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Sample records for leg extension actuator

  1. Proprioceptive Actuation Design for Dynamic Legged locomotion

    Science.gov (United States)

    Kim, Sangbae; Wensing, Patrick; Biomimetic Robotics Lab Team

    Designing an actuator system for highly-dynamic legged locomotion exhibited by animals has been one of the grand challenges in robotics research. Conventional actuators designed for manufacturing applications have difficulty satisfying challenging requirements for high-speed locomotion, such as the need for high torque density and the ability to manage dynamic physical interactions. It is critical to introduce a new actuator design paradigm and provide guidelines for its incorporation in future mobile robots for research and industry. To this end, we suggest a paradigm called proprioceptive actuation, which enables highly- dynamic operation in legged machines. Proprioceptive actuation uses collocated force control at the joints to effectively control contact interactions at the feet under dynamic conditions. In the realm of legged machines, this paradigm provides a unique combination of high torque density, high-bandwidth force control, and the ability to mitigate impacts through backdrivability. Results show that the proposed design provides an impact mitigation factor that is comparable to other quadruped designs with series springs to handle impact. The paradigm is shown to enable the MIT Cheetah to manage the application of contact forces during dynamic bounding, with results given down to contact times of 85ms and peak forces over 450N. As a result, the MIT Cheetah achieves high-speed 3D running up to 13mph and jumping over an 18-inch high obstacle. The project is sponsored by DARPA M3 program.

  2. A Biological Micro Actuator: Graded and Closed-Loop Control of Insect Leg Motion by Electrical Stimulation of Muscles

    OpenAIRE

    Cao, Feng; Zhang, Chao; Vo Doan, Tat Thang; Li, Yao; Sangi, Daniyal Haider; Koh, Jie Sheng; Huynh, Ngoc Anh; Aziz, Mohamed Fareez Bin; Choo, Hao Yu; Ikeda, Kazuo; Abbeel, Pieter; Maharbiz, Michel M.; Sato, Hirotaka

    2014-01-01

    In this study, a biological microactuator was demonstrated by closed-loop motion control of the front leg of an insect (Mecynorrhina torquata, beetle) via electrical stimulation of the leg muscles. The three antagonistic pairs of muscle groups in the front leg enabled the actuator to have three degrees of freedom: protraction/retraction, levation/depression, and extension/flexion. We observed that the threshold amplitude (voltage) required to elicit leg motions was approximately 1.0 V; thus, ...

  3. Modeling posture-dependent leg actuation in sagittal plane locomotion

    International Nuclear Information System (INIS)

    Schmitt, J; Clark, J

    2009-01-01

    The spring loaded inverted pendulum template has been shown to accurately model the steady locomotion dynamics of a variety of running animals, and has served as the inspiration for an entire class of dynamic running robots. While the template models the leg dynamics by an energy-conserving spring, insects and animals have structures that dissipate, store and produce energy during a stance phase. Recent investigations into the spring-like properties of limbs, as well as animal response to drop-step perturbations, suggest that animals use their legs to manage energy storage and dissipation, and that this management is important for gait stability. In this paper, we extend our previous analysis of control of the spring loaded inverted pendulum template via changes in the leg touch-down angle to include energy variations during the stance phase. Energy variations are incorporated through leg actuation that varies the force-free leg length during the stance phase, yet maintains qualitatively correct force and velocity profiles. In contrast to the partially asymptotically stable gaits identified in previous analyses, incorporating energy and leg angle variations in this manner produces complete asymptotic stability. Drop-step perturbation simulations reveal that the control strategy is rather robust, with gaits recovering from drops of up to 30% of the nominal hip height.

