muscles as actuators and in the two axes of motion. Pneumatic actuation presents benefits from compliance, meaning favourable response to commands, due to air compressibility, as well as from an excellent force-to-weight ratio.

Compact and low-cost humanoid hand powered by nylon artificial muscles.

Science.gov (United States)

Wu, Lianjun; Jung de Andrade, Monica; Saharan, Lokesh Kumar; Rome, Richard Steven; Baughman, Ray H; Tadesse, Yonas

2017-02-03

This paper focuses on design, fabrication and characterization of a biomimetic, compact, low-cost and lightweight 3D printed humanoid hand (TCP Hand) that is actuated by twisted and coiled polymeric (TCP) artificial muscles. The TCP muscles were recently introduced and provided unprecedented strain, mechanical work, and lifecycle (Haines et al 2014 Science 343 868-72). The five-fingered humanoid hand is under-actuated and has 16 degrees of freedom (DOF) in total (15 for fingers and 1 at the palm). In the under-actuated hand designs, a single actuator provides coupled motions at the phalanges of each finger. Two different designs are presented along with the essential elements consisting of actuators, springs, tendons and guide systems. Experiments were conducted to investigate the performance of the TCP muscles in response to the power input (power magnitude, type of wave form such as pulsed or square wave, and pulse duration) and the resulting actuation stroke and force generation. A kinematic model of the flexor tendons was developed to simulate the flexion motion and compare with experimental results. For fast finger movements, short high-power pulses were employed. Finally, we demonstrated the grasping of various objects using the humanoid TCP hand showing an array of functions similar to a natural hand.

Investigation into response characteristics of the chitosan gel artificial muscle

Science.gov (United States)

Zhao, Gang; Yang, Junjie; Wang, Yujian; Zhao, Honghao; Fu, Yu; Zhang, Guangli; Yu, Shuqin; Wu, Yuda; Wei, Chengye; Liu, Xuxiong; Wang, Zhijie

2018-01-01

Bionic artificial muscle made from chitosan gel is an emerging type of the ionic electro active polymer with advantages of large deformation, low cost and environmental protection etc, which leads to a research focus and wide application in the fields of bionic engineering and intelligence material recently. In this paper, effects and improvement mechanisms of the direct casting and genipin cross-linking processes on response speed properties of the chitosan gel artificial muscle (CGAM) were mainly studied. Based on in-depth analysis of the CGAM response mechanism, a platform was built for testing the response performance of the CGAM, then its equivalent circuit and mathematical models were also established. Furthermore, control experiments were carried out to test and analyze several performances of the CGAM on response speed, electrical conductivity, mechanical properties and microstructure with different control variables. The experimental results illustrated that the CGAM assembled by direct casting enabled its electric actuating membrane and non-metallic electrode membrane tightly attached together with low contact resistance, which dramatically promoted the electrical conductivity of the CGAM resulting in nearly doubled response speed. Besides, different concentrations of genipin were adopted to cross-link the CGAM actuating membranes, and then it was found that the response speed of the uncross-linked CGAM was fast in the initial stage, but as time increased, it declined rapidly with poor steadiness. While there was no obvious decrease over time on the response speed of the CGAM cross-linked with low genipin concentration. Namely, its stability was getting better and better. In addition, the response speed of the CGAM cross-linked with low concentration of genipin was roughly the same as uncross-linked CGAM, which was quicker than that of high concentration. In this work, its internal mechanisms, feasible assembly technique and green modification method were

A Study of Gas Economizing Pneumatic Cylinder

International Nuclear Information System (INIS)

Li, T C; Wu, H W; Kuo, M J

2006-01-01

The pneumatic cylinder is the most typical actuator in the pneumatic equipment, and its mechanism is so simple that it is often used to operate point to point driving without the feedback loop in various automatic machines. But, the energy efficiency of pneumatic system is very poor compared with electrical systems and hydraulic systems. So, it is very important to discuss the energy saving for the pneumatic cylinder systems. In this thesis, we proposed three methods to apply the reduction in the air consumed for pneumatic cylinder systems. An air charge accumulator is used to absorb the exhausted compress air and a boost valve boosted the air to the higher pressure for used again. From the experiments, the direct used cylinder exhaust air may save about 40% of compress air

Comparison of Pneumatic Dilation with Pneumatic Dilation Plus Botulinum Toxin for Treatment of Achalasia

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Alireza Bakhshipour

2010-03-01

Full Text Available Among the therapeutic options for achalasia are pneumatic dilatation (PD, an appropriate long-term therapy, and botulinum toxin injection (BT that is a relatively short-term therapy. This study aimed to compare therapeutic effect of repetitive pneumatic dilation with a combined method (botulinum toxin injection and pneumatic dilation in a group of achalasia patients who are low responder to two initial pneumatic dilations. Thirty- four patients with documented primary achalasia that had low response to two times PD (<50% decrease in symptom score and barium height at 5 minute in timed esophagogram after 3month of late PD were randomized to receive pneumatic dilation (n=18 or botulinum toxin injection and pneumatic dilation by four weeks interval (n=16, PD and BT+PD groups respectively. Symptom scores were evaluated before and at 1, 6 and 12 months after treatment. Clinical remission was defined as a decrease in symptom score ≥ 50% of baseline. There were no significant differences between the two groups in gender, age and achalasia type. Remission rate of patients in BT-PD group in comparison with PD group were 87.5% vs. 67.1% (P = 0.7, 87.5% vs. 61.1% (P = 0.59 and 87.5% vs. 55.5% (P = 0.53 at 1, 6 and 12 months respectively .There were no major complications in either group. The mean symptom score decreased by 62.71% in the BT-PD group (P < 0.002 and 50.77% in the PD group (P < 0.01 at the end of the first year. Despite a better response rate in BT+PD group, a difference was not statistically significant. A difference may be meaningful if a large numbers of patients are included in the study.

Developing control algorithms of a voluntary cough for an artificial bioengineered larynx using surface electromyography of chest muscles: A prospective cohort study.

Science.gov (United States)

Banus, M S; Birchall, M A; Graveston, J A

2018-04-01

This prospective cohort study investigates the prediction of a voluntary cough using surface electromyography (EMG) of intercostal and diaphragm muscles, to develop control algorithms for an EMG-controlled artificial larynx. The Ear Institute, London. Electromyography onset compared to voluntary cough exhalation onset and to 100 ms (to give the artificial larynx the time to close the bioengineered vocal cords) before voluntary cough exhalation onset, in twelve healthy participants. In the 189 EMG of intercostal muscle-detected voluntary coughs, 172 coughs (91% CI 70-112) were detected before onset of cough exhalation and 128 coughs (67.6% CI 33.7-101.7) 100 ms before onset of cough exhalation. In the 158 EMG of diaphragm muscle-detected voluntary coughs, 149 coughs (94.3% CI 76.3-112.3) were detected before onset of cough exhalation and 102 coughs (64.6% CI 26.6-102.6) 100 ms before onset of cough exhalation. More coughs were detected before onset of cough exhalation when combining EMG activity of intercostal and diaphragm muscles and comparing this to intercostal muscle activity alone (183 coughs [96.8% CI 83.8-109.8] vs 172 coughs, P = .0294). When comparing the mentioned combination to diaphragm muscle activity alone, the higher percentage of detected coughs before cough exhalation onset was not found to be significant (183 coughs vs 149 coughs, P = .295). In addition, more coughs were detected 100 ms before onset of cough exhalation with the mentioned combination of EMG activity and comparing this to intercostal muscles alone (149 coughs [78.8% CI 48.8-108.8] vs 128 coughs, P = .0198) and to diaphragm muscles alone (149 coughs vs 102 coughs, P = .0038). Most voluntary coughs can be predicted based on combined EMG signals of intercostal and diaphragm muscles, and therefore, these two muscle groups will be useful in controlling the bioengineered vocal cords within the artificial larynx during a voluntary cough. © 2017 John Wiley & Sons Ltd.

Pneumatic soil removal tool

International Nuclear Information System (INIS)

Neuhaus, J.E.

1992-01-01

A soil removal tool is provided for removing radioactive soil, rock and other debris from the bottom of an excavation, while permitting the operator to be located outside of a containment for that excavation. The tool includes a fixed jaw, secured to one end of an elongate pipe, which cooperates with a movable jaw pivotably mounted on the pipe. Movement of the movable jaw is controlled by a pneumatic cylinder mounted on the pipe. The actuator rod of the pneumatic cylinder is connected to a collar which is slidably mounted on the pipe and forms part of the pivotable mounting assembly for the movable jaw. Air is supplied to the pneumatic cylinder through a handle connected to the pipe, under the control of an actuator valve mounted on the handle, to provide movement of the movable jaw. 3 figs

Pneumatic soil removal tool

Science.gov (United States)

Neuhaus, John E.

1992-01-01

A soil removal tool is provided for removing radioactive soil, rock and other debris from the bottom of an excavation, while permitting the operator to be located outside of a containment for that excavation. The tool includes a fixed jaw, secured to one end of an elongate pipe, which cooperates with a movable jaw pivotably mounted on the pipe. Movement of the movable jaw is controlled by a pneumatic cylinder mounted on the pipe. The actuator rod of the pneumatic cylinder is connected to a collar which is slidably mounted on the pipe and forms part of the pivotable mounting assembly for the movable jaw. Air is supplied to the pneumatic cylinder through a handle connected to the pipe, under the control of an actuator valve mounted on the handle, to provide movement of the movable jaw.

Haptic control of a pneumatic muscle actuator to provide resistance for simulated isokinetic exercise; part II: control development and testing.

Science.gov (United States)

Hall, Kara L; Phillips, Chandler A; Reynolds, David B; Mohler, Stanley R; Rogers, Dana B; Neidhard-Doll, Amy T

2015-01-01

Pneumatic muscle actuators (PMAs) have a high power to weight ratio and possess unique characteristics which make them ideal actuators for applications involving human interaction. PMAs are difficult to control due to nonlinear dynamics, presenting challenges in system implementation. Despite these challenges, PMAs have great potential as a source of resistance for strength training and rehabilitation. The objective of this work was to control a PMA for use in isokinetic exercise, potentially benefiting anyone in need of optimal strength training through a joint's range of motion. The controller, based on an inverse three-element phenomenological model and adaptive nonlinear control, allows the system to operate as a type of haptic device. A human quadriceps dynamic simulator was developed (as described in Part I of this work) so that control effectiveness and accommodation could be tested prior to human implementation. Tracking error results indicate that the control system is effective at producing PMA displacement and resistance necessary for a scaled, simulated neuromuscular actuator to maintain low-velocity isokinetic movement during simulated concentric and eccentric knee extension.

Sensing and tactile artificial muscles from reactive materials.

Science.gov (United States)

Conzuelo, Laura Valero; Arias-Pardilla, Joaquín; Cauich-Rodríguez, Juan V; Smit, Mascha Afra; Otero, Toribio Fernández

2010-01-01

Films of conducting polymers can be oxidized and reduced in a reversible way. Any intermediate oxidation state determines an electrochemical equilibrium. Chemical or physical variables acting on the film may modify the equilibrium potential, so that the film acts as a sensor of the variable. The working potential of polypyrrole/DBSA (Dodecylbenzenesulfonic acid) films, oxidized or reduced under constant currents, changes as a function of the working conditions: electrolyte concentration, temperature or mechanical stress. During oxidation, the reactive material is a sensor of the ambient, the consumed electrical energy being the sensing magnitude. Devices based on any of the electrochemical properties of conducting polymers must act simultaneously as sensors of the working conditions. Artificial muscles, as electrochemical actuators constituted by reactive materials, respond to the ambient conditions during actuation. In this way, they can be used as actuators, sensing the surrounding conditions during actuation. Actuating and sensing signals are simultaneously included by the same two connecting wires.

Soft but Powerful Artificial Muscles Based on 3D Graphene-CNT-Ni Heteronanostructures.

Science.gov (United States)

Kim, Jaehwan; Bae, Seok-Hu; Kotal, Moumita; Stalbaum, Tyler; Kim, Kwang J; Oh, Il-Kwon

2017-08-01

Bioinspired soft ionic actuators, which exhibit large strain and high durability under low input voltages, are regarded as prospective candidates for future soft electronics. However, due to the intrinsic drawback of weak blocking force, the feasible applications of soft ionic actuators are limited until now. An electroactive artificial muscle electro-chemomechanically reinforced with 3D graphene-carbon nanotube-nickel heteronanostructures (G-CNT-Ni) to improve blocking force and bending deformation of the ionic actuators is demonstrated. The G-CNT-Ni heteronanostructure, which provides an electrically conductive 3D network and sufficient contact area with mobile ions in the polymer electrolyte, is embedded as a nanofiller in both ionic polymer and conductive electrodes of the ionic actuators. An ionic exchangeable composite membrane consisting of Nafion, G-CNT-Ni and ionic liquid (IL) shows improved tensile modulus and strength of up to 166% and 98%, respectively, and increased ionic conductivity of 0.254 S m -1 . The ionic actuator exhibits enhanced actuation performances including three times larger bending deformation, 2.37 times higher blocking force, and 4 h durability. The electroactive artificial muscle electro-chemomechanically reinforced with 3D G-CNT-Ni heteronanostructures offers improvements over current soft ionic actuator technologies and can advance the practical engineering applications. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Fractional-Order Control of Pneumatic Position Servosystems

Directory of Open Access Journals (Sweden)

Cao Junyi

2011-01-01

Full Text Available A fractional-order control strategy for pneumatic position servosystem is presented in this paper. The idea of the fractional calculus application to control theory was introduced in many works, and its advantages were proved. However, the realization of fractional-order controllers for pneumatic position servosystems has not been investigated. Based on the relationship between the pressure in cylinder and the rate of mass flow into the cylinder, the dynamic model of pneumatic position servo system is established. The fractional-order controller for pneumatic position servo and its implementation in industrial computer is designed. The experiments with fractional-order controller are carried out under various conditions, which include sine position signal with different frequency and amplitude, step position signal, and variety inertial load. The results show the effectiveness of the proposed scheme and verify their fine control performance for pneumatic position servo system.

Nature as an engineer: one simple concept of a bio-inspired functional artificial muscle.

Science.gov (United States)

Schmitt, S; Haeufle, D F B; Blickhan, R; Günther, M

2012-09-01

The biological muscle is a powerful, flexible and versatile actuator. Its intrinsic characteristics determine the way how movements are generated and controlled. Robotic and prosthetic applications expect to profit from relying on bio-inspired actuators which exhibit natural (muscle-like) characteristics. As of today, when constructing a technical actuator, it is not possible to copy the exact molecular structure of a biological muscle. Alternatively, the question may be put how its characteristics can be realized with known mechanical components. Recently, a mechanical construct for an artificial muscle was proposed, which exhibits hyperbolic force-velocity characteristics. In this paper, we promote the constructing concept which is made by substantiating the mechanical design of biological muscle by a simple model, proving the feasibility of its real-world implementation, and checking their output both for mutual consistency and agreement with biological measurements. In particular, the relations of force, enthalpy rate and mechanical efficiency versus contraction velocity of both the construct's technical implementation and its numerical model were determined in quick-release experiments. All model predictions for these relations and the hardware results are now in good agreement with the biological literature. We conclude that the construct represents a mechanical concept of natural actuation, which is suitable for laying down some useful suggestions when designing bio-inspired actuators.

Design of a portable artificial heart drive system based on efficiency analysis.

Science.gov (United States)

Kitamura, T

1986-11-01

This paper discusses a computer simulation of a pneumatic portable piston-type artificial heart drive system with a linear d-c-motor. The purpose of the design is to obtain an artificial heart drive system with high efficiency and small dimensions to enhance portability. The design employs two factors contributing the total efficiency of the drive system. First, the dimensions of the pneumatic actuator were optimized under a cost function of the total efficiency. Second, the motor performance was studied in terms of efficiency. More than 50 percent of the input energy of the actuator with practical loads is consumed in the armature circuit in all linear d-c-motors with brushes. An optimal design is: the piston cross-sectional area of 10.5 cm2 cylinder longitudinal length of 10 cm. The total efficiency could be up to 25 percent by improving the gasket to reduce the frictional force.

Simple artificial training device for respiratory muscle strength and lung volumes in healthy young male and female subjects: A pilot study.

Science.gov (United States)

Leelarungrayub, Jirakrit; Pinkaew, Decha; Yankai, Araya; Chautrakoon, Busaba; Kuntain, Rungtiwa

2017-10-01

The aim of this study was to evaluate the efficiency of a simple artificial device for respiratory muscle strength training and lung volumes using either combined or non-combined exercise with elastic bands in healthy young participants. Forty healthy young participants (20 male and 20 female) aged 19-24 years old were randomized into two main experiments with four sub-groups; (1) artificial device (n = 10) & standard device (n = 10) training, and (2) artificial device training combined with elastic band (EB) exercise (n = 10) & standard device training combined with EB (n = 10) exercise. Respiratory muscle strength with maximal peak inspiratory pressure (PImax), and lung volumes; tidal volume (TV), inspiratory reserve volume (IRV), expiratory reserve volume (ERV) and vital capacity (VC) were evaluated before and after training once daily for 3 weeks. Moreover, the peak dyspnea score and vital sign parameters were compared between the experimental groups after final training. All parameters had no statistical differences (p > 0.5) between the training devices alone and those combined with EB exercise prior to any experiments. Results from the first experiment showed that training with an artificial device increased all parameters (PImax, VC, IRV, ERV) significantly (p artificial device training combined with EB exercise showed a significant increase in all parameters, except for TV, and they were the same as the increased results in training with the standard device combined with EB exercise. There was no significant difference of data between these groups after the training period. Finally, the results of peak dyspnea score and all vital sign parameters from using the artificial device, with or without EB exercise, showed no statistical difference when compared to use of the standard device. This study proposed that a simple artificial device can be used to train the respiratory muscle with or without elastic band exercise in healthy young subjects

Noninvasive Measurement of EKG Properties of 3D Artificial Heart Muscle

Directory of Open Access Journals (Sweden)

Betsy H. Salazar

2017-06-01

Full Text Available Developing and testing a custom fabricated 16-electrode noninvasive direct contact system was necessary to assess the electrical properties of bioengineered heart muscle and to further evaluate the efficacy of cardiac constructs. By culturing neonatal rat primary cardiac cells on a fibrin gel, we constructed 3D artificial heart muscle (3D-AHM, as described in previous studies, which were used in validating this novel system. Electrical and mechanical functional assessment of the tissues was performed, which yielded contractile forces of the tissues, electrical field potential characteristics, and tissue conduction velocities (CV (20–170 cm/s. Immunohistological evaluation revealed the formation of cardiac tissue structures and cardiomyocyte proliferation. EKG data analysis also yielded time delays between signals in the range of 0–38 ms with electrical maps showing some evidence of synchronous contraction within the fabricated tissues. This study demonstrates the effectiveness and practicality of our novel EKG measuring system to acquire distinct electrical metrics of 3D-AHM, which will aid in increasing the viability and applicability of cardiac tissue constructs.

Haptic control of a pneumatic muscle actuator to provide resistance for simulated isokinetic exercise: Part I--dynamic test station and human quadriceps dynamic simulator.

Science.gov (United States)

Hall, Kara L; Phillips, Chandler A; Reynolds, David B; Mohler, Stanley R; Rogers, Dana B; Neidhard-Doll, Amy T

2014-01-01

Pneumatic muscle actuators (PMAs) have a high power to weight ratio and possess unique characteristics which make them ideal actuators for applications involving human interaction. PMAs are difficult to control due to nonlinear dynamics, presenting challenges in system implementation. Despite these challenges, PMAs have great potential as a source of resistance for strength training and rehabilitation. The objective of this work was to control a PMA for use in isokinetic exercise, potentially benefiting anyone in need of optimal strength training through a joint's range of motion. A human quadriceps dynamic simulator (HQDS) was developed so that control effectiveness and accommodation could be tested prior to human implementation. The experimental set-up and HQDS are discussed in Part I of this work. The development of a PMA haptic controller and its interaction with the HQDS are discussed in Part II.

21 CFR 882.4370 - Pneumatic cranial drill motor.

Science.gov (United States)

2010-04-01

... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Pneumatic cranial drill motor. 882.4370 Section 882.4370 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES... drill motor. (a) Identification. A pneumatic cranial drill motor is a pneumatically operated power...

Material and fabrication strategies for artificial muscles (Conference Presentation)

Science.gov (United States)

Spinks, Geoffrey M.

2017-04-01

Soft robotic and wearable robotic devices seek to exploit polymer based artificial muscles and sensor materials to generate biomimetic movements and forces. A challenge is to integrate the active materials into a complex, three-dimensional device with integrated electronics, power supplies and support structures. Both 3D printing and textiles technologies offer attractive fabrication strategies, but require suitable functional materials. 3D printing of actuating hydrogels has been developed to produce simple devices, such as a prototype valve. Tough hydrogels based on interpenetrating networks of ionicially crosslinked alginate and covalently crosslinked polyacrylamide and poly(N-isopropylacrylamide) have been developed in a form suitable for extrusion printing with UV curing. Combined with UV-curable and extrudable rigid acrylated urethanes, the tough hydrogels can be 3D printed into composite materials or complex shapes with multiple different materials. An actuating valve was printed that operated thermally to open or close the flow path using 6 parallel hydrogel actuators. Textile processing methods such as knitting and weaving can be used to generate assemblies of actuating fibres. Low cost and high performance coiled fibres made from oriented polymers have been used for developing actuating textiles. Similarly, braiding methods have been developed to fabricate new forms of McKibben muscles that operate without any external apparatus, such as pumps, compressors or piping.

Artificial muscles with adjustable stiffness

International Nuclear Information System (INIS)

Mutlu, Rahim; Alici, Gursel

2010-01-01

This paper reports on a stiffness enhancement methodology based on using a suitably designed contact surface with which cantilevered-type conducting polymer bending actuators are in contact during operation. The contact surface constrains the bending behaviour of the actuators. Depending on the topology of the contact surface, the resistance of the polymer actuators to deformation, i.e. stiffness, is varied. As opposed to their predecessors, these polymer actuators operate in air. Finite element analysis and modelling are used to quantify the effect of the contact surface on the effective stiffness of a trilayer cantilevered beam, which represents a one-end-free, the-other-end-fixed polypyrrole (PPy) conducting polymer actuator under a uniformly distributed load. After demonstrating the feasibility of the adjustable stiffness concept, experiments were conducted to determine the stiffness of bending-type conducting polymer actuators in contact with a range (20–40 mm in radius) of circular contact surfaces. The numerical and experimental results presented demonstrate that the stiffness of the actuators can be varied using a suitably profiled contact surface. The larger the radius of the contact surface is, the higher is the stiffness of the polymer actuators. The outcomes of this study suggest that, although the stiffness of the artificial muscles considered in this study is constant for a given geometric size, and electrical and chemical operation conditions, it can be changed in a nonlinear fashion to suit the stiffness requirement of a considered application. The stiffness enhancement methodology can be extended to other ionic-type conducting polymer actuators

Diet Affects Muscle Quality and Growth Traits of Grass Carp (Ctenopharyngodon idellus): A Comparison Between Grass and Artificial Feed.

Science.gov (United States)

Zhao, Honghao; Xia, Jianguo; Zhang, Xi; He, Xugang; Li, Li; Tang, Rong; Chi, Wei; Li, Dapeng

2018-01-01

Fish muscle, the main edible parts with high protein level and low fat level, is consumed worldwide. Diet contributes greatly to fish growth performance and muscle quality. In order to elucidate the correlation between diet and muscle quality, the same batch of juvenile grass carp ( Ctenopharyngodon idellus ) were divided into two groups and fed with either grass ( Lolium perenne, Euphrasia pectinata and Sorghum sudanense ) or artificial feed, respectively. However, the different two diets didn't result in significant differences in all the detected water quality parameters (e.g., Tm, pH, DO, NH 3 /[Formula: see text]-N, [Formula: see text]-N, [Formula: see text], TN, TP, and TOC) between the two experimental groups. After a 4-month culture period, various indexes and expression of myogenic regulatory factor (MRFs) and their related genes were tested. The weight gain of the fish fed with artificial feed (AFG) was nearly 40% higher than the fish fed with grass (GFG). Significantly higher alkaline phosphatase, total cholestrol, high density cholestrol and total protein were detected in GFG as compared to AFG. GFG also showed increased hardness, resilience and shear force in texture profile analysis, with significantly bigger and compact muscle fibers in histologic slices. The fat accumulation was most serious in the abdomen muscle of AFG. Additionally, the expression levels of MyoG, MyoD, IGF - 1 , and MSTNs were higher, whereas Myf - 5, MRF4 , and IGF -2 were lower in most positional muscles of GFG as compared to AFG. Overall, these results suggested that feeding grass could promote muscle growth and development by stimulating muscle fiber hypertrophy, as well as significantly enhance the expression of CoL1A s. Feeding C. idellus with grass could also improve flesh quality by improving muscle characteristics, enhancing the production of collagen, meanthile, reducing fat accumulation and moisture in muscle, but at the cost of a slower growth.

Diet Affects Muscle Quality and Growth Traits of Grass Carp (Ctenopharyngodon idellus: A Comparison Between Grass and Artificial Feed

Directory of Open Access Journals (Sweden)

Honghao Zhao

2018-03-01

Full Text Available Fish muscle, the main edible parts with high protein level and low fat level, is consumed worldwide. Diet contributes greatly to fish growth performance and muscle quality. In order to elucidate the correlation between diet and muscle quality, the same batch of juvenile grass carp (Ctenopharyngodon idellus were divided into two groups and fed with either grass (Lolium perenne, Euphrasia pectinata and Sorghum sudanense or artificial feed, respectively. However, the different two diets didn't result in significant differences in all the detected water quality parameters (e.g., Tm, pH, DO, NH3/NH4+-N, NO3--N, NO2-, TN, TP, and TOC between the two experimental groups. After a 4-month culture period, various indexes and expression of myogenic regulatory factor (MRFs and their related genes were tested. The weight gain of the fish fed with artificial feed (AFG was nearly 40% higher than the fish fed with grass (GFG. Significantly higher alkaline phosphatase, total cholestrol, high density cholestrol and total protein were detected in GFG as compared to AFG. GFG also showed increased hardness, resilience and shear force in texture profile analysis, with significantly bigger and compact muscle fibers in histologic slices. The fat accumulation was most serious in the abdomen muscle of AFG. Additionally, the expression levels of MyoG, MyoD, IGF-1, and MSTNs were higher, whereas Myf-5, MRF4, and IGF-2 were lower in most positional muscles of GFG as compared to AFG. Overall, these results suggested that feeding grass could promote muscle growth and development by stimulating muscle fiber hypertrophy, as well as significantly enhance the expression of CoL1As. Feeding C. idellus with grass could also improve flesh quality by improving muscle characteristics, enhancing the production of collagen, meanthile, reducing fat accumulation and moisture in muscle, but at the cost of a slower growth.

Fractional-Order Control of Pneumatic Position Servosystems

OpenAIRE

Junyi, Cao; Binggang, Cao

2011-01-01

A fractional-order control strategy for pneumatic position servosystem is presented in this paper. The idea of the fractional calculus application to control theory was introduced in many works, and its advantages were proved. However, the realization of fractional-order controllers for pneumatic position servosystems has not been investigated. Based on the relationship between the pressure in cylinder and the rate of mass flow into the cylinder, the dynamic model of pneumatic position servo ...

[Evaluation of artificial digestion method on inspection of meat for Trichinella spiralis contamination and influence of the method on muscle larvae recovery].

Science.gov (United States)

Wang, Guo-Ying; Du, Jing-Fang; Dun, Guo-Qing; Sun, Wei-Li; Wang, Jin-Xi

2011-04-01

To evaluate the effect of artificial digestion method on inspection of meat for Trichinella spiralis contamination and its influence on activity and infectivity of muscle larvae. The mice were inoculated orally with 100 muscle larvae of T. spiralis and sacrificed on the 30th day following the infection. The muscle larvae of T. spiralis were recovered by three different test protocols employing variations of the artificial digestion method, i.e. the first test protocol evaluating digestion for 2 hours (magnetic stirrer method), the second test protocol evaluating digestion for 12 hours, and the third test protocol evaluating digestion for 20 hours. Each test group included ten samples, and each of which included 300 encapsulated larvae. Meanwhile, the activity of the recovered muscle larvae was also assessed. Forty mice were randomly divided into a control group and three digestion groups, so 4 groups (with 10 mice per group) in total. In the control group, each mouse was orally inoculated with 100 encapsulated larvae of T. spiralis. In all of the digestion test groups, each mouse was orally inoculated with 100 muscle larvae of T. spiralis. The larvae were then recovered from the different three test groups by the artificial digestion protocol variations. All the infected mice were sacrificed on the 30th day following the infection, and the muscle larvae of T. spiralis were examined respectively by the diaphragm compression method and the magnetic stirrer method. The muscle larvae detection rates were 78.47%, 76.73%, and 68.63%, the death rates were 0.59%, 4.60%, and 7.43%, and the reduction rates were 60.56%, 61.94%, and 73.07%, in the Test Group One (2-hour digestion), Test Group Two (12-hour digestion) and Test Group Three (20-hour digestion), respectively. The magnetic stirrer method (2-hour digestion method) is superior to both 12-hour digestion and 20-hour digestion methods when assessed by the detection rate, activity and infectivity of muscle larvae.

Accelerometer-based estimation and modal velocity feedback vibration control of a stress-ribbon bridge with pneumatic muscles

International Nuclear Information System (INIS)

Liu, Xiaohan; Goldack, Arndt; Schlaich, Mike; Schauer, Thomas; Bleicher, Achim

2016-01-01

Lightweight footbridges are very elegant but also prone to vibration. By employing active vibration control, smart footbridges could accomplish not only the architectural concept but also the required serviceability and comfort. Inertial sensors such as accelerometers allow the estimation of nodal velocities and displacements. A Kalman filter together with a band-limited multiple Fourier linear combiner (BMFLC) is applied to enable a drift-free estimation of these signals for the quasi-periodic motion under pedestrian excitation without extra information from other kinds of auxiliary sensors. The modal velocities of the structure are determined by using a second Kalman filter with the known applied actuator forces as inputs and the estimated nodal displacement and velocities as measurements. The obtained multi-modal velocities are then used for feedback control. An ultra-lightweight stress-ribbon footbridge built in the Peter-Behrens- Halle at the Technische Universitat Berlin served as the research object. Using two inertial sensors in optimal points we can estimate the dominant modal characteristics of this bridge. Real-time implementation and evaluation results of the proposed estimator will be presented in comparison to signals derived from classical displacement encoders. The real-time estimated modal velocities were applied in a multi-modal velocity feedback vibration control scheme with lightweight pneumatic muscle actuators. Experimental results demonstrate the feasibility of using inertial sensors for active vibration control of lightweight footbridges. (paper)

Accelerometer-based estimation and modal velocity feedback vibration control of a stress-ribbon bridge with pneumatic muscles

Science.gov (United States)

Liu, Xiaohan; Schauer, Thomas; Goldack, Arndt; Bleicher, Achim; Schlaich, Mike

2016-09-01

Lightweight footbridges are very elegant but also prone to vibration. By employing active vibration control, smart footbridges could accomplish not only the architectural concept but also the required serviceability and comfort. Inertial sensors such as accelerometers allow the estimation of nodal velocities and displacements. A Kalman filter together with a band-limited multiple Fourier linear combiner (BMFLC) is applied to enable a drift-free estimation of these signals for the quasi-periodic motion under pedestrian excitation without extra information from other kinds of auxiliary sensors. The modal velocities of the structure are determined by using a second Kalman filter with the known applied actuator forces as inputs and the estimated nodal displacement and velocities as measurements. The obtained multi-modal velocities are then used for feedback control. An ultra-lightweight stress-ribbon footbridge built in the Peter-Behrens- Halle at the Technische Universitat Berlin served as the research object. Using two inertial sensors in optimal points we can estimate the dominant modal characteristics of this bridge. Real-time implementation and evaluation results of the proposed estimator will be presented in comparison to signals derived from classical displacement encoders. The real-time estimated modal velocities were applied in a multi-modal velocity feedback vibration control scheme with lightweight pneumatic muscle actuators. Experimental results demonstrate the feasibility of using inertial sensors for active vibration control of lightweight footbridges.