  4. Modeling posture-dependent leg actuation in sagittal plane locomotion

    Energy Technology Data Exchange (ETDEWEB)

    Schmitt, J [Department of Mechanical Engineering, Oregon State University, Corvallis, OR 97331 (United States); Clark, J, E-mail: schmitjo@engr.orst.ed [Department of Mechanical Engineering, Florida State University, Tallahassee, FL 32310 (United States)

    2009-12-15

    The spring loaded inverted pendulum template has been shown to accurately model the steady locomotion dynamics of a variety of running animals, and has served as the inspiration for an entire class of dynamic running robots. While the template models the leg dynamics by an energy-conserving spring, insects and animals have structures that dissipate, store and produce energy during a stance phase. Recent investigations into the spring-like properties of limbs, as well as animal response to drop-step perturbations, suggest that animals use their legs to manage energy storage and dissipation, and that this management is important for gait stability. In this paper, we extend our previous analysis of control of the spring loaded inverted pendulum template via changes in the leg touch-down angle to include energy variations during the stance phase. Energy variations are incorporated through leg actuation that varies the force-free leg length during the stance phase, yet maintains qualitatively correct force and velocity profiles. In contrast to the partially asymptotically stable gaits identified in previous analyses, incorporating energy and leg angle variations in this manner produces complete asymptotic stability. Drop-step perturbation simulations reveal that the control strategy is rather robust, with gaits recovering from drops of up to 30% of the nominal hip height.

  5. A Biological Micro Actuator: Graded and Closed-Loop Control of Insect Leg Motion by Electrical Stimulation of Muscles

    Science.gov (United States)

    Cao, Feng; Zhang, Chao; Vo Doan, Tat Thang; Li, Yao; Sangi, Daniyal Haider; Koh, Jie Sheng; Huynh, Ngoc Anh; Aziz, Mohamed Fareez Bin; Choo, Hao Yu; Ikeda, Kazuo; Abbeel, Pieter; Maharbiz, Michel M.; Sato, Hirotaka

    2014-01-01

    In this study, a biological microactuator was demonstrated by closed-loop motion control of the front leg of an insect (Mecynorrhina torquata, beetle) via electrical stimulation of the leg muscles. The three antagonistic pairs of muscle groups in the front leg enabled the actuator to have three degrees of freedom: protraction/retraction, levation/depression, and extension/flexion. We observed that the threshold amplitude (voltage) required to elicit leg motions was approximately 1.0 V; thus, we fixed the stimulation amplitude at 1.5 V to ensure a muscle response. The leg motions were finely graded by alternation of the stimulation frequencies: higher stimulation frequencies elicited larger leg angular displacement. A closed-loop control system was then developed, where the stimulation frequency was the manipulated variable for leg-muscle stimulation (output from the final control element to the leg muscle) and the angular displacement of the leg motion was the system response. This closed-loop control system, with an optimized proportional gain and update time, regulated the leg to set at predetermined angular positions. The average electrical stimulation power consumption per muscle group was 148 µW. These findings related to and demonstrations of the leg motion control offer promise for the future development of a reliable, low-power, biological legged machine (i.e., an insect–machine hybrid legged robot). PMID:25140875

  6. A biological micro actuator: graded and closed-loop control of insect leg motion by electrical stimulation of muscles.

    Directory of Open Access Journals (Sweden)

    Feng Cao

    Full Text Available In this study, a biological microactuator was demonstrated by closed-loop motion control of the front leg of an insect (Mecynorrhina torquata, beetle via electrical stimulation of the leg muscles. The three antagonistic pairs of muscle groups in the front leg enabled the actuator to have three degrees of freedom: protraction/retraction, levation/depression, and extension/flexion. We observed that the threshold amplitude (voltage required to elicit leg motions was approximately 1.0 V; thus, we fixed the stimulation amplitude at 1.5 V to ensure a muscle response. The leg motions were finely graded by alternation of the stimulation frequencies: higher stimulation frequencies elicited larger leg angular displacement. A closed-loop control system was then developed, where the stimulation frequency was the manipulated variable for leg-muscle stimulation (output from the final control element to the leg muscle and the angular displacement of the leg motion was the system response. This closed-loop control system, with an optimized proportional gain and update time, regulated the leg to set at predetermined angular positions. The average electrical stimulation power consumption per muscle group was 148 µW. These findings related to and demonstrations of the leg motion control offer promise for the future development of a reliable, low-power, biological legged machine (i.e., an insect-machine hybrid legged robot.