Exchanged cations and water during reactions in polypyrrole macroions from artificial muscles.

Science.gov (United States)

Valero, Laura; Otero, Toribio F; Martínez, José G

2014-02-03

The movement of the bilayer (polypyrrole-dodecylbenzenesulfonate/tape) during artificial muscle bending under flow of current square waves was studied in aqueous solutions of chloride salts. During current flow, polypyrrole redox reactions result in variations in the volumes of the films and macroscopic bending: swelling by reduction with expulsion of cations and shrinking by oxidation with the insertion of cations. The described angles follow a linear function, different in each of the studied salts, of the consumed charge: they are faradaic polymeric muscles. The linearity indicates that cations are the only exchanged ions in the studied potential range. By flow of the same specific charge in every electrolyte, different angles were described by the muscle. The charge and the angle allow the number and volume of both the exchanged cations and the water molecules (related to a reference) between the film to be determined, in addition to the electrolyte per unit of charge during the driving reaction. The attained apparent solvation numbers for the exchanged cations were: 0.8, 0.7, 0.6, 0.5, 0.5, 0.4, 0.25, and 0.0 for Na(+), Mg(2+), La(3+), Li(+), Ca(2+), K(+), Rb(+), and Cs(+), respectively. Copyright © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Key issues in theoretical and functional pneumatic design

Science.gov (United States)

Xu, Z. G.; Yang, D. Y.; Liu, W. M.; Liu, T. T.

2017-10-01

This paper studies the energy release of the pneumatic engine in different thermodynamic processes, the isothermal process is the highest power output process, while adiabatic process is the lowest energy output process, and the energy release of the pneumatic engine is a multi-state thermodynamic process between them. Therefore heat exchanging should be increased between the pneumatic engine and the outer space, the gas expansion process in the cylinder should be as close as possible to the isothermal process. Heat exchange should be increased between the cylinder and the external spaces. Secondly, the fin structure is studied to increase the heat exchanging between the cylinder body and the outside space. The upper part has fin structures and the lower cylinder has no fin structure, this structure improved the working efficiency of pneumatic engine. Finally the cam and the hydraulic bottle of pneumatic engines are designed. Simulation and theoretical calculation are used to the analysis of the whole structure, which lay the foundation for the manufacturing and design of the pneumatic engines.

Characteristic analysis and experiment of pneumatic servo valve

International Nuclear Information System (INIS)

Kim, Dong Soo; Lee, Won Hee; Choi, Byung Oh

2004-01-01

Electro-pneumatic servo valve is an electro-mechanical device which converts electric signals into a proper pneumatic flow rate or pressure. In order to improve the overall performance of pneumatic servo systems, electro-pneumatic servo valves are required, which have fast dynamic characteristics, no air leakage at a null point, and can be fabricated at a low-cost. The first objective of this research is to design and to fabricate a new electro-pneumatic servo valve which satisfies the above-mentioned requirements. In order to design the mechanism of the servo valve optimally, the flow inside the valve depending upon the position of spool was analyzed variously, and on the basis of such analysis results, the valve mechanism, which was formed by combination of the spool and the sleeve, was designed and manufactured. And a tester for conducting an overall performance test was designed and manufactured, and as a result of conducting the flow rate test, the pressure test and the frequency test on the developed pneumatic servo valve

Pneumatic and hydraulic microactuators: a review

International Nuclear Information System (INIS)

De Volder, Michaël; Reynaerts, Dominiek

2010-01-01

The development of MEMS actuators is rapidly evolving and continuously new progress in terms of efficiency, power and force output is reported. Pneumatic and hydraulic are an interesting class of microactuators that are easily overlooked. Despite the 20 years of research, and hundreds of publications on this topic, these actuators are only popular in microfluidic systems. In other MEMS applications, pneumatic and hydraulic actuators are rare in comparison with electrostatic, thermal or piezo-electric actuators. However, several studies have shown that hydraulic and pneumatic actuators deliver among the highest force and power densities at microscale. It is believed that this asset is particularly important in modern industrial and medical microsystems, and therefore, pneumatic and hydraulic actuators could start playing an increasingly important role. This paper shows an in-depth overview of the developments in this field ranging from the classic inflatable membrane actuators to more complex piston–cylinder and drag-based microdevices. (topical review)

Nature as an engineer: one simple concept of a bio-inspired functional artificial muscle

International Nuclear Information System (INIS)

Schmitt, S; Haeufle, D F B; Günther, M; Blickhan, R

2012-01-01

The biological muscle is a powerful, flexible and versatile actuator. Its intrinsic characteristics determine the way how movements are generated and controlled. Robotic and prosthetic applications expect to profit from relying on bio-inspired actuators which exhibit natural (muscle-like) characteristics. As of today, when constructing a technical actuator, it is not possible to copy the exact molecular structure of a biological muscle. Alternatively, the question may be put how its characteristics can be realized with known mechanical components. Recently, a mechanical construct for an artificial muscle was proposed, which exhibits hyperbolic force–velocity characteristics. In this paper, we promote the constructing concept which is made by substantiating the mechanical design of biological muscle by a simple model, proving the feasibility of its real-world implementation, and checking their output both for mutual consistency and agreement with biological measurements. In particular, the relations of force, enthalpy rate and mechanical efficiency versus contraction velocity of both the construct’s technical implementation and its numerical model were determined in quick-release experiments. All model predictions for these relations and the hardware results are now in good agreement with the biological literature. We conclude that the construct represents a mechanical concept of natural actuation, which is suitable for laying down some useful suggestions when designing bio-inspired actuators. (paper)

Measurement of blood flow from an assist ventricle by computation of pneumatic driving parameters.

Science.gov (United States)

Qian, K X

1992-03-01

The measurement of blood flow from an assist ventricle is important but sometimes difficult in artificial heart experiments. Along with the development of a pneumatic cylinder-piston driver coupled with a ventricular assist device, a simplified method for measuring pump flow was established. From driving parameters such as the piston (or cylinder) displacement and air pressure, the pump flow could be calculated by the use of the equation of state for an ideal gas. The results of this method are broadly in agreement with electromagnetic and Doppler measurements.

Examination of mitral regurgitation with a goat heart model for the development of intelligent artificial papillary muscle.

Science.gov (United States)

Shiraishi, Y; Yambe, T; Yoshizawa, M; Hashimoto, H; Yamada, A; Miura, H; Hashem, M; Kitano, T; Shiga, T; Homma, D

2012-01-01

Annuloplasty for functional mitral or tricuspid regurgitation has been made for surgical restoration of valvular diseases. However, these major techniques may sometimes be ineffective because of chamber dilation and valve tethering. We have been developing a sophisticated intelligent artificial papillary muscle (PM) by using an anisotropic shape memory alloy fiber for an alternative surgical reconstruction of the continuity of the mitral structural apparatus and the left ventricular myocardium. This study exhibited the mitral regurgitation with regard to the reduction in the PM tension quantitatively with an originally developed ventricular simulator using isolated goat hearts for the sophisticated artificial PM. Aortic and mitral valves with left ventricular free wall portions of isolated goat hearts (n=9) were secured on the elastic plastic membrane and statically pressurized, which led to valvular leaflet-papillary muscle positional change and central mitral regurgitation. PMs were connected to the load cell, and the relationship between the tension of regurgitation and PM tension were measured. Then we connected the left ventricular specimen model to our hydraulic ventricular simulator and achieved hemodynamic simulation with the controlled tension of PMs.

Acute impact of intermittent pneumatic leg compression frequency on limb hemodynamics, vascular function, and skeletal muscle gene expression in humans.

Science.gov (United States)

Sheldon, Ryan D; Roseguini, Bruno T; Thyfault, John P; Crist, Brett D; Laughlin, M H; Newcomer, Sean C

2012-06-01

The mechanisms by which intermittent pneumatic leg compression (IPC) treatment effectively treats symptoms associated with peripheral artery disease remain speculative. With the aim of gaining mechanistic insight into IPC treatment, the purpose of this study was to investigate the effect of IPC frequency on limb hemodynamics, vascular function, and skeletal muscle gene expression. In this two study investigation, healthy male subjects underwent an hour of either high-frequency (HF; 2-s inflation/3-s deflation) or low-frequency (LF; 4-s inflation/16-s deflation) IPC treatment of the foot and calf. In study 1 (n = 11; 23.5 ± 4.7 yr), subjects underwent both HF and LF treatment on separate days. Doppler/ultrasonography was used to measure popliteal artery diameter and blood velocity at baseline and during IPC treatment. Flow-mediated dilation (FMD) and peak reactive hyperemia blood flow (RHBF) were determined before and after IPC treatment. In study 2 (n = 19; 22.0 ± 4.6 yr), skeletal muscle biopsies were taken from the lateral gastrocnemius of the treated and control limb at baseline and at 30- and 150-min posttreatment. Quantitative PCR was used to assess mRNA concentrations of genes associated with inflammation and vascular remodeling. No treatment effect on vascular function was observed. Cuff deflation resulted in increased blood flow (BF) and shear rate (SR) in both treatments at the onset of treatment compared with baseline (P < 0.01). BF and SR significantly diminished by 45 min of HF treatment only (P < 0.01). Both treatments reduced BF and SR and elevated oscillatory shear index compared with baseline (P < 0.01) during cuff inflation. IPC decreased the mRNA expression of cysteine-rich protein 61 from baseline and controls (P <0 .01) and connective tissue growth factor from baseline (P < 0.05) in a frequency-dependent manner. In conclusion, a single session of IPC acutely impacts limb hemodynamics and skeletal muscle gene expression in a frequency

Achalasia: pneumatic Dilation. Experience in a reference hospital

International Nuclear Information System (INIS)

Garzon, Martin; Farfan, Yezid; Molano, Juan; Rey, Mario; Martinez, Julian; Marulanda, Juan

2005-01-01

Chalasia has an incidence of 1:100.000. The therapy for achalasia, focus on reducing the pressure gradient across the LES, which can be achieved by forceful pneumatic dilation of the gastroesophageal junction, surgical myotomy or by pharmacological agents, injected endoscopically or taken orally. Pneumatic balloon dilation is regarded as the first-Line treatment, with an initial success rate of 85% to 90%. The objective of this study is to show our experience with pneumatic balloon dilation in the patients with diagnosis of achalasia from the hospital La Samaritana during a period from February 2002 to February 2005. Patients diagnosed with achalasia from the department of gastroenterology and endoscopy of the Hospital La Samaritana during period of February 2002 to February 2005 was included. Procedures were made in fluoroscopy room. The patients received intravenous sedation and analgesia. We used a Regiflex balloon, 3.5 cm diameter. Balloons were inflated with saline water and water-soluble contrast during one minute. We diagnosed 19 patients with achalasia during period from February 2002 to February 2005, 14 were females and 5 males (26%); we made pneumatic dilation in 11 patients (60%), 9 were females (82%) with mean age 38.9 years (ranged from 16 to 13 years). Three patients (21%) underwent once pneumatic dilation and the rest (8 patients) underwent twice (73%). We don't report any perforation. So far we have followed the patients ambulatory during period from 6 months to 2 years. We find recurrence one year after of the pneumatic dilation in a female patient 22 years old (9%). The pneumatic dilation as cost-effective therapy, with a good initial success, but in the longer the follow-up lower the success rate and low morbidity (4). We suggest making only two pneumatic dilations. Today, there isn't consensus on the optimal endoscopic dilation technique and we believe that the sedation must be included in this procedure. In the future, we need more comparative

[Morphine self-administration by rats using a pneumatic syringe].

Science.gov (United States)

Akiyama, Y; Takayama, S

1988-06-01

An apparatus for drug self-administration by rats using a pneumatic syringe was developed by Weeks. A microliter syringe operated by a pneumatic cylinder supplies an accurate volume of drug solution within one second. When coefficient of variation of infusion volume was compared among pneumatic syringe, infusion pump, and peristaltic pump, pneumatic syringe showed higher accuracy in infusion volume than the other two pumps. Since the infusion speed by a pneumatic syringe is very rapid (less than one second per infusion), the effect of infusion speed on reinforcing property of morphine was investigated. When rats self-administered 0.1, 0.3, 1.0, and 3.0 mg/kg/infusion of morphine by pneumatic syringes, the patterns of self-infusion were more stable, the number of self-infusions and the amount self-administered were larger, and a dose-response relationship was clearer in comparison with those self-infused the same doses of morphine for 5.6 seconds by infusion pumps or peristaltic pumps.

Artificial exomuscle investigations for applications-metal hydride

International Nuclear Information System (INIS)

Crevier, Marie-Charlotte; Richard, Martin; Rittenhouse, D Matheson; Roy, Pierre-Olivier; Bedard, Stephane

2007-01-01

In pursuing the development of bionic devices, Victhom identified a need for technologies that could replace current motorized systems and be better integrated into the human body motion. The actuators used to obtain large displacements are noisy, heavy, and do not adequately reproduce human muscle behavior. Subsequently, a project at Victhom was devoted to the development of active materials to obtain an artificial exomuscle actuator. An exhaustive literature review was done at Victhom to identify promising active materials for the development of artificial muscles. According to this review, metal hydrides were identified as a promising technology for artificial muscle development. Victhom's investigations focused on determining metal hydride actuator potential in the context of bionics technology. Based on metal hydride properties and artificial muscle requirements such as force, displacement and rise time, an exomuscle was built. In addition, a finite element model, including heat and mass transfer in the metal hydride, was developed and implemented in FEMLAB software. (review article)

Nanothorn electrodes for ionic polymer-metal composite artificial muscles.

Science.gov (United States)

Palmre, Viljar; Pugal, David; Kim, Kwang J; Leang, Kam K; Asaka, Kinji; Aabloo, Alvo

2014-08-22

Ionic polymer-metal composites (IPMCs) have recently received tremendous interest as soft biomimetic actuators and sensors in various bioengineering and human affinity applications, such as artificial muscles and actuators, aquatic propulsors, robotic end-effectors, and active catheters. Main challenges in developing biomimetic actuators are the attainment of high strain and actuation force at low operating voltage. Here we first report a nanostructured electrode surface design for IPMC comprising platinum nanothorn assemblies with multiple sharp tips. The newly developed actuator with the nanostructured electrodes shows a new way to achieve highly enhanced electromechanical performance over existing flat-surfaced electrodes. We demonstrate that the formation and growth of the nanothorn assemblies at the electrode interface lead to a dramatic improvement (3- to 5-fold increase) in both actuation range and blocking force at low driving voltage (1-3 V). These advances are related to the highly capacitive properties of nanothorn assemblies, increasing significantly the charge transport during the actuation process.

Experience and prospects of using the pneumatic designs in underground mining

Energy Technology Data Exchange (ETDEWEB)

Rakhutin, V.S. [National Mining University of Ukraine, Dnipropetrovsk (Ukraine)

1999-07-01

The article reviews the experience of application of pneumatic designs ('flexible shells') in coal mines (pneumatic cogs and supports), ore mines (pneumatic cofferdams and partitions in filling), and in the construction of mines and underground constructions (pneumatic casings, temporary (pilot) supports). 2 refs.

Polydopamine-Coated Main-Chain Liquid Crystal Elastomer as Optically Driven Artificial Muscle.

Science.gov (United States)

Tian, Hongmiao; Wang, Zhijian; Chen, Yilong; Shao, Jinyou; Gao, Tong; Cai, Shengqiang

2018-03-07

Optically driven active materials have received much attention because their deformation and motion can be controlled remotely, instantly, and precisely in a contactless way. In this study, we investigated an optically actuated elastomer with rapid response: polydopamine (PDA)-coated liquid crystal elastomer (LCE). Because of the photothermal effect of PDA coating and thermal responsiveness of LCE, the elastomer film contracted significantly with near-infrared (NIR) irradiation. With a fixed strain, light-induced actuating stress in the film could be as large as 1.5 MPa, significantly higher than the maximum stress generated by most mammalian skeletal muscle (0.35 MPa). The PDA-coated LCE films could also bend or roll up by surface scanning of an NIR laser. The response time of the film to light exposure could be as short as 1/10 of a second, comparable to or even faster than that of mammalian skeletal muscle. Using the PDA-coated LCE film, we designed and fabricated a prototype of robotic swimmer that was able to swim near the water-air interface by performing "swimming strokes" through reversible bending and unbending motions induced and controlled by an NIR laser. The results presented in this study clearly demonstrated that PDA-coated LCE is a promising optically driven artificial muscle, which may have great potential for applications of soft robotics and optomechanical coupling devices.

Induced formation and maturation of acetylcholine receptor clusters in a defined 3D bio-artificial muscle.

Science.gov (United States)

Wang, Lin; Shansky, Janet; Vandenburgh, Herman

2013-12-01

Dysfunction of the neuromuscular junction is involved in a wide range of muscular diseases. The development of neuromuscular junction through which skeletal muscle is innervated requires the functional modulation of acetylcholine receptor (AchR) clustering on myofibers. However, studies on AchR clustering in vitro are mostly done on monolayer muscle cell culture, which lacks a three-dimensional (3D) structure, a prominent limitation of the two-dimensional (2D) system. To enable a better understanding on the structure-function correlation underlying skeletal muscle innervation, a muscle system with a well-defined geometry mimicking the in vivo muscular setting is needed. Here, we report a 3D bio-artificial muscle (BAM) bioengineered from green fluorescent protein-transduced C3H murine myoblasts as a novel in vitro tissue-based model for muscle innervation studies. Our cell biological and molecular analysis showed that this BAM is structurally similar to in vivo muscle tissue and can reach the perinatal differentiation stage, higher than does 2D culture. Effective clustering and morphological maturation of AchRs on BAMs induced by agrin and laminin indicate the functional activity and plasticity of this BAM system toward innervation. Taken together, our results show that the BAM provides a favorable 3D environment that at least partially recapitulates real physiological skeletal muscle with regard to innervation. With a convenience of fabrication and manipulation, this 3D in vitro system offers a novel model for studying mechanisms underlying skeletal muscle innervation and testing therapeutic strategies for relevant nervous and muscular diseases.

Congenital absence of anterior papillary muscle of the tricuspid valve and surgical repair with artificial chordae.

Science.gov (United States)

Tian, Chuan; Pan, Shiwei

2017-02-01

We report the case of a 26-year old woman who underwent successful tricuspid valve repair for the absence of the anterior papillary of the tricuspid valve. Preoperative echocardiography revealed grade IV tricuspid valve regurgitation, caused by congenital absence of the anterior papillary muscle and prolapse of the anterior leaflet. Tricuspid valve repair was performed using artificial chords consisting of two polytetrafluoroethylene sutures and a concomitant ring annuloplasty. Postoperative echocardiography revealed mild tricuspid valve regurgitation. This approach represented a safe and effective technique for tricuspid valve repair in congenital absence of papillary muscle. © The Author 2016. Published by Oxford University Press on behalf of the European Association for Cardio-Thoracic Surgery. All rights reserved.

EXPERIMENT BASED FAULT DIAGNOSIS ON BOTTLE FILLING PLANT WITH LVQ ARTIFICIAL NEURAL NETWORK ALGORITHM

Directory of Open Access Journals (Sweden)

Mustafa DEMETGÜL

2008-01-01

Full Text Available In this study, an artificial neural network is developed to find an error rapidly on pneumatic system. Also the ANN prevents the system versus the failure. The error on the experimental bottle filling plant can be defined without any interference using analog values taken from pressure sensors and linear potentiometers. The sensors and potentiometers are placed on different places of the plant. Neural network diagnosis faults on plant, where no bottle, cap closing cylinder B is not working, bottle cap closing cylinder C is not working, air pressure is not sufficient, water is not filling and low air pressure faults. The fault is diagnosed by artificial neural network with LVQ. It is possible to find an failure by using normal programming or PLC. The reason offing Artificial Neural Network is to give a information where the fault is. However, ANN can be used for different systems. The aim is to find the fault by using ANN simultaneously. In this situation, the error taken place on the pneumatic system is collected by a data acquisition card. It is observed that the algorithm is very capable program for many industrial plants which have mechatronic systems.

Rigidified pneumatic composites

Science.gov (United States)

van Dessel, Steven

2000-10-01

The overall objective of the research presented in this dissertation was to address global issues of adequate housing for all and the need for more sustainable human settlement. In order to address these, the emerging technology of rigidified pneumatic composites was investigated. Rigidified pneumatic composites (RPC) are defined as thin flexible membrane structures that are pneumatically deployed. After deployment, these structures harden due to chemical or physical change of the membrane. Because of this change, these structures do no longer require pneumatic pressure to maintain their shape. For the first time, a systematic listing of the various means available to develop polymeric materials useful in RPC technology is presented. With the aim to reduce the cost of RPC structures, a new material was proposed, developed, and evaluated. This material involved the formation of a semi-interpenetrating polymer network based on poly vinyl chloride and an acrylate based reactive plasticizer. The economical and environmental performances of RPC structures using this new material were assessed by means of a case study. In this study, the performance of RPC technology was compared with that of a typical wood light frame structure in the application of a small single-family house. The study indicated that the cost of ownership in present day value for the RPC structure was approximately 33% less than the cost of a comparable wood light frame structure. The study also indicated that significant environmental benefits exist with the use of RPC structures. It was found that the RPC structure used significantly less resources compared to the wood light frame structure. About 3.5 times less materials coming from non-renewable fossil resources, about 2.5 times less materials coming from trees, and about 19 times less materials coming from inorganic resources was used in the RPC structure relative to the wood light frame structure. The study concluded with pointing out various

Treatments for pediatric achalasia: Heller myotomy or pneumatic dilatation?

Science.gov (United States)

Jung, C; Michaud, L; Mougenot, J-F; Lamblin, M-D; Philippe-Chomette, P; Cargill, G; Bonnevalle, M; Boige, N; Bellaïche, M; Viala, J; Hugot, J-P; Gottrand, F; Cezard, J-P

2010-03-01

The treatment of achalasia consists of reducing distal esophageal obstruction by either Heller myotomy surgery or endoscopic pneumatic dilatation. The aim of the present study was to evaluate the short- and middle-term results of these procedures in children. For technical reasons, children under six years old (n=8) were treated by surgery only, whereas patients over six years old (n=14) were treated by either Heller myotomy or pneumatic dilatation. Of the children aged under six years, 75% were symptom-free at six months and 83% at 24 months of follow-up. Of the patients aged over six years, complete remission was achieved by Heller myotomy in 44.5% vs. 55.5% by pneumatic dilatation after six months, and in 40% vs. 65%, respectively, after 24 months. Both pneumatic dilatation and Heller myotomy showed significant rates of failure. These results suggest that pneumatic dilatation may be considered a primary treatment in children over six years old. Also, where necessary, Heller myotomy and pneumatic dilatation may be used as complementary treatments.

Method of sections in analytical calculations of pneumatic tires

Science.gov (United States)

Tarasov, V. N.; Boyarkina, I. V.

2018-01-01

Analytical calculations in the pneumatic tire theory are more preferable in comparison with experimental methods. The method of section of a pneumatic tire shell allows to obtain equations of intensities of internal forces in carcass elements and bead rings. Analytical dependencies of intensity of distributed forces have been obtained in tire equator points, on side walls (poles) and pneumatic tire bead rings. Along with planes in the capacity of secant surfaces cylindrical surfaces are used for the first time together with secant planes. The tire capacity equation has been obtained using the method of section, by means of which a contact body is cut off from the tire carcass along the contact perimeter by the surface which is normal to the bearing surface. It has been established that the Laplace equation for the solution of tasks of this class of pneumatic tires contains two unknown values that requires the generation of additional equations. The developed computational schemes of pneumatic tire sections and new equations allow to accelerate the pneumatic tire structure improvement process during engineering.

Development of pneumatic actuator with low-wave reflection characteristics

Science.gov (United States)

Chang, H.; Tsung, T. T.; Jwo, C. S.; Chiang, J. C.

2010-08-01

This study aims at the development of a less reflective electromagnetic pneumatic actuator often used in the anechoic chamber. Because a pneumatic actuator on the market is not appropriate for use in such a chamber and a metallic one has high dielectric constant which generates reflective electromagnetic waves to influence test parameters in the chamber. The newly developed pneumatic actuator is made from low dielectric constant plastics with less reflective of electromagnetic. A turbine-type air motor is used to develop the pneumatic actuator and a employ Prony tester is used to run the brake horsepower test for the performance test of pneumatic actuator. Test results indicate that the pneumatic actuator in the minimal starting flow is 17 l/min, and it generates a brake horsepower of 48 mW; in the maximum flow is 26 l/min, it generates a brake horsepower of 108 mW. Therefore, it works with a torque between 0.24 N-m and 0.55 N-m, and such a torque will be sufficient to drive the target button.

Pneumatic transfer systems

International Nuclear Information System (INIS)

Bichler, H.; Boeck, H.; Hammer, J.; Buchtela, K.

1988-11-01

A pneumatic transfer system for research reactors, including a sample changer system and to be used for neutron activation analysis, is described. The system can be obtained commercially from the Atominstitut. 2 figs. (qui)

Development of an Air Pneumatic Suspension System for Transtibial Prostheses

Directory of Open Access Journals (Sweden)

Gholamhossein Pirouzi

2014-09-01

Full Text Available The suspension system and socket fitting of artificial limbs have major roles and vital effects on the comfort, mobility, and satisfaction of amputees. This paper introduces a new pneumatic suspension system that overcomes the drawbacks of current suspension systems in donning and doffing, change in volume during daily activities, and pressure distribution in the socket-stump interface. An air pneumatic suspension system (APSS for total-contact sockets was designed and developed. Pistoning and pressure distribution in the socket-stump interface were tested for the new APSS. More than 95% of the area between each prosthetic socket and liner was measured using a Tekscan F-Scan pressure measurement which has developed matrix-based pressure sensing systems. The variance in pressure around the stump was 8.76 kPa. APSS exhibits less pressure concentration around the stump, improved pressure distribution, easy donning and doffing, adjustability to remain fitted to the socket during daily activities, and more adaptability to the changes in stump volume. The volume changes were adjusted by utility of air pressure sensor. The vertical displacement point and reliability of suspension were assessed using a photographic method. The optimum pressure in every level of loading weight was 55 kPa, and the maximum displacement was 6 mm when 90 N of weight was loaded.

The relationship between presbycusis and mastoid pneumatization.

Science.gov (United States)

Pata, Yavuz Selim; Akbaş, Yucel; Unal, Murat; Duce, Meltem Nass; Akbaş, Tugana; Micozkadioğlu, Deniz

2004-02-29

Presbycusis is defined as the natural hearing loss accompanying aging, caused by degenerative changes in the inner ear. The etiology of presbycusis is uncertain. However, it would appear that a complex genetic cause is most likely. The determinants of mastoid size continue to be controversial. One of the pneumatization theories is the hereditary theory. In this study, the possible relationship between presbycusis and the extent of mastoid pneumatization was investigated. This study was carried out on 21 patients with presbycusis and 21 normal subjects of similar ages. The pneumatized volume was measured by computerized tomography. The temporal bone was scanned at 2 mm thickness intervals. Exposure (kV 130, mA105). The scan plane was parallel to the orbitomeatal line and the CT images covered the entire mastoid region. The average mastoid pneumatization in presbycusis group was 6.08 +/- 2.52 cm(3) in the right ear and 6.19 +/- 2.93 cm(3) in the left ear. However, in the control group it was 4.69 +/- 3.17 cm(3) in the right ear (p=0.12) and 5.10 +/- 3.49 cm(3) in the left ear (p=0.28). No significant difference was found between the presbycusis patients and normal subjects in terms of the volume of mastoid pneumatization.

Design and experiment of pneumatic EPB test platform

Directory of Open Access Journals (Sweden)

Jianshi GONG

2017-02-01

Full Text Available In order to verify the accuracy and reliability of the function and control strategy of the pneumatic electronic parking brake(EPB system, a test platform of the pneumatic EPB system is designed. The working principle of the air pressure type EPB test platform is introduced, the composition of the platform is confirmed, including air press storage module, braking module, man-machine interaction module, signal imitation module, data collection module, and fault diagnosis module, and the function of rapid charging and discharging of the pneumatic EPB system is carried out. The results show that, compared with manual control valve, the air pressure EPB braking process is more sensitive, and the test platform can meet the test requirements of the pneumatic electronic brake system.

Determination of five nitroimidazole residues in artificial porcine muscle tissue samples by capillary electrophoresis.

Science.gov (United States)

Lin, Yingyun; Su, Yan; Liao, Xiulin; Yang, Na; Yang, Xiupei; Choi, Martin M F

2012-01-15

A capillary electrophoresis (CE) method with ultraviolet detection has been developed for simultaneous detection and quantification of five nitroimidazoles including benzoylmetronidazole, dimetridazole, metronidazole, ronidazole, and secnidazole in porcine muscles. Nitroimidazoles in samples were extracted by ethyl acetate with subsequent clean-up by a strong cation exchange solid phase extraction column. The clean extracts were subjected to CE separation with optimal experimental conditions: pH 3.0 running buffer containing 25mM sodium phosphate and 0.10mM tetrabutylammonium bromide, 5s hydrodynamic injection at 0.5psi and 28kV separation voltage. The nitroimidazoles could be monitored and detected at 320nm within 18min. The limits of detection were below 1.0μg/kg and limits of quantification were lower than 3.2μg/kg for all nitroimidazoles in the muscle samples. The recoveries and relative standard deviations were 85.4-96.0, 83.5-92.5, 1.3-3.9, and 1.1-4.2%, respectively for the intra-day and inter-day analyses. The proposed CE method has been successfully applied to determine nitroimidazoles in artificial porcine muscle samples with good accuracy and recovery, demonstrating that it has potential for detection and quantification of multi-nitroimidazole residue in real muscle samples. Copyright © 2011 Elsevier B.V. All rights reserved.

The effect of pneumatic dilation in management of postfundoplication dysphagia.

Science.gov (United States)

Sunjaya, D; Podboy, A; Blackmon, S H; Katzka, D; Halland, M

2017-06-01

Fundoplication surgery is a commonly performed procedure for gastro-esophageal reflux disease or hiatal hernia repair. Up to 10% of patients develop persistent postoperative dysphagia after surgery. Data on the effectiveness of pneumatic dilation for treatment are limited. The aim of this study was to evaluate clinical outcomes and identify clinical factors associated with successful response to pneumatic dilation among patients with persistent postfundoplication dysphagia (PPFD). We retrospectively evaluated patients who had undergone pneumatic dilation for PPFD between 1999 and 2016. Patients with dysphagia or achalasia prior to fundoplication were excluded. Demographic information, surgical history, severity of dysphagia, and clinical outcomes were collected. Data pertaining to esophagram, manometry, endoscopy, and pneumatic dilation were also collected. We identified 38 patients (82% female, 95% Caucasian, and median age 59 years) with PPFD who completed pneumatic dilation. The median postfundoplication dysphagia score was 2. Eleven patients had abnormal peristalsis on manometry. Seventeen patients reported response (seven complete) with an average decrease of 1 in their dysphagia score. Fifteen patients underwent reoperation due to PPFD. Hiatal hernia repair was the only factor that predicts a higher response rate to pneumatic dilation. Only one patient in our study developed complication (pneumoperitoneum) from pneumatic dilation. We found that pneumatic dilation to be a safe treatment option for PPFD with moderate efficacy. Patients who developed PPFD after a hiatal hernia repair may gain the greatest benefit after pneumatic dilation. We were not able to identify additional clinical, radiological, endoscopic, or manometric parameters that were predictive of response. © 2017 John Wiley & Sons Ltd.

Goat activin receptor type IIB knockdown by muscle specific promoter driven artificial microRNAs.