  7. Analysis of Foot Slippage Effects on an Actuated Spring-Mass Model of Dynamic Legged Locomotion

    Directory of Open Access Journals (Sweden)

    Yizhar Or

    2016-04-01

    Full Text Available The classical model of spring-loaded inverted pendulum (SLIP and its extensions have been widely accepted as a simple description of dynamic legged locomotion at various scales in humans, legged robots and animals. Similar to the majority of models in the literature, the SLIP model assumes ideal sticking contact of the foot. However, there are practical scenarios of low ground friction that causes foot slippage, which can have a significant influence on dynamic behaviour. In this work, an extension of the SLIP model with two masses and torque actuation is considered, which accounts for possible slippage under Coulomb's friction law. The hybrid dynamics of this model is formulated and numerical simulations under representative parameter values reveal several types of stable periodic solutions with stick-slip transitions. Remarkably, it is found that slippage due to low friction can sometimes increase average speed and improve energetic efficiency by significantly reducing the mechanical cost of transport.

  8. Kinematics and optimization of 2-DOF parallel manipulator with revolute actuators and a passive leg

    Energy Technology Data Exchange (ETDEWEB)

    Nam, Yun Joo; Park, Myeong Kwan [Pusan National University, Busan (Korea, Republic of)

    2006-06-15

    In this paper, a 2-DOF planar parallel manipulator with two revolute actuators and one passive constraining leg. The kinematic analysis of the mechanism is analytically performed : the inverse and forward kinematics problems are solved in closed forms, the workspace is derived systematically, and the three kinds of singular configurations are found. The optimal design to determine the geometric parameters and the operating limits of the actuated legs is performed considering the kinematic manipulability and workspace size. These results of the paper show the effectiveness of the presented manipulator.

  9. Kinematics and optimization of 2-DOF parallel manipulator with revolute actuators and a passive leg

    International Nuclear Information System (INIS)

    Nam, Yun Joo; Park, Myeong Kwan

    2006-01-01

    In this paper, a 2-DOF planar parallel manipulator with two revolute actuators and one passive constraining leg. The kinematic analysis of the mechanism is analytically performed : the inverse and forward kinematics problems are solved in closed forms, the workspace is derived systematically, and the three kinds of singular configurations are found. The optimal design to determine the geometric parameters and the operating limits of the actuated legs is performed considering the kinematic manipulability and workspace size. These results of the paper show the effectiveness of the presented manipulator

  10. Muscle strategies for leg extensions on a "Reformer" apparatus.

    Science.gov (United States)

    Cantergi, Débora; Loss, Jefferson Fagundes; Jinha, Azim; Brodt, Guilherme Auler; Herzog, Walter

    2015-04-01

    Considering the kinematics of leg extensions performed on a Reformer apparatus, one would expect high activation of hip and knee extensor muscle groups. However, because of the bi-articular nature of some lower limb muscles, and the possibility to vary the direction of force application on the Reformer bar, muscles can be coordinated theoretically in a variety of ways and still achieve the desired outcome. Hence, the aim of this study was to determine the knee and hip moments during leg extensions performed on the Reformer apparatus and to estimate the forces in individual muscles crossing these joints using static optimization. Fifteen subjects performed leg extensions exercises on the Reformer apparatus using an individually chosen resistance. To our big surprise, we found that subjects performed the exercise using two conceptually different strategies (i) the first group used simultaneous hip and knee extension moments, (ii) while the second group used simultaneous hip flexion and knee extension moments to perform the exercise. These different strategies were achieved by changing the direction of the resultant force applied by the subject's feet on the Reformer bar. While leg extensions on the Reformer apparatus have been thought to strengthen the hip and knee extensors muscles, our results demonstrate that patients can perform the exercise in a different and unexpected way. In order to control the hip and knee moments and achieve the desired outcome of the exercise, the direction of force application on the Reformer bar must be controlled carefully. Copyright © 2014 Elsevier Ltd. All rights reserved.