Science.gov (United States)

Patel, Amrutlal K; Shah, Ravi K; Patel, Utsav A; Tripathi, Ajai K; Joshi, Chaitanya G

2014-10-10

Activin receptor type IIB (ACVR2B) is a transmembrane receptor which mediates signaling of TGF beta superfamily ligands known to function in regulation of muscle mass, embryonic development and reproduction. ACVR2B antagonism has shown to enhance the muscle growth in several disease and transgenic models. Here, we show ACVR2B knockdown by RNA interference using muscle creatine kinase (MCK) promoter driven artificial microRNAs (amiRNAs). Among the various promoter elements tested, the ∼1.26 kb MCK promoter region showed maximum transcriptional activity in goat myoblasts cells. We observed up to 20% silencing in non-myogenic 293T cells and up to 32% silencing in myogenic goat myoblasts by MCK directed amiRNAs by transient transfection. Goat myoblasts stably integrated with MCK directed amiRNAs showed merely 8% silencing in proliferating myoblasts which was increased to 34% upon induction of differentiation at transcript level whereas up to 57% silencing at protein level. Knockdown of ACVR2B by 5'-UTR derived amiRNAs resulted in decreased SMAD2/3 signaling, increased expression of myogenic regulatory factors (MRFs) and enhanced proliferation and differentiation of myoblasts. Unexpectedly, knockdown of ACVR2B by 3'-UTR derived amiRNAs resulted in increased SMAD2/3 signaling, reduced expression of MRFs and suppression of myogenesis. Our study offers muscle specific knockdown of ACVR2B as a potential strategy to enhance muscle mass in the farm animal species. Copyright © 2014 Elsevier B.V. All rights reserved.

Natural cellulose ionogels for soft artificial muscles.

Science.gov (United States)

Nevstrueva, Daria; Murashko, Kirill; Vunder, Veiko; Aabloo, Alvo; Pihlajamäki, Arto; Mänttäri, Mika; Pyrhönen, Juha; Koiranen, Tuomas; Torop, Janno

2018-01-01

Rapid development of soft micromanipulation techniques for human friendly electronics has raised the demand for the devices to be able to carry out mechanical work on a micro- and macroscale. The natural cellulose-based ionogels (CEL-iGEL) hold a great potential for soft artificial muscle application, due to its flexibility, low driving voltage and biocompatibility. The CEL-iGEL composites undergo reversible bending already at ±500mV step-voltage values. A fast response to the voltage applied and high ionic conductivity of membranous actuator is achieved by a complete dissolution of cellulose in 1-ethyl-3-methylimidazolium acetate [EMIm][OAc]. The CEL-iGEL supported cellulose actuator films were cast out of cellulose-[EMIm][OAc] solution via phase inversion in H 2 O. The facile preparation method ensured uniform morphology along the layers and stand for the high ionic-liquid loading in a porous cellulose scaffold. During the electromechanical characterization, the CEL-iGEL actuators showed exponential dependence to the voltage applied with the max strain difference values reaching up to 0.6% at 2 V. Electrochemical analysis confirmed the good stability of CEL-iGEL actuators and determined the safe working voltage value to be below 2.5V. To predict and estimate the deformation for various step input voltages, a mathematical model was proposed. Copyright © 2017 Elsevier B.V. All rights reserved.

Development of the pneumatic service robot with a hybrid type

International Nuclear Information System (INIS)

Choi, Cheol U; Choi, Hyeun Seok; Han, Chang Soo

2001-01-01

In this paper, the pneumatic service robot with a hybrid type is developed. A pneumatic has the advantage of good compliance, high payload-to-weight and payload-to-volume ratios, high speed and force capabilities. Using pneumatic actuators which have low stiffness, the service robot can guarantee safety. By suggesting a new serial-parallel hybrid type for the service robot which separates into positioning motion and orienting motion, we can achieve large workspace and high strength-to-moving-weight ratio at the same time. A sliding mode controller can be designed for tracking the desired output using the Lyapunov stability theory and structural properties of pneumatic servo systems. Through many experiments of circular trajectory, the pneumatic service robot is evaluated and verified

Endoscope-guided pneumatic dilation for treatment of esophageal achalasia

Science.gov (United States)

Chuah, Seng-Kee; Wu, Keng-Liang; Hu, Tsung-Hui; Tai, Wei-Chen; Changchien, Chi-Sin

2010-01-01

Pneumatic dilation (PD) is considered to be the first line nonsurgical therapy for achalasia. The principle of the procedure is to weaken the lower esophageal sphincter by tearing its muscle fibers by generating radial force. The endoscope-guided procedure is done without fluoroscopic control. Clinicians usually use a low-compliance balloon such as Rigiflex dilator to perform endoscope-guided PD for the treatment of esophageal achalasia. It has the advantage of determining mucosal injury during the dilation process, so that a repeat endoscopy is not needed to assess the mucosal tearing. Previous studies have shown that endoscope-guided PD is an efficient and safe nonsurgical therapy with results that compare well with other treatment modalities. Although the results may be promising, long-term follow-up is required in the near future. PMID:20101764

Electro-Pneumatic Control System with Hydraulically Positioning Actuator Motor

Directory of Open Access Journals (Sweden)

V. N. Pilgunov

2016-01-01

Full Text Available A compressibility of the actuating fluid of a pneumatic drive (compressed air leads to significant landing of the pneumatic cylinder piston at the time of stop and hold of the load, a constant component of which can fluctuate significantly for the holding period.There are a lot of factors, which have a significant impact on the landing value of piston. Those are: an initial position of the piston at its stop, which determines the volume of the an active area of the piston, a value of the constant load component at the time of stop and its variation for the holding period, a transfer coefficient of the position component of the load, an active area of the pneumatic cylinder piston, as well as reduction in atmospheric pressure, which can significantly affect the operation of the control systems of small aircrafts flying at high altitudes.To reduce the landing value of piston due to changing value of the constant load component for its holding period, it is proposed to use a hydraulic positioner, which comprises a hydraulic cylinder the rod of which is rigidly connected to the rod of the pneumatic cylinder through the traverse, a cross-feed valve of the hydro-cylinder cavities with discrete electro-magnetic control, and adjustable chokes.A programmable logic controller provides the hydraulic positioner control. At the moment the piston stops and the load is held the cross-feed valve overlaps the hydro-cylinder cavities thereby locking the pneumatic cylinder piston and preventing its landing. With available pneumatic cylinder-controlled signal the cross-feed valve connects the piston and rod cavities of the positioner hydro-cylinder, the pneumatic cylinder piston is released and becomes capable of moving.A numerical estimate of landing of the pneumatic cylinder piston and its positioning quality is of essential interest. For this purpose, a technique to calculate the landing of piston has been developed taking into consideration that different

Hydraulics and pneumatics a technician's and engineer's guide

CERN Document Server

Parr, Andrew

1991-01-01

Hydraulics and Pneumatics: A Technician's and Engineer's Guide provides an introduction to the components and operation of a hydraulic or pneumatic system. This book discusses the main advantages and disadvantages of pneumatic or hydraulic systems.Organized into eight chapters, this book begins with an overview of industrial prime movers. This text then examines the three different types of positive displacement pump used in hydraulic systems, namely, gear pumps, vane pumps, and piston pumps. Other chapters consider the pressure in a hydraulic system, which can be quickly and easily controlled

Hydraulics and pneumatics a technician's and engineer's guide

CERN Document Server

Parr, Andrew

2011-01-01

Nearly all industrial processes require objects to be moved, manipulated or subjected to some sort of force. Such movements and manipulations are frequently accomplished by means of devices driven by liquids (hydraulics) or air (pneumatics), the subject of this book. Hydraulics and Pneumatics is written by a practicing process control engineer as a guide to the successful operation of hydraulic and pneumatic systems for all engineers and technicians working with them. Keeping mathematics and theory to a minimum, this practical guide is thorough but accessible to technicians without a

High-pressure portable pneumatic drive unit.

Science.gov (United States)

Hete, B F; Savage, M; Batur, C; Smith, W A; Golding, L A; Nosé, Y

1989-12-01

The left ventricular assist device (LVAD) of the Cleveland Clinic Foundation (CCF) is a single-chamber assist pump, driven by a high-pressure pneumatic cylinder. A low-cost, portable driver that will allow cardiac care patients, with a high-pressure pneumatic ventricle assist, more freedom of movement has been developed. The compact and light-weight configuration can provide periods of 2 h of freedom from a fixed position driver and does not use exotic technology.

Oxygen dependence of respiration in rat spinotrapezius muscle in situ

OpenAIRE

Golub, Aleksander S.; Pittman, Roland N.

2012-01-01

The oxygen dependence of respiration in striated muscle in situ was studied by measuring the rate of decrease of interstitial Po2 [oxygen disappearance curve (ODC)] following rapid arrest of blood flow by pneumatic tissue compression, which ejected red blood cells from the muscle vessels and made the ODC independent from oxygen bound to hemoglobin. After the contribution of photo-consumption of oxygen by the method was evaluated and accounted for, the corrected ODCs were converted into the Po...

Design considerations for single-stage and two-stage pneumatic pellet injectors

International Nuclear Information System (INIS)

Gouge, M.J.; Combs, S.K.; Fisher, P.W.; Milora, S.L.

1988-09-01

Performance of single-stage pneumatic pellet injectors is compared with several models for one-dimensional, compressible fluid flow. Agreement is quite good for models that reflect actual breech chamber geometry and incorporate nonideal effects such as gas friction. Several methods of improving the performance of single-stage pneumatic pellet injectors in the near term are outlined. The design and performance of two-stage pneumatic pellet injectors are discussed, and initial data from the two-stage pneumatic pellet injector test facility at Oak Ridge National Laboratory are presented. Finally, a concept for a repeating two-stage pneumatic pellet injector is described. 27 refs., 8 figs., 3 tabs

Stackable configurations of artificial muscle modules that is continuously-tunable by voltage

Science.gov (United States)

Khanh, Vo Tran Vy; Mathew, Anup Teejo; Koh, Soo Jin Adrian

2017-04-01

We present a stackable configuration of loudspeaker-type artificial muscle module. These modules are antagonisticallycoupled to enhance the delivery of blocking force and speed of deformation. We analyze a cycle of antagonisticallycouple configuration by theory, and maximize the cycle of the antagonistically-coupled loudspeaker configuration using a semi-empirical method. We realize an output force of about 4N for a single layer, and up to 15N for three stacked layers. The corresponding displacement at maximum actuation is about 10mm. We further introduce a control circuit to enhance output mechanical power of the cycle. This work serves to rationalize the analysis, design and construction of soft actuator systems capable of delivering high mechanical power output within a small space.

Photoredox-Based Actuation of an Artificial Molecular Muscle.

Science.gov (United States)

Liles, Kevin P; Greene, Angelique F; Danielson, Mary K; Colley, Nathan D; Wellen, Andrew; Fisher, Jeremy M; Barnes, Jonathan C

2018-01-24

The use of light to actuate materials is advantageous because it represents a cost-effective and operationally straightforward way to introduce energy into a stimuli-responsive system. Common strategies for photoinduced actuation of materials typically rely on light irradiation to isomerize azobenzene or spiropyran derivatives, or to induce unidirectional rotation of molecular motors incorporated into a 3D polymer network. Although interest in photoredox catalysis has risen exponentially in the past decade, there are far fewer examples where photoinduced electron transfer (PET) processes are employed to actuate materials. Here, a novel mode of actuation in a series of redox-responsive hydrogels doped with a visible-light-absorbing ruthenium-based photocatalyst is reported. The hydrogels are composed primarily of polyethylene glycol and low molar concentrations of a unimolecular electroactive polyviologen that is activated through a PET mechanism. The rate and degree of contraction of the hydrogels are measured over several hours while irradiating with blue light. Likewise, the change in mechanical properties-determined through oscillatory shear rheology experiments-is assessed as a function of polyviologen concentration. Finally, an artificial molecular muscle is fabricated using the best-performing hydrogel composition, and its ability to perform work, while irradiated, is demonstrated by lifting a small weight. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Reflex muscle contraction in anterior shoulder instability.

Science.gov (United States)

Wallace, D A; Beard, D J; Gill, R H; Eng, B; Carr, A J

1997-01-01

Reduced proprioception may contribute to recurrent anterior shoulder instability. Twelve patients with unilateral shoulder instability were investigated for evidence of deficient proprioception with an activated pneumatic cylinder and surface electromyography electrodes; the contralateral normal shoulder was used as a control. The latency between onset of movement and the detection of muscle contraction was used as an index of proprioception. No significant difference in muscle contraction latency was detected between the stable and unstable shoulders, suggesting that there was no significant defect in muscular reflex activity. This study does not support the use proprioception-enhancing physiotherapy in the treatment of posttraumatic anterior shoulder instability.

Control of non-linear actuator of artificial muscles for the use in low-cost robotics prosthetics limbs

Science.gov (United States)

Anis Atikah, Nurul; Yeng Weng, Leong; Anuar, Adzly; Chien Fat, Chau; Sahari, Khairul Salleh Mohamed; Zainal Abidin, Izham

2017-10-01

Currently, the methods of actuating robotic-based prosthetic limbs are moving away from bulky actuators to more fluid materials such as artificial muscles. The main disadvantages of these artificial muscles are their high cost of manufacturing, low-force generation, cumbersome and complex controls. A recent discovery into using super coiled polymer (SCP) proved to have low manufacturing costs, high force generation, compact and simple controls. Nevertheless, the non-linear controls still exists due to the nature of heat-based actuation, which is hysteresis. This makes position control difficult. Using electrically conductive devices allows for very quick heating, but not quick cooling. This research tries to solve the problem by using peltier devices, which can effectively heat and cool the SCP, hence giving way to a more precise control. The peltier device does not actively introduce more energy to a volume of space, which the coiled heating does; instead, it acts as a heat pump. Experiments were conducted to test the feasibility of using peltier as an actuating method on different diameters of nylon fishing strings. Based on these experiments, the performance characteristics of the strings were plotted, which could be used to control the actuation of the string efficiently in the future.

A new pneumatic suspension system with independent stiffness and ride height tuning capabilities

Science.gov (United States)

Yin, Zhihong; Khajepour, Amir; Cao, Dongpu; Ebrahimi, Babak; Guo, Konghui

2012-12-01

This paper introduces a new pneumatic spring for vehicle suspension systems, allowing independent tuning of stiffness and ride height according to different vehicle operating conditions and driver preferences. The proposed pneumatic spring comprises a double-acting pneumatic cylinder, two accumulators and a tuning subsystem. This paper presents a detailed description of the pneumatic spring and its working principle. The mathematical model is established based on principles of thermo and fluid dynamics. An experimental setup has been designed and fabricated for testing and evaluating the proposed pneumatic spring. The analytical and experimental results confirm the capability of the new pneumatic spring system for independent tuning of stiffness and ride height. The mathematical model is verified and the capabilities of the pneumatic spring are further proved. It is concluded that this new pneumatic spring provides a more flexible suspension design alternative for meeting various conflicting suspension requirements for ride comfort and performance.

TOPICAL REVIEW: Pneumatic and hydraulic microactuators: a review

Science.gov (United States)

De Volder, Michaël; Reynaerts, Dominiek

2010-04-01

The development of MEMS actuators is rapidly evolving and continuously new progress in terms of efficiency, power and force output is reported. Pneumatic and hydraulic are an interesting class of microactuators that are easily overlooked. Despite the 20 years of research, and hundreds of publications on this topic, these actuators are only popular in microfluidic systems. In other MEMS applications, pneumatic and hydraulic actuators are rare in comparison with electrostatic, thermal or piezo-electric actuators. However, several studies have shown that hydraulic and pneumatic actuators deliver among the highest force and power densities at microscale. It is believed that this asset is particularly important in modern industrial and medical microsystems, and therefore, pneumatic and hydraulic actuators could start playing an increasingly important role. This paper shows an in-depth overview of the developments in this field ranging from the classic inflatable membrane actuators to more complex piston-cylinder and drag-based microdevices.

Soft pneumatic grippers embedded with stretchable electroadhesion

Science.gov (United States)

Guo, J.; Elgeneidy, K.; Xiang, C.; Lohse, N.; Justham, L.; Rossiter, J.

2018-05-01

Current soft pneumatic grippers cannot robustly grasp flat materials and flexible objects on curved surfaces without distorting them. Current electroadhesive grippers, on the other hand, are difficult to actively deform to complex shapes to pick up free-form surfaces or objects. An easy-to-implement PneuEA gripper is proposed by the integration of an electroadhesive gripper and a two-fingered soft pneumatic gripper. The electroadhesive gripper was fabricated by segmenting a soft conductive silicon sheet into a two-part electrode design and embedding it in a soft dielectric elastomer. The two-fingered soft pneumatic gripper was manufactured using a standard soft lithography approach. This novel integration has combined the benefits of both the electroadhesive and soft pneumatic grippers. As a result, the proposed PneuEA gripper was not only able to pick-and-place flat and flexible materials such as a porous cloth but also delicate objects such as a light bulb. By combining two soft touch sensors with the electroadhesive, an intelligent and shape-adaptive PneuEA material handling system has been developed. This work is expected to widen the applications of both soft gripper and electroadhesion technologies.

Enhancing in situ bioremediation with pneumatic fracturing

International Nuclear Information System (INIS)

Anderson, D.B.; Peyton, B.M.; Liskowitz, J.L.; Fitzgerald, C.; Schuring, J.R.

1994-04-01

A major technical obstacle affecting the application of in situ bioremediation is the effective distribution of nutrients to the subsurface media. Pneumatic fracturing can increase the permeability of subsurface formations through the injection of high pressure air to create horizontal fracture planes, thus enhancing macro-scale mass-transfer processes. Pneumatic fracturing technology was demonstrated at two field sites at Tinker Air Force Base, Oklahoma City, Oklahoma. Tests were performed to increase the permeability for more effective bioventing, and evaluated the potential to increase permeability and recovery of free product in low permeability soils consisting of fine grain silts, clays, and sedimentary rock. Pneumatic fracturing significantly improved formation permeability by enhancing secondary permeability and by promoting removal of excess soil moisture from the unsaturated zone. Postfracture airflows were 500% to 1,700% higher than prefracture airflows for specific fractured intervals in the formation. This corresponds to an average prefracturing permeability of 0.017 Darcy, increasing to an average of 0.32 Darcy after fracturing. Pneumatic fracturing also increased free-product recovery rates of number 2 fuel from an average of 587 L (155 gal) per month before fracturing to 1,647 L (435 gal) per month after fracturing

Nonlinear joint angle control for artificially stimulated muscle

NARCIS (Netherlands)

Veltink, Petrus H.; Chizeck, Howard J.; Crago, Patrick E.; El-Bialy, Ahmed

1992-01-01

Designs of both open- and closed-loop controllers of electrically stimulated muscle that explicitly depend on a nonlinear mathematical model of muscle input-output properties are presented and evaluated. The muscle model consists of three factors: a muscle activation dynamics factor, an angle-torque

Electroactive polymer actuators as artificial muscles: are they ready for bioinspired applications?

International Nuclear Information System (INIS)

Carpi, Federico; Kornbluh, Roy; Sommer-Larsen, Peter; Alici, Gursel

2011-01-01

Electroactive polymer (EAP) actuators are electrically responsive materials that have several characteristics in common with natural muscles. Thus, they are being studied as 'artificial muscles' for a variety of biomimetic motion applications. EAP materials are commonly classified into two major families: ionic EAPs, activated by an electrically induced transport of ions and/or solvent, and electronic EAPs, activated by electrostatic forces. Although several EAP materials and their properties have been known for many decades, they have found very limited applications. Such a trend has changed recently as a result of an effective synergy of at least three main factors: key scientific breakthroughs being achieved in some of the existing EAP technologies; unprecedented electromechanical properties being discovered in materials previously developed for different purposes; and higher concentration of efforts for industrial exploitation. As an outcome, after several years of basic research, today the EAP field is just starting to undergo transition from academia into commercialization, with significant investments from large companies. This paper presents a brief overview on the full range of EAP actuator types and the most significant areas of interest for applications. It is hoped that this overview can instruct the reader on how EAPs can enable bioinspired motion systems.

A novel form of postcranial skeletal pneumaticity in a sauropod dinosaur: Implications for the paleobiology of Rebbachisauridae

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Lucio M. Ibiricu

2017-06-01

Full Text Available In dinosaurs and other archosaurs, the presence of foramina connected with internal chambers in axial and appendicular bones is regarded as a robust indicator of postcranial skeletal pneumaticity (PSP. Here we analyze PSP and its paleobiological implications in rebbachisaurid diplodocoid sauropod dinosaurs based primarily on the dorsal vertebrae of Katepensaurus goicoecheai, a rebbachisaurid from the Cenomanian–Turonian (Upper Cretaceous Bajo Barreal Formation of Patagonia, Argentina. We document a complex of interconnected pneumatic foramina and internal chambers within the dorsal vertebral transverse processes of Katepensaurus. Collectively, these structures constitute a form of PSP that has not previously been observed in sauropods, though it is closely comparable to morphologies seen in selected birds and non-avian theropods. Parts of the skeletons of Katepensaurus and other rebbachisaurid taxa such as Amazonsaurus maranhensis and Tataouinea hannibalis exhibit an elevated degree of pneumaticity relative to the conditions in many other sauropods. We interpret this extensive PSP as an adaptation for lowering the density of the skeleton, and tentatively propose that this reduced skeletal density may also have decreased the muscle energy required to move the body and the heat generated in so doing. Given that several rebbachisaurids inhabited tropical to subtropical paleolatitudes during the extreme warmth of the mid-Cretaceous, increased PSP may have better enabled these sauropods to cope with extraordinarily high temperatures. Extensive skeletal pneumaticity may have been an important innovation in Rebbachisauridae, and perhaps also in saltasaurine titanosaurs, which evolved an even greater degree of PSP. This may in turn have contributed to the evolutionary success of rebbachisaurids, which were the only diplodocoids to survive into the Late Cretaceous.

Biomimetic FAA-certifiable, artificial muscle structures for commercial aircraft wings

Science.gov (United States)

Barrett, Ronald M.; Barrett, Cassandra M.

2014-07-01

This paper is centered on a new form of adaptive material which functions much in the same way as skeletal muscle tissue, is structurally modeled on plant actuator cells and capable of rapidly expanding or shrinking by as much as an order of magnitude in prescribed directions. Rapid changes of plant cell shape and sizes are often initiated via ion-transport driven fluid migration and resulting turgor pressure variation. Certain plant cellular structures like those in Mimosa pudica (sensitive plant), Albizia julibrissin (Mimosa tree), or Dionaea muscipula (Venus Flytrap) all exhibit actuation physiology which employs such turgor pressure manipulation. The paper begins with dynamic micrographs of a sectioned basal articulation joint from A. julibrissin. These figures show large cellular dimensional changes as the structure undergoes foliage articulation. By mimicking such structures in aircraft flight control mechanisms, extremely lightweight pneumatic control surface actuators can be designed. This paper shows several fundamental layouts of such surfaces with actuator elements made exclusively from FAA-certifiable materials, summarizes their structural mechanics and shows actuator power and energy densities that are higher than nearly all classes of conventional adaptive materials available today. A sample flap structure is shown to possess the ability to change its shape and structural stiffness as its cell pressures are manipulated, which in turn changes the surface lift-curve slope when exposed to airflows. Because the structural stiffness can be altered, it is also shown that the commanded section lift-curve slope can be similarly controlled between 1.2 and 6.2 rad-1. Several aircraft weight reduction principles are also shown to come into play as the need to concentrate loads to pass through point actuators is eliminated. The paper concludes with a summary of interrelated performance and airframe-level improvements including enhanced gust rejection, load

Biomimetic FAA-certifiable, artificial muscle structures for commercial aircraft wings

International Nuclear Information System (INIS)

Barrett, Ronald M; Barrett, Cassandra M

2014-01-01

This paper is centered on a new form of adaptive material which functions much in the same way as skeletal muscle tissue, is structurally modeled on plant actuator cells and capable of rapidly expanding or shrinking by as much as an order of magnitude in prescribed directions. Rapid changes of plant cell shape and sizes are often initiated via ion-transport driven fluid migration and resulting turgor pressure variation. Certain plant cellular structures like those in Mimosa pudica (sensitive plant), Albizia julibrissin (Mimosa tree), or Dionaea muscipula (Venus Flytrap) all exhibit actuation physiology which employs such turgor pressure manipulation. The paper begins with dynamic micrographs of a sectioned basal articulation joint from A. julibrissin. These figures show large cellular dimensional changes as the structure undergoes foliage articulation. By mimicking such structures in aircraft flight control mechanisms, extremely lightweight pneumatic control surface actuators can be designed. This paper shows several fundamental layouts of such surfaces with actuator elements made exclusively from FAA-certifiable materials, summarizes their structural mechanics and shows actuator power and energy densities that are higher than nearly all classes of conventional adaptive materials available today. A sample flap structure is shown to possess the ability to change its shape and structural stiffness as its cell pressures are manipulated, which in turn changes the surface lift-curve slope when exposed to airflows. Because the structural stiffness can be altered, it is also shown that the commanded section lift-curve slope can be similarly controlled between 1.2 and 6.2 rad −1 . Several aircraft weight reduction principles are also shown to come into play as the need to concentrate loads to pass through point actuators is eliminated. The paper concludes with a summary of interrelated performance and airframe-level improvements including enhanced gust rejection, load

Development of a pneumatic transfer system for HTGR recycle fuel particles

International Nuclear Information System (INIS)

Mack, J.E.; Johnson, D.R.

1978-02-01

In support of the High-Temperature Gas-Cooled Reactor (HTGR) Fuel Refabrication Development Program, an experimental pneumatic transfer system was constructed to determine the feasibility of pneumatically conveying pyrocarbon-coated fuel particles of Triso and Biso designs. Tests were conducted with these particles in each of their nonpyrophoric forms to determine pressure drops, particle velocities, and gas flow requirements during pneumatic transfer as well as to evaluate particle wear and breakage. Results indicated that the material can be pneumatically conveyed at low pressures without excessive damage to the particles or their coatings

Implementation of the Scanning Laser Doppler Vibrometer Combined with a Light-Weight Pneumatic Artificial Muscle Actuator for the Modal Analysis of a Civil Structure

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K. Deckers

2012-01-01

Full Text Available The identification of the modal parameters of bridges and other large civil constructions has become an important research issue. Different approaches have been proposed depending on the excitation used: ambient excitations (due to wind, traffic, … or artificial excitations (e.g. impact test with heavy drop weights. In practice it turns out that not all modes are well excited by the ambient forces. Hence the application of an artificial actuator is advisable. The problem is that larger constructions often require large and heavy excitation devices, which are hard to manipulate. Another difficulty encountered in performing a modal analysis on large civil constructions is the necessity for a large number of high sensitivity sensors. Consequently a large number of cables has to be installed resulting in a large setup time.

Synthesis and cyclic force characterization of helical polypyrrole actuators for artificial facial muscles

International Nuclear Information System (INIS)

Tadesse, Yonas; Grange, Robert W; Priya, Shashank

2009-01-01

This study focuses on the synthesis and characterization of thick and thin film polypyrrole (PPy)–metal composite actuators for application as artificial muscles in facial robotics. The fabrication method consists of three steps based upon the approach proposed by Ding et al (2003 Synth. Met. 138 391–8): (i) winding the conductive spiral structure around the platinum (Pt) wire core, (ii) deposition of PPy film on the Pt wire core, and (iii) removal of the Pt wire core. This approach yielded good performance from the synthesized actuators, but was complex to implement due to the difficulty in implementing the third step. To overcome the problem of mechanical damage occurring during withdrawal of the Pt wire, the core was replaced with a dispensable gold coated polylactide fiber that could be etched at the end of deposition step. Experimental results indicate that thin film actuators perform better in terms of response time and blocking force. A unique muscle-like structure with smoothly varying cross-section was grown by combining layer by layer deposition with changes in position and orientation of the counter electrode in reference to the working electrode

Safe-geometry pneumatic nuclear fuel powder blender

International Nuclear Information System (INIS)

Lyon, W.L.

1980-01-01

A safe geometry nuclear fuel powder is claimed blender of a pneumatic type having a plurality of narrow flat-walled blending chambers or ''slab tanks'' extending radially outward from a pneumatic spouting tube having an inlet and an outlet at bottom and top, respectively, open to each slab tank or blending chamber and contained within a cylindrical cone-bottomed shell filled with neutron-absorbing material between the blending chambers

Pneumatic pellet injectors for TFTR and JET

International Nuclear Information System (INIS)

Combs, S.K.; Milora, S.L.

1986-01-01

This paper describes the development of pneumatic hydrogen pellet injectors for plasma fueling applications on the Tokamak Fusion Test Reactor (TFTR) and the Joint European Torus (JET). The performance parameters of these injectors represent an extension of previous experience and include pellet sizes in the range 2-6 mm in diameter and speeds approaching 2 km/s. Design features and operating characteristics of these pneumatic injectors are presented

A high resolution pneumatic stepping actuator for harsh reactor environments

Science.gov (United States)

Tippetts, Thomas B.; Evans, Paul S.; Riffle, George K.

1993-01-01

A reactivity control actuator for a high-power density nuclear propulsion reactor must be installed in close proximity to the reactor core. The energy input from radiation to the actuator structure could exceed hundreds of W/cc unless low-cross section, low-absorptivity materials are chosen. Also, for post-test handling and subsequent storage, materials should not be used that are activated into long half-life isotopes. Pneumatic actuators can be constructed from various reactor-compatible materials, but conventional pneumatic piston actuators generally lack the stiffness required for high resolution reactivity control unless electrical position sensors and compensated electronic control systems are used. To overcome these limitations, a pneumatic actuator is under development that positions an output shaft in response to a series of pneumatic pulses, comprising a pneumatic analog of an electrical stepping motor. The pneumatic pulses are generated remotely, beyond the strong radiation environment, and transmitted to the actuator through tubing. The mechanically simple actuator uses a nutating gear harmonic drive to convert motion of small pistons directly to high-resolution angular motion of the output shaft. The digital nature of this actuator is suitable for various reactor control algorithms but is especially compatible with the three bean salad algorithm discussed by Ball et al. (1991).

Theoretical Hill-type muscle and stability: numerical model and application.

Science.gov (United States)

Schmitt, S; Günther, M; Rupp, T; Bayer, A; Häufle, D

2013-01-01

The construction of artificial muscles is one of the most challenging developments in today's biomedical science. The application of artificial muscles is focused both on the construction of orthotics and prosthetics for rehabilitation and prevention purposes and on building humanoid walking machines for robotics research. Research in biomechanics tries to explain the functioning and design of real biological muscles and therefore lays the fundament for the development of functional artificial muscles. Recently, the hyperbolic Hill-type force-velocity relation was derived from simple mechanical components. In this contribution, this theoretical yet biomechanical model is transferred to a numerical model and applied for presenting a proof-of-concept of a functional artificial muscle. Additionally, this validated theoretical model is used to determine force-velocity relations of different animal species that are based on the literature data from biological experiments. Moreover, it is shown that an antagonistic muscle actuator can help in stabilising a single inverted pendulum model in favour of a control approach using a linear torque generator.

Radionuclide esophageal emptying study before and after pneumatic dilatation in achalasia

Energy Technology Data Exchange (ETDEWEB)

Ujiie, Hiroaki; Hongo, Michio; Lin, Yih-Fong; Satake, Kenzo; Asaki, Shigeru; Goto, Yoshio; Okuyama, Shinichi

1987-11-01

The therapeutic effect of pneumatic dilatation was evaluated quantitatively by radionuclide transit study in 11 achalasia patients. Before pneumatic dilatation, marked retention with more than 80 % of isotope in the esophagus at 15 minutes after ingestion was noted in all patients. Marked improvement in emptying was shown after pneumatic dilatation. Pneumatic dilatation is a safe and effective therapeutic aid for achalasia treatment, and radionuclide transit study is not only noninvasive and physiologic but also its procedure is easily performed. We conclude that radionuclide transit study is a good method to evaluate the result of the treatment quantitatively in achalasia patients.

The total artificial heart.