  11. Biomimetic Spider Leg Joints: A Review from Biomechanical Research to Compliant Robotic Actuators

    Directory of Open Access Journals (Sweden)

    Stefan Landkammer

    2016-07-01

    Full Text Available Due to their inherent compliance, soft actuated joints are becoming increasingly important for robotic applications, especially when human-robot-interactions are expected. Several of these flexible actuators are inspired by biological models. One perfect showpiece for biomimetic robots is the spider leg, because it combines lightweight design and graceful movements with powerful and dynamic actuation. Building on this motivation, the review article focuses on compliant robotic joints inspired by the function principle of the spider leg. The mechanism is introduced by an overview of existing biological and biomechanical research. Thereupon a classification of robots that are bio-inspired by spider joints is presented. Based on this, the biomimetic robot applications referring to the spider principle are identified and discussed.

  12. Muscle recruitment patterns during the prone leg extension

    Directory of Open Access Journals (Sweden)

    Rayfield Ben

    2004-02-01

    Full Text Available Abstract Background The prone leg extension (PLE is a clinical test used to evaluate the function of the lumbopelvis. It has been theorized that a normal and consistent pattern of muscle activation exists. Previous research has found two contradictory patterns of muscle activation during PLE in normal individuals. One study shows an almost simultaneous activation of the lower erector spinae and hamstring muscle group with a delayed activation of the gluteus maximus, while the second describes the order of activation being ipsilateral erector spinae (to the leg being extended, hamstrings, contralateral erector spinae and gluteus maximus. Due to the different conclusions from these two studies and the lack of quantified muscle onset times, expressed in absolute time this study attempted to quantify the muscle onset times (in milliseconds during the prone leg extension, while noting if a consistent order of activation exists and whether a timing relationship also exists between the gluteus maximus and contralateral latissimus dorsi. Methods 10 asymptomatic males (Average height: 175.2 cm (SD 6.5, Average Weight 75.9 kg (SD 6.5, Average Age: 27.1(SD 1.28 and 4 asymptomatic females (Average height 164.5 (SD 2.9, weight: 56.2 (SD 8.9, Average Age: 25 (SD 1 performed the prone leg extension task while the myoelectric signal was recorded from the bilateral lower erector spinae, gluteus maximus and hamstring muscle groups. Activation onsets were determined from the rectified EMG signal relative to the onset of the hamstrings muscle group. Results No consistent recruitment patterns were detected for prone leg extension among the hamstring muscle group and the erector spinae. However, a consistent delay in the Gluteus Maximus firing of approximately 370 ms after the first muscle activated was found. Five out of 14 asymptomatic subjects showed a delay in gluteus maximus firing exceeding the average delay found in previous research of subjects considered to

  13. Energetic and Peak Power Advantages of Series Elastic Actuators in an Actuated Prosthetic Leg for Walking and Running

    Directory of Open Access Journals (Sweden)

    Martin Grimmer

    2014-02-01

    Full Text Available A monoarticular series elastic actuator (SEA reduces energetic and peak power requirements compared to a direct drive (DD in active prosthetic ankle-foot design. Simulation studies have shown that similar advantages are possible for the knee joint. The aims of this paper were to investigate the advantages of a monoarticular SEA-driven hip joint and to quantify the energetic benefit of an SEA-driven leg (with monoarticular hip, knee and ankle SEAs, assuming that damping (negative power is passively achieved. The hip SEA provided minor energetic advantages in walking (up to 29% compared to the knee and the ankle SEA. Reductions in required peak power were observed only for speeds close to preferred walking speed (18% to 27%. No energetic advantages were found in running, where a DD achieved the best performance when optimizing for energy. Using an SEA at each leg joint in the sagittal plane reduced the positive work by 14% to 39% for walking and by 37% to 75% for running. When using an SEA instead of a DD, the contribution of the three leg joints to doing positive work changed: the knee contributed less and the hip more positive work. For monoarticular SEAs, the ankle joint motor did most of the positive work.

  14. X-pod: a small footprint multi-legged piezoelectric single-crystal unimorph-based actuator concept

    Science.gov (United States)

    Shukla, Rahul; Lim, Leong-Chew; Gandhi, Prasanna

    2012-06-01

    Multi-legged piezoelectric single-crystal actuators with small footprints using an X-pod approach, namely, the Tripod and Tetrapod, have been conceptualized, each leg being a unimorph driven by Pb(Zn1/3Nb2/3)O3-(6-7)%PbTiO3 (PZN-(6-7)%PT) single crystals of [110]L × [001]T cut. Both finite-element analysis and experimental investigations are carried out to evaluate the performance of the Tripod and Tetrapod actuators. When operated at 0.57 kV mm-1, both actuators exhibit an axial displacement of nearly 60 µm. Blocking forces of about 10 N and 14 N are observed for the Tripod and the Tetrapod, respectively. The blocking forces are roughly doubled if the perfectly clamped condition is imposed for the legs at the pedestal end while the axial displacement is lowered marginally by 12%. In addition to small footprints, other attractive features of the actuators include greater flexibility to modify the leg geometry and their inclination to suit the application.

  15. Radial deformations of working cylinder of hydraulic Legs depending on their extension

    OpenAIRE

    Buyalich, Gennadiy Daniilovich; Buyalich, K. G.; Voyevodin, V. V.

    2015-01-01

    Current methods of calculation of parameters of hydraulic legs of powered supports are in most cases analytical and do not consider all complex of factors. Finite element model was developed to study this problem and used to analyze the influence of hydraulic legs extension on radial deformations of cylinder of different producers of powered supports at variation of hydraulic fluid pressure. It was revealed that radial deformations of cylinders along the axis of hydraulic legs increase in mag...

  16. Differential glucose uptake in quadriceps and other leg muscles during one-legged dynamic submaximal knee-extension exercise

    DEFF Research Database (Denmark)

    Kalliokoski, Kari K; Boushel, Robert; Langberg, Henning

    2011-01-01

    to mean GU in QF (=100%), GU was on average 73% in VL, 84% in rectus femoris, 115% in vastus medialis, and 142% in VI. Variable activation of hamstring muscles and muscles of the lower leg was also observed. These results show that GU of different muscles of quadriceps muscle group as well as between......One-legged dynamic knee-extension exercise (DKE) is a widely used model to study the local cardiovascular and metabolic responses to exercise of the quadriceps muscles. In this study, we explored the extent to which different muscles of the quadriceps are activated during exercise using positron...... in the vastus intermedius (VI) and lowest in the vastus lateralis (VL; VI vs VL, p muscles in the exercising leg was 35 ± 9%. Compared...

  17. Differential glucose uptake in quadriceps and other leg muscles during one-legged dynamic submaximal knee-extension exercise

    Directory of Open Access Journals (Sweden)

    Kari eKalliokoski

    2011-10-01

    Full Text Available One-legged dynamic knee-extension exercise (DKE is a widely used model to study the local cardiovascular and metabolic responses to exercise of the quadriceps muscles. In this study, we explored the extent to which different muscles of the quadriceps are activated during exercise using positron emission tomography (PET determined uptake of [18F]-fluoro-deoxy-glucose (GU during DKE. Five healthy male subjects performed DKE at 25 W for 35 min and both the contracting and contralateral resting leg were scanned with PET from mid-thigh and distally. On average, exercise GU was the highest in the vastus intermedius (VI and lowest in the vastus lateralis (VL (VI vs VL, p<0.05, whereas the coefficient of variation was highest in VL (VL vs VI, p<0.05. Coefficient of variation between the mean values of the four QF muscles in the exercising leg was 35±9%. Compared to mean GU in QF (=100%, GU was on average 73% in VL, 84% in rectus femoris, 115% in vastus medialis, and 142% in VI. Variable activation of hamstring muscles and muscles of the lower leg was also observed. These results show that GU of different muscles of quadriceps muscle group as well as between individuals vary greatly during DKE, and suggests that muscle activity is not equal between quadriceps muscles in this exercise model. Furthermore, posterior thigh muscles and lower leg muscles are more active than hitherto thought even during this moderate exercise intensity.

  18. 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.

  19. Liquid cooled viscoelastic actuation for robust legged robot locomotion, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — The work proposed here seeks to significantly improve actuation technology for mission-capable articulated robots and exoskeletons such as NASA's Robonaut 2,...

  20. Magnetic Actuation Connector Between Extension Shaft and Armature for Bottom Mounted Control Rod Drive Mechanism

    International Nuclear Information System (INIS)

    Huh, Hyung; Cho, Yeong Garp; Kim, Jong In

    2013-01-01

    The electromagnet and armature inside the guide tube interact and produce magnetism, thus making the armature, connecting extension shaft and control rod move up and down to control the power of reactor. During the overhaul, the control absorber rod (CAR), extension shaft, and armature of BMCRDM are lifted together for closing a seal valve. But total length of CAR assembly is so long that it cannot be lifted due to exposure above the water level of pool which is strictly controlled. In addition to this, it is difficult to calibrate a position indicator and lifting force of electromagnet without armature assembly as a seal valve is closed. For this reason, it is necessary to install a disconnecting system between armature and extension shaft. Therefore, KAERI has developed magnetic actuation connector using plunger between armature and extension shaft for the bottom mounted control rod drive mechanism in research reactor. The results of a FEM and the experiments in this work lead to the following conclusions: The FEM result for the design of the magnetic actuation connector is compared with the measured lifting force of prototype production. As a result, it is shown that the lifting force of the prototype connector has a good agreement with the result of the FEM. A newly developed technique of prototype magnetic actuation connector which is designed by FEM analysis result is proposed

  1. Modification and Actuator Minimization of the Hip Leg Joint in a Bipedal Robot: A Proposed Design

    Directory of Open Access Journals (Sweden)

    Nirmalya Tripathi

    2014-12-01

    Full Text Available In recent times, there have been numeric applications of Biped Robots. In this paper, a proposed upper leg hip design of a biped was developed taking cost reduction and optimization as factors for consideration. The proposed system introduces a novel method which consists of a vibration reduction (VR DC stepper motor, microcontroller, microprocessor and gearing arrangement. The program in the microprocessor is so designed that it gives a fixed number of cycles/steps to the VR DC stepper motor in clockwise and thereafter in anti-clockwise direction. This turning movement can then be transmitted to the gearing system which precisely moves one upper leg when the VR DC stepper motor moves in clockwise direction, while the other upper leg remains static, and vice-versa. It has been observed that this new proposed system may reduce the cost overhead, weight and the energy consumption incurred by working on a single VR DC stepper motor while conventionally two stepper motors are used to give the motion of the two upper legs in a biped.

  2. Fractional-order active fault-tolerant force-position controller design for the legged robots using saturated actuator with unknown bias and gain degradation

    Science.gov (United States)

    Farid, Yousef; Majd, Vahid Johari; Ehsani-Seresht, Abbas

    2018-05-01

    In this paper, a novel fault accommodation strategy is proposed for the legged robots subject to the actuator faults including actuation bias and effective gain degradation as well as the actuator saturation. First, the combined dynamics of two coupled subsystems consisting of the dynamics of the legs subsystem and the body subsystem are developed. Then, the interaction of the robot with the environment is formulated as the contact force optimization problem with equality and inequality constraints. The desired force is obtained by a dynamic model. A robust super twisting fault estimator is proposed to precisely estimate the defective torque amplitude of the faulty actuator in finite time. Defining a novel fractional sliding surface, a fractional nonsingular terminal sliding mode control law is developed. Moreover, by introducing a suitable auxiliary system and using its state vector in the designed controller, the proposed fault-tolerant control (FTC) scheme guarantees the finite-time stability of the closed-loop control system. The robustness and finite-time convergence of the proposed control law is established using the Lyapunov stability theory. Finally, numerical simulations are performed on a quadruped robot to demonstrate the stable walking of the robot with and without actuator faults, and actuator saturation constraints, and the results are compared to results with an integer order fault-tolerant controller.

  3. Development of VariLeg, an exoskeleton with variable stiffness actuation: first results and user evaluation from the CYBATHLON 2016.

    Science.gov (United States)

    Schrade, Stefan O; Dätwyler, Katrin; Stücheli, Marius; Studer, Kathrin; Türk, Daniel-Alexander; Meboldt, Mirko; Gassert, Roger; Lambercy, Olivier

    2018-03-13

    Powered exoskeletons are a promising approach to restore the ability to walk after spinal cord injury (SCI). However, current exoskeletons remain limited in their walking speed and ability to support tasks of daily living, such as stair climbing or overcoming ramps. Moreover, training progress for such advanced mobility tasks is rarely reported in literature. The work presented here aims to demonstrate the basic functionality of the VariLeg exoskeleton and its ability to enable people with motor complete SCI to perform mobility tasks of daily life. VariLeg is a novel powered lower limb exoskeleton that enables adjustments to the compliance in the leg, with the objective of improving the robustness of walking on uneven terrain. This is achieved by an actuation system with variable mechanical stiffness in the knee joint, which was validated through test bench experiments. The feasibility and usability of the exoskeleton was tested with two paraplegic users with motor complete thoracic lesions at Th4 and Th12. The users trained three times a week, in 60 min sessions over four months with the aim of participating in the CYBATHLON 2016 competition, which served as a field test for the usability of the exoskeleton. The progress on basic walking skills and on advanced mobility tasks such as incline walking and stair climbing is reported. Within this first study, the exoskeleton was used with a constant knee stiffness. Test bench evaluation of the variable stiffness actuation system demonstrate that the stiffness could be rendered with an error lower than 30 Nm/rad. During training with the exoskeleton, both users acquired proficient skills in basic balancing, walking and slalom walking. In advanced mobility tasks, such as climbing ramps and stairs, only basic (needing support) to intermediate (able to perform task independently in 25% of the attempts) skill levels were achieved. After 4 months of training, one user competed at the CYBATHLON 2016 and was able to perform 3

  4. Chronic ulceration of the leg following extensive scarring due to a snake bite complicated by squamous cell carcinoma

    International Nuclear Information System (INIS)

    Mello, L.F.B.; Barcelos, M.G.; Nogueira Neto, N.C.; Meohas, W.; Pinto, L.W.; Melo, P.A.; Smith, J.

    2000-01-01

    Chronic ulcers of the leg are common in Brazil, perhaps more common than in the developed world. We report a case of a chronic ulcer of the leg following extensive scarring due to a bite by a venomous snake, which eventually led to a squamous cell carcinoma. (orig.)

  5. Normalized knee-extension strength or leg-press power after fast-track total knee arthroplasty

    DEFF Research Database (Denmark)

    Aalund, Peter K; Larsen, Kristian; Hansen, Torben Bæk

    2013-01-01

    : Cross-sectional, exploratory study. SETTING: Laboratory at a regional hospital. PARTICIPANTS: Thirty-nine individuals with an average age of 65.5±10.3 yrs, who all had unilateral TKA 28 days prior. INTERVENTIONS: None. MAIN OUTCOME MEASURES: The patients performed maximal isometric knee extensions......OBJECTIVE: (s): To investigate which of the two muscle-impairment measures for the operated leg, normalized knee extension strength or leg press power, is more closely associated to performance-based and self-reported measures of function shortly following total knee arthroplasty (TKA). DESIGN...... and dynamic leg presses to determine their body-mass normalized knee extension strength and leg press power, respectively. The 10-m fast speed walking and 30-s chair stand tests were used to determine performance-based function, while the Western Ontario McMaster University Osteoarthritis Index (WOMAC...

  6. Pelvic movement strategies and leg extension power in patients with end-stage medial compartment knee osteoarthritis

    DEFF Research Database (Denmark)

    Kierkegaard, Signe; Jørgensen, Peter Bo; Dalgas, Ulrik

    2015-01-01

    INTRODUCTION: During movement tasks, patients with medial compartment knee osteoarthritis use compensatory strategies to minimise the joint load of the affected leg. Movement strategies of the knees and trunk have been investigated, but less is known about movement strategies of the pelvis during...... compartment knee osteoarthritis use greater pelvic movements during advanced functional performance tests, particularly when these involve descending tasks. Further studies should investigate if it is possible to alter these movement strategies by an intervention aimed at increasing strength and power...... advancing functional tasks, and how these strategies are associated with leg extension power. The aim of the study was to investigate pelvic movement strategies and leg extension power in patients with end-stage medial compartment knee osteoarthritis compared with controls. MATERIALS AND METHODS: 57...

  7. Posture effects on spontaneous limb movements, alternated stepping, and the leg extension response in neonatal rats.

    Science.gov (United States)

    Mendez-Gallardo, Valerie; Roberto, Megan E; Kauer, Sierra D; Brumley, Michele R

    2016-03-01

    The development of postural control is considered an important factor for the expression of coordinated behavior such as locomotion. In the natural setting of the nest, newborn rat pups adapt their posture to perform behaviors of ecological relevance such as those related to suckling. The current study explores the role of posture in the expression of three behaviors in the newborn rat: spontaneous limb activity, locomotor-like stepping behavior, and the leg extension response (LER). One-day-old rat pups were tested in one of two postures--prone or supine--on each of these behavioral measures. Results showed that pups expressed more spontaneous activity while supine, more stepping while prone, and no differences in LER expression between the two postures. Together these findings show that posture affects the expression of newborn behavior patterns in different ways, and suggest that posture may act as a facilitator or a limiting factor in the expression of different behaviors during early development. Copyright © 2015 Elsevier Inc. All rights reserved.

  8. Interdependence of torque, joint angle, angular velocity and muscle action during human multi-joint leg extension.

    Science.gov (United States)

    Hahn, Daniel; Herzog, Walter; Schwirtz, Ansgar

    2014-08-01

    Force and torque production of human muscles depends upon their lengths and contraction velocity. However, these factors are widely assumed to be independent of each other and the few studies that dealt with interactions of torque, angle and angular velocity are based on isolated single-joint movements. Thus, the purpose of this study was to determine force/torque-angle and force/torque-angular velocity properties for multi-joint leg extensions. Human leg extension was investigated (n = 18) on a motor-driven leg press dynamometer while measuring external reaction forces at the feet. Extensor torque in the knee joint was calculated using inverse dynamics. Isometric contractions were performed at eight joint angle configurations of the lower limb corresponding to increments of 10° at the knee from 30 to 100° of knee flexion. Concentric and eccentric contractions were performed over the same range of motion at mean angular velocities of the knee from 30 to 240° s(-1). For contractions of increasing velocity, optimum knee angle shifted from 52 ± 7 to 64 ± 4° knee flexion. Furthermore, the curvature of the concentric force/torque-angular velocity relations varied with joint angles and maximum angular velocities increased from 866 ± 79 to 1,238 ± 132° s(-1) for 90-50° knee flexion. Normalised eccentric forces/torques ranged from 0.85 ± 0.12 to 1.32 ± 0.16 of their isometric reference, only showing significant increases above isometric and an effect of angular velocity for joint angles greater than optimum knee angle. The findings reveal that force/torque production during multi-joint leg extension depends on the combined effects of angle and angular velocity. This finding should be accounted for in modelling and optimisation of human movement.

  9. Dynamically Stable Legged Locomotion.

    Science.gov (United States)

    1983-01-27

    balanced itself in 31) using a tabular ctontrol sclwnme. With only thUiee actuated degrees it used a shuffling gait to balance that reminds one of Charlie ... Chaplin . * The present study explores the control of a physical one-legged hopping machine. The objective of using a machine with only one leg was to

  10. Scaling of the Spring in the Leg during Bouncing Gaits of Mammals

    Science.gov (United States)

    Lee, David V.; Isaacs, Michael R.; Higgins, Trevor E.; Biewener