Science.gov (United States)

Cook, Jason A; Shah, Keyur B; Quader, Mohammed A; Cooke, Richard H; Kasirajan, Vigneshwar; Rao, Kris K; Smallfield, Melissa C; Tchoukina, Inna; Tang, Daniel G

2015-12-01

The total artificial heart (TAH) is a form of mechanical circulatory support in which the patient's native ventricles and valves are explanted and replaced by a pneumatically powered artificial heart. Currently, the TAH is approved for use in end-stage biventricular heart failure as a bridge to heart transplantation. However, with an increasing global burden of cardiovascular disease and congestive heart failure, the number of patients with end-stage heart failure awaiting heart transplantation now far exceeds the number of available hearts. As a result, the use of mechanical circulatory support, including the TAH and left ventricular assist device (LVAD), is growing exponentially. The LVAD is already widely used as destination therapy, and destination therapy for the TAH is under investigation. While most patients requiring mechanical circulatory support are effectively treated with LVADs, there is a subset of patients with concurrent right ventricular failure or major structural barriers to LVAD placement in whom TAH may be more appropriate. The history, indications, surgical implantation, post device management, outcomes, complications, and future direction of the TAH are discussed in this review.

Cranial base morphology and temporal bone pneumatization in Asian Homo erectus.

Science.gov (United States)

Balzeau, Antoine; Grimaud-Hervé, Dominique

2006-10-01

The external morphological features of the temporal bone are used frequently to determine taxonomic affinities of fossils of the genus Homo. Temporal bone pneumatization has been widely studied in great apes and in early hominids. However, this feature is rarely examined in the later hominids, particularly in Asian Homo erectus. We provide a comparative morphological and quantitative analysis of Asian Homo erectus from the sites of Ngandong, Sambungmacan, and Zhoukoudian, and of Neandertals and anatomically modern Homo sapiens in order to discuss causes and modalities of temporal bone pneumatization during hominid evolution. The evolution of temporal bone pneumatization in the genus Homo is more complex than previously described. Indeed, the Zhoukoudian fossils have a unique pattern of temporal bone pneumatization, whereas Ngandong and Sambungmacan fossils, as well as the Neandertals, more closely resemble the modern human pattern. Moreover, these Chinese fossils are characterized by a wide midvault and a relatively narrow occipital bone. Our results support the point of view that cell development does not play an active role in determining cranial base morphology. Instead, pneumatization is related to available space and to temporal bone morphology, and its development is related to correlated morphology and the relative disposition of the bones and cerebral lobes. Because variation in pneumatization is extensive within the same species, the phyletic implications of pneumatization are limited in the taxa considered here.

Fractional Order Models of Industrial Pneumatic Controllers

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Abolhassan Razminia

2014-01-01

Full Text Available This paper addresses a new approach for modeling of versatile controllers in industrial automation and process control systems such as pneumatic controllers. Some fractional order dynamical models are developed for pressure and pneumatic systems with bellows-nozzle-flapper configuration. In the light of fractional calculus, a fractional order derivative-derivative (FrDD controller and integral-derivative (FrID are remodeled. Numerical simulations illustrate the application of the obtained theoretical results in simple examples.

Development of myopia as a hazard for workers in pneumatic caissons

Science.gov (United States)

Onoo, A; Kiyosawa, M; Takase, H; Mano, Y

2002-01-01

Background/aim: Pneumatic caisson engineering has been developed for large civil engineering constructions. Because of complaints of blurred vision by personnel working in pneumatic caissons, the development of myopia was suspected. The aim of this study was to determine the cause of the blurred vision and the mechanism underlying the changes. Methods: 12 caisson workers underwent a complete ophthalmological examination after completing up to 11 weeks of work (4 days/week) in a pneumatic caisson. Six months later, nine of the workers were examined again. Results: Nine subjects were myopic at the initial examination, and seven of these were considered to have developed the myopia after starting to work in the pneumatic caisson. Six months after completion of the work, the mean refractive change was significantly towards hyperopia. Conclusions: The blurred vision in pneumatic caisson workers was in all likelihood due to the development of myopia. The refractive shift towards hyperopia after completion of work in the pneumatic caisson supports this and demonstrates that the changes were temporary. The myopia is similar to the myopia seen in patients treated by hyperbaric oxygen. Careful monitoring of the refraction of caisson workers should be performed for industrial health control. PMID:12386088

A study on the design of a low-friction, high-speed pneumatic cylinder

International Nuclear Information System (INIS)

Kim, Do Tae; Kim, Dong Soo; Ju, Min Jin

2008-01-01

Of all of pneumatic components utilized in the make up of pneumatic circuits on either automatic assembly machine or industrial equipment, the pneumatic cylinder is more oriented toward being a structural as well as a pneumatic member. The structural design must be based to a large degree on the end of application of the cylinder on the equipment it is operating. In this paper, design studies of a double-acting pneumatic cushion type cylinder with low-friction and high-speed driving have been developed. Of interest here is to investigate the structural analysis of cylinder tube, piston rod, end cover, and to analyze the buckling of piston rod. Also, a relief valve type cushion mechanism is considered. This cushion mechanism is found to be adequate under a high-speed driving of pneumatic cylinders

Embedded Triboelectric Active Sensors for Real-Time Pneumatic Monitoring.

Science.gov (United States)

Fu, Xian Peng; Bu, Tian Zhao; Xi, Feng Ben; Cheng, Ting Hai; Zhang, Chi; Wang, Zhong Lin

2017-09-20

Pneumatic monitoring sensors have great demands for power supply in cylinder systems. Here, we present an embedded sliding triboelectric nanogenerator (TENG) in air cylinder as active sensors for position and velocity monitoring. The embedded TENG is composed of a circular poly(tetrafluoroethylene) polymer and a triangular copper electrode. The working mechanism as triboelectric active sensors and electric output performance are systematically investigated. By integrating into the pneumatic system, the embedded triboelectric active sensors have been used for real-time air pressure/flow monitoring and energy storage. Air pressures are measured from 0.04 to 0.12 MPa at a step of 0.02 MPa with a sensitivity of 49.235 V/MPa, as well as airflow from 50 to 250 L/min at a step of 50 L/min with a sensitivity of 0.002 μA·min/L. This work has first demonstrated triboelectric active sensors for pneumatic monitoring and may promote the development of TENG in intelligent pneumatic system.

Pneumatic wrench retains or discharges nuts or bolts as desired

Science.gov (United States)

Bouille, J. R.

1966-01-01

Pneumatic wrench grips, screws or unscrews, and discharges a nut or bolt as desired. The device consists of a standard pneumatic wrench modified with a special hex bolt head socket assembly and a diaphragm air cylinder.

Integration of Pneumatic Technology in Powered Mobility Devices.

Science.gov (United States)

Daveler, Brandon; Wang, Hongwu; Gebrosky, Benjamin; Grindle, Garrett G; Schneider, Urs; Cooper, Rory A

2017-01-01

Advances in electric motors, electronics, and control systems have enhanced the capability and drivability of electric power mobility devices over the last 60 years. Yet, battery technologies used in powered mobility devices (PMDs) have not kept pace. Recent advances in pneumatic technology, primarily the high torque, low speed design of rotary piston air motors, directly align with the needs of PMD. Pneumatic technology has advantages over battery-powered technology, including lighter weight, lower operating costs, decreased environmental impact, better reliability, and increased safety. Two prototypes were created that incorporated rotary piston air motors, high-pressure air tanks, and air-pressure regulators. Prototype 1 was created by modifying an existing electric PMD. Range tests were performed to determine the feasibility of pneumatic technology and the optimal combination of components to allow the longest range possible at acceptable speeds over ideal conditions. Using a 1.44 L air tank for feasibility testing, prototype 1 was capable of traveling 800 m, which confirmed the feasibility of pneumatic technology usage in PMDs. Prototype 2 was designed based on the testing results from prototype 1. After further optimization of prototype 2, the average maximum range was 3,150 m. Prototype 2 is up to 28.3% lighter than an equivalent size electric PMD and can be fully recharged in approximately 2 minutes. It decreases the cost of PMDs by approximately $1,500, because batteries do not need to be replaced over the lifetime of the device. The results provide justification for the use of pneumatic technology in PMDs.

A Randomized Controlled Trial of Massage and Pneumatic Compression for Ultramarathon Recovery.

Science.gov (United States)

Hoffman, Martin D; Badowski, Natalie; Chin, Joseph; Stuempfle, Kristin J

2016-05-01

Study Design Randomized controlled trial. Background Postexercise recovery techniques are widely used, but little research has examined their effectiveness. Objectives To examine the effectiveness of massage and pneumatic compression on recovery from a 161-km ultramarathon. Methods Participants in the 2015 161-km Western States Endurance Run were randomized to a 20-minute postrace intervention of massage, intermittent sequential pneumatic compression, or supine rest. Each subject completed two 400-m runs at maximum speed before the race and on days 3 and 5 after the race, and also provided muscle pain and soreness ratings and overall muscular fatigue scores before and for 7 days after the race. Results Among the 72 runners who finished the race and completed the study, comparison among intervention groups revealed no significant group or interaction effect on 400-m run time, but there was a significant (Pmuscle pain and soreness ratings compared with the supine-rest control condition (Ppneumatic compression (Ppneumatic compression provide some immediate subjective benefit. There is no evidence, however, that such treatments provide extended subjective or functional benefits of clinical importance. The trial was registered at www.clinicaltrials.gov (NCT02530190). Level of Evidence Therapy, level 1b. J Orthop Sports Phys Ther 2016;46(5):320-326. Epub 23 Mar 2016. doi:10.2519/jospt.2016.6455.

Enhanced contractile force generation by artificial skeletal muscle tissues using IGF-I gene-engineered myoblast cells.

Science.gov (United States)

Sato, Masanori; Ito, Akira; Kawabe, Yoshinori; Nagamori, Eiji; Kamihira, Masamichi

2011-09-01

The aim of this study was to investigate whether insulin-like growth factor (IGF)-I gene delivery to myoblast cells promotes the contractile force generated by hydrogel-based tissue-engineered skeletal muscles in vitro. Two retroviral vectors allowing doxycycline (Dox)-inducible expression of the IGF-I gene were transduced into mouse myoblast C2C12 cells to evaluate the effects of IGF-I gene expression on these cells. IGF-I gene expression stimulated the proliferation of C2C12 cells, and a significant increase in the growth rate was observed for IGF-I-transduced C2C12 cells with Dox addition, designated C2C12/IGF (Dox+) cells. Quantitative morphometric analyses showed that the myotubes induced from C2C12/IGF (Dox+) cells had a larger area and a greater width than control myotubes induced from normal C2C12 cells. Artificial skeletal muscle tissues were prepared from the respective cells using hydrogels composed of type I collagen and Matrigel. Western blot analyses revealed that the C2C12/IGF (Dox+) tissue constructs showed activation of a skeletal muscle hypertrophy marker (Akt) and enhanced expression of muscle-specific markers (myogenin, myosin heavy chain and tropomyosin). Moreover, the creatine kinase activity was increased in the C2C12/IGF (Dox+) tissue constructs. The C2C12/IGF (Dox+) tissue constructs contracted in response to electrical pulses, and generated a significantly higher physical force than the control C2C12 tissue constructs. These findings indicate that IGF-I gene transfer has the potential to yield functional skeletal muscle substitutes that are capable of in vivo restoration of the load-bearing function of injured muscle or acting as in vitro electrically-controlled bio-actuators. Copyright © 2011 The Society for Biotechnology, Japan. Published by Elsevier B.V. All rights reserved.

Theoretical Hill-Type Muscle and Stability: Numerical Model and Application

Directory of Open Access Journals (Sweden)

S. Schmitt

2013-01-01

Full Text Available The construction of artificial muscles is one of the most challenging developments in today’s biomedical science. The application of artificial muscles is focused both on the construction of orthotics and prosthetics for rehabilitation and prevention purposes and on building humanoid walking machines for robotics research. Research in biomechanics tries to explain the functioning and design of real biological muscles and therefore lays the fundament for the development of functional artificial muscles. Recently, the hyperbolic Hill-type force-velocity relation was derived from simple mechanical components. In this contribution, this theoretical yet biomechanical model is transferred to a numerical model and applied for presenting a proof-of-concept of a functional artificial muscle. Additionally, this validated theoretical model is used to determine force-velocity relations of different animal species that are based on the literature data from biological experiments. Moreover, it is shown that an antagonistic muscle actuator can help in stabilising a single inverted pendulum model in favour of a control approach using a linear torque generator.

A Pneumatic Actuated Microfluidic Beads-Trapping Device

Energy Technology Data Exchange (ETDEWEB)

Shao, Guocheng; Cai, Ziliang; Wang, Jun; Wang, Wanjun; Lin, Yuehe

2011-08-20

The development of a polydimethylsiloxane (PDMS) microfluidic microbeads trapping device is reported in this paper. Besides fluid channels, the proposed device includes a pneumatic control chamber and a beads-trapping chamber with a filter array structure. The pneumatic flow control chamber and the beads-trapping chamber are vertically stacked and separated by a thin membrane. By adjusting the pressure in the pneumatic control chamber, the membrane can either be pushed against the filter array to set the device in trapping mode or be released to set the device in releasing mode. In this paper, a computational fluid dynamics simulation was conducted to optimize the geometry design of the filter array structure; the device fabrication was also carried out. The prototype device was tested and the preliminary experimental results showed that it can be used as a beads-trapping unit for various biochemistry and analytical chemistry applications, especially for flow injection analysis systems.

Artificial Neural Network for Production of Antioxidant Peptides Derived from Bighead Carp Muscles with Alcalase

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Lin Li

2006-01-01

Full Text Available Controlled enzymatic modification proteins are currently being used as good sources of bioactive protein ingredients, and hydrolysates derived from bighead carp muscles may serve as antioxidants through the control of the processing-related parameters. The antioxidant ability was evaluated with regard to the scavenging effect on free radical DPPH·, OH· and O2 ·–. Due to the robustness, fault tolerance, high computational speed and self--learning ability, artificial neural network (ANN can be employed to build a predictive model for hydrolysis and optimize the hydrolysis variables: pH, temperature, hydrolysis time, muscle/water ratio and enzyme/substrate ratio (E/S for the production of antioxidant peptides. Optimum conditions to achieve the maximum antioxidant ability were obtained. The hydrolysates, which scavenged most effectively the DPPH·, OH· and O2 ·–, were hydrolyzed for 4.8 h with an activity of alcalase of 4.8 AU/kg, for 6 h with 3.84 AU/kg and for 4.3 h with 4.8 AU/kg, at pH=7.5 and 60 °C. Their respective muscle/water ratio was 1:1.9, 1:1.4 and 1:1. The present study confirmed that ANN could be used to simulate the hydrolysis process and predict hydrolysis conditions under which the hydrolysates could show the most effective scavenging ability on DPPH·, OH· and O2 ·–.

Air Muscle Actuated Low Cost Humanoid Hand

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Peter Scarfe

2008-11-01

Full Text Available The control of humanoid robot hands has historically been expensive due to the cost of precision actuators. This paper presents the design and implementation of a low-cost air muscle actuated humanoid hand developed at Curtin University of Technology. This hand offers 10 individually controllable degrees of freedom ranging from the elbow to the fingers, with overall control handled through a computer GUI. The hand is actuated through 20 McKibben-style air muscles, each supplied by a pneumatic pressure-balancing valve that allows for proportional control to be achieved with simple and inexpensive components. The hand was successfully able to perform a number of human-equivalent tasks, such as grasping and relocating objects.

Air Muscle Actuated Low Cost Humanoid Hand

Directory of Open Access Journals (Sweden)

Peter Scarfe

2006-06-01

Full Text Available The control of humanoid robot hands has historically been expensive due to the cost of precision actuators. This paper presents the design and implementation of a low-cost air muscle actuated humanoid hand developed at Curtin University of Technology. This hand offers 10 individually controllable degrees of freedom ranging from the elbow to the fingers, with overall control handled through a computer GUI. The hand is actuated through 20 McKibben-style air muscles, each supplied by a pneumatic pressure-balancing valve that allows for proportional control to be achieved with simple and inexpensive components. The hand was successfully able to perform a number of human-equivalent tasks, such as grasping and relocating objects.

Soft segmented inchworm robot with dielectric elastomer muscles

Science.gov (United States)

Conn, Andrew T.; Hinitt, Andrew D.; Wang, Pengchuan

2014-03-01

Robotic devices typically utilize rigid components in order to produce precise and robust operation. Rigidity becomes a significant impediment, however, when navigating confined or constricted environments e.g. search-and-rescue, industrial pipe inspection. In such cases adaptively conformable soft structures become optimal. Dielectric elastomers (DEs) are well suited for developing such soft robots since they are inherently compliant and can produce large musclelike actuation strains. In this paper, a soft segmented inchworm robot is presented that utilizes pneumatically-coupled DE membranes to produce inchworm-like locomotion. The robot is constructed from repeated body segments, each with a simple control architecture, so that the total length can be readily adapted by adding or removing segments. Each segment consists of a soft inflatable shell (internal pressure in range of 1.0-15.9 mBar) and a pair of antagonistic DE membranes (VHB 4905). Experimental testing of a single body segment is presented and the relationship between drive voltage, pneumatic pressure and active displacement is characterized. This demonstrates that pneumatic coupling of DE membranes induces complex non-linear electro-mechanical behaviour as drive voltage and pneumatic pressure are altered. Locomotion of a two-segment inchworm robot prototype with a passive length of 80 mm is presented. Artificial setae are included on the body shell to generate anisotropic friction for locomotion. A maximum locomotion speed of 4.1 mm/s was recorded at a drive frequency of 1.5 Hz, which compares favourably to biological counterparts. Future development of the soft inchworm robot are discussed including reflexive low-level control of individual segments.

Model analysis of mechanisms controlling pneumatic soil vapor extraction

DEFF Research Database (Denmark)

Høier, Camilla Kruse; Sonnenborg, Torben Obel; Jensen, Karsten Høgh

2009-01-01

of heterogeneous soils by enforcing large fluctuating pressure fronts through the contaminated area. Laboratory experiments have suggested that pneumatic SVE considerably improves the recovery rate from low-permeable units. We have analyzed the experimental results using a numerical code and quantified......The efficiency of traditional soil venting or soil vapor extraction (SVE) highly depends on the architecture of the subsurface because imposed advective air flow tends to bypass low-permeable contaminated areas. Pneumatic SVE is a technique developed to enhance remediation efficiency...... level the pneumatic venting technology is superior to the traditional technique, and that the method is particularly efficient in cases where large permeability contrasts exist between soil units in the subsurface....

The Artificial Gravity Bed Rest Pilot Project: Effects on Knee Extensor and Plantar Flexor Muscle Groups

Science.gov (United States)

Caiozzo, V. J.; Haddad, F.; Lee, S.; Baker, M.; Baldwin, K. M.

2007-01-01

The goal of this project was to examine the effects of artificial gravity (2.5 g) on skeletal muscle strength and key anabolic/catabolic markers known to regulate muscle mass. Two groups of subjects were selected for study: 1) a 21 day-bed rest (BR) control (C) group (N=7); and 2) an AG group (N=8), which was exposed to 21 days of bed-rest plus daily 1 hr exposures to AG (2.5 g). This particular experiment was part of an integrated AG Pilot Project sponsored by NASA/Johnson Space Center. The in vivo torque-velocity relationships of the knee extensors and plantar flexors of the ankle were determined pre and post treatment. Also, pre- and post treatment biopsy samples were obtained from both the vastus lateralis and soleus muscles and were used, in part, for a series of analyses on gene expression (mRNA abundance) of key factors implicated in the anabolic versus catabolic state of the muscle. Post/Pre toque-velocity determinations revealed greater decrements in knee extensor performance in the C versus AG group (P less than 0.04). The plantar flexor muscle group of the AG subjects actually demonstrated a net gain in torque-velocity relationship; whereas, in the C group the overall post/pre responses declined (AG vs C; P less than 0.001). Measurements of muscle fiber cross-sectional area (for both muscles) demonstrated a loss of approx. 20% in the C group while no losses were evident in the AG group. RT-PCR analyses of muscle biopsy specimens demonstrated that markers of growth and cytoskeletal integrity (IGF-1, IGF-1 BP4, mechano growth factor, total RNA, and pro-collagen 3a) were higher in the AG group, whereas catabolic markers (myostatin and atrogen) were elevated in the C group. Importantly, these patterns were seen in both muscles. Based on these observations we conclude that paradigms of AG have the potential to maintain the functional, biochemical, and structural homeostasis of skeletal muscle in the face of chronic unloading states. These findings also

Introducing PneuAct: Parametrically-Designed MRI-Compatible Pneumatic Stepper Actuator

NARCIS (Netherlands)

Sojoodi Farimani, F.; Misra, Sarthak

2018-01-01

Pneumatic stepper motors are one of the promising alternative actuation methods for motion control in environments where electromagnetic (EM) motors cannot be used. Due to the lack of commercial off-the-shelf products, researchers working on MR compatible robotics have to develop their own pneumatic

An artificial tendon with durable muscle interface.

Science.gov (United States)

Melvin, Alan; Litsky, Alan; Mayerson, Joel; Witte, David; Melvin, David; Juncosa-Melvin, Natalia

2010-02-01

A coupling mechanism that can permanently fix a forcefully contracting muscle to a bone anchor or any totally inert prosthesis would meet a serious need in orthopaedics. Our group developed the OrthoCoupler device to satisfy these demands. The objective of this study was to test OrthoCoupler's performance in vitro and in vivo in the goat semitendinosus tendon model. For in vitro evaluation, 40 samples were fatigue-tested, cycling at 10 load levels, n = 4 each. For in vivo evaluation, the semitendinosus tendon was removed bilaterally in eight goats. Left sides were reattached with an OrthoCoupler, and right sides were reattached using the Krackow stitch with #5 braided polyester sutures. Specimens were harvested 60 days postsurgery and assigned for biomechanics and histology. Fatigue strength of the devices in vitro was several times the contractile force of the semitendinosus muscle. The in vivo devices were built equivalent to two of the in vitro devices, providing an additional safety factor. In strength testing at necropsy, suture controls pulled out at 120.5 +/- 68.3 N, whereas each OrthoCoupler was still holding after the muscle tore, remotely, at 298 +/- 111.3 N (mean +/- SD) (p < 0.0003). Muscle tear strength was reached with the fiber-muscle composite produced in healing still soundly intact. This technology may be of value for orthopaedic challenges in oncology, revision arthroplasty, tendon transfer, and sports-injury reconstruction. (c) 2009 Orthopaedic Research Society.

Spray-coated carbon nanotube carpets for creeping reduction of conducting polymer based artificial muscles

Science.gov (United States)

Simaite, Aiva; Delagarde, Aude; Tondu, Bertrand; Souères, Philippe; Flahaut, Emmanuel; Bergaud, Christian

2017-01-01

During cyclic actuation, conducting polymer based artificial muscles are often creeping from the initial movement range. One of the likely reasons of such behaviour is unbalanced charging during conducting polymer oxidation and reduction. To improve the actuation reversibility and subsequently the long time performance of ionic actuators, we suggest using spray-coated carbon nanotube (CNT) carpets on the surface of the conducting polymer electrodes. We show that carbon nanotubes facilitate a conducting polymer redox reaction and improve its reversibility. Consequently, in the long term, charge accumulation in the polymer film is avoided leading to a significantly improved lifetime performance during cycling actuation. To our knowledge, it is the first time a simple solution to an actuator creeping problem has been suggested.

Study of Pneumatic Servo Loading System in Double-Sided Polishing

International Nuclear Information System (INIS)

Qian, N; Ruan, J; Li, W

2006-01-01

The precise double-sided polishing process is one of the main methods to get the ultra-smooth surface of workpiece. In double-sided polishing machine, a loading system is required to be able to precisely control the load superimposed on the workpiece, while the polishing is being carried out. A pneumatic servo loading system is proposed for this purpose. In the pneumatic servo system, the servo valve, which acts both the electrical to mechanical converter and the power amplifier, has a substantial influence on the performance of the loading system. Therefore a specially designed pneumatic digital servo valve is applied in the control system. In this paper, the construction of the pneumatic servo loading system in double-sided polishing machine and control strategy associated with the digital servo valve are first addressed. The mathematical model of the system established and the hardware of the pneumatic servo system is designed. Finally, the experiments are carried out by measuring the practical load on the workpiece and the quality of the surface finish. It is demonstrated that the error rate of load is less than 5% and a super-smooth surface of silicon wafer with roughness Ra 0.401 nm can be obtained

Pneumatic stepper motor and device comprising at least one such pneumatic stepper motor

NARCIS (Netherlands)

Groenhuis, Vincent; Siepel, Françoise Jeanette; Stramigioli, Stefano

2018-01-01

The invention relates to a pneumatic stepper motor, comprising: - a housing, said housing accommodating at least part of: - a rack or geared axle comprising a plurality of gear elements; and - two pistons, each comprising at least two teeth, said pistons being arranged to cooperate with said rack or

A single bout of whole-leg, peristaltic pulse external pneumatic compression upregulates PGC-1α mRNA and endothelial nitric oxide sythase protein in human skeletal muscle tissue.

Science.gov (United States)

Kephart, Wesley C; Mobley, C Brooks; Fox, Carlton D; Pascoe, David D; Sefton, JoEllen M; Wilson, Trent J; Goodlett, Michael D; Kavazis, Andreas N; Roberts, Michael D; Martin, Jeffrey S

2015-07-01

What is the central question of this study? Does 60 min of peristaltic pulse external pneumatic compression (EPC) alter gene and protein expression patterns related to metabolism, vascular biology, redox balance and inflammation in vastus lateralis biopsy samples? What is the main finding and its importance? A single bout of EPC transiently upregulates PGC-1α mRNA, while also upregulating endothelial nitric oxide synthase protein and nitric oxide metabolite concentrations in vastus lateralis biopsy samples. We investigated whether a single 60 min bout of whole-leg, lower pressure external pneumatic compression (EPC) altered select vascular, metabolic, antioxidant and inflammation-related mRNAs. Ten participants (eight male, two female; aged 22.0 ± 0.4 years) reported to the laboratory 4 h postprandial, and vastus lateralis muscle biopsies were obtained before (PRE) and 1 and 4 h after EPC treatment. Messenger RNA expression was analysed using real-time RT-PCR, and significant mRNA findings were investigated further by Western blot analysis of respective protein concentrations. Peroxisome proliferator-activated receptor γ coactivator-1α (PGC-1α) mRNA increased by 77% 1 h following EPC compared with PRE levels (P = 0.005), but no change in protein concentration 1 or 4 h post-EPC was observed. Increases in endothelial nitric oxide sythase (eNOS) mRNA (+44%) and superoxide dismutase 2 (SOD2) mRNA (+57%) 1 h post-EPC as well as an increase in interleukin-10 mRNA (+132%) 4 h post-EPC compared with PRE levels were observed, but only approached significance (P = 0.076, 0.077 and 0.074, respectively). Interestingly, eNOS protein (+40%, P = 0.025) and nitrate and nitrite (NOx) concentrations (+69%, P = 0.025) increased 1-4 h post-EPC. Moreover, SOD2 protein tended to increase from PRE to 4 h post-EPC (+43%, P = 0.074), although no changes in tissue 4-hydroxnonenal levels was observed. An acute bout of EPC transiently upregulates PGC-1α mRNA, while also upregulating e

Force Control for a Pneumatic Cylinder Using Generalized Predictive Controller Approach

OpenAIRE

Mohd Faudzi, Ahmad ’Athif; Mustafa, Nu’man Din; Osman, Khairuddin

2014-01-01

Pneumatic cylinder is a well-known device because of its high power to weight ratio, easy use, and environmental safety. Pneumatic cylinder uses air as its power source and converts it to a possible movement such as linear and rotary movement. In order to control the pneumatic cylinder, controller algorithm is needed to control the on-off solenoid valve with encoder and pressure sensor as the feedback inputs. In this paper, generalized predictive controller (GPC) is proposed as the control st...

Analytical Solution to the Pneumatic Transient Rod System at ACRR

Energy Technology Data Exchange (ETDEWEB)

Fehr, Brandon Michael [Georgia Inst. of Technology, Atlanta, GA (United States)

2016-01-08

The ACRR pulse is pneumatically driven by nitrogen in a system of pipes, valves and hoses up to the connection of the pneumatic system and mechanical linkages of the transient rod (TR). The main components of the TR pneumatic system are the regulator, accumulator, solenoid valve and piston-cylinder assembly. The purpose of this analysis is to analyze the flow of nitrogen through the TR pneumatic system in order to develop a motion profile of the piston during the pulse and be able to predict the pressure distributions inside both the cylinder and accumulators. The predicted pressure distributions will be validated against pressure transducer data, while the motion profile will be compared to proximity switch data. By predicting the motion of the piston, pulse timing will be determined and provided to the engineers/operators for verification. The motion profile will provide an acceleration distribution to be used in Razorback to more accurately predict reactivity insertion into the system.

Analytical Solution to the Pneumatic Transient Rod System at ACRR

International Nuclear Information System (INIS)

Fehr, Brandon Michael

2016-01-01

The ACRR pulse is pneumatically driven by nitrogen in a system of pipes, valves and hoses up to the connection of the pneumatic system and mechanical linkages of the transient rod (TR). The main components of the TR pneumatic system are the regulator, accumulator, solenoid valve and piston-cylinder assembly. The purpose of this analysis is to analyze the flow of nitrogen through the TR pneumatic system in order to develop a motion profile of the piston during the pulse and be able to predict the pressure distributions inside both the cylinder and accumulators. The predicted pressure distributions will be validated against pressure transducer data, while the motion profile will be compared to proximity switch data. By predicting the motion of the piston, pulse timing will be determined and provided to the engineers/operators for verification. The motion profile will provide an acceleration distribution to be used in Razorback to more accurately predict reactivity insertion into the system.

Utilization of pneumatic energy in industries and Nuclear Energy Unit - a brief review

International Nuclear Information System (INIS)

Muhd Noor Muhd Yunus

1984-01-01

The purpose of this paper is to evaluate the extent of utilisation of pneumatic energy in UTN, besides depicting the capabilities of pneumatics in various field, especially in nuclear industry. Thus, a few examples of the usage of this energy in industry and UTN are explained and listed briefly. Comparisons and advantages of the pneumatics with respect to other forms of energy also discussed briefly. It is hoped that this pneumatic technology will advanced in UTN and becoming one of the alternatives of offered apart from other form of energy like hyrdaulics and electricity. (author)

Design and control of a bio-inspired soft wearable robotic device for ankle–foot rehabilitation

International Nuclear Information System (INIS)

Park, Yong-Lae; Chen, Bor-rong; Pérez-Arancibia, Néstor O; Young, Diana; Wood, Robert J; Nagpal, Radhika; Stirling, Leia; Goldfield, Eugene C

2014-01-01

We describe the design and control of a wearable robotic device powered by pneumatic artificial muscle actuators for use in ankle–foot rehabilitation. The design is inspired by the biological musculoskeletal system of the human foot and lower leg, mimicking the morphology and the functionality of the biological muscle–tendon–ligament structure. A key feature of the device is its soft structure that provides active assistance without restricting natural degrees of freedom at the ankle joint. Four pneumatic artificial muscles assist dorsiflexion and plantarflexion as well as inversion and eversion. The prototype is also equipped with various embedded sensors for gait pattern analysis. For the subject tested, the prototype is capable of generating an ankle range of motion of 27° (14° dorsiflexion and 13° plantarflexion). The controllability of the system is experimentally demonstrated using a linear time-invariant (LTI) controller. The controller is found using an identified LTI model of the system, resulting from the interaction of the soft orthotic device with a human leg, and model-based classical control design techniques. The suitability of the proposed control strategy is demonstrated with several angle-reference following experiments. (paper)

Design and experiment of pneumatic EPB test platform

OpenAIRE

Jianshi GONG; Tianle JIA; Dali TIAN; Hongliang WANG; Di HUANG

2017-01-01

In order to verify the accuracy and reliability of the function and control strategy of the pneumatic electronic parking brake(EPB) system, a test platform of the pneumatic EPB system is designed. The working principle of the air pressure type EPB test platform is introduced, the composition of the platform is confirmed, including air press storage module, braking module, man-machine interaction module, signal imitation module, data collection module, and fault diagnosis module, and the funct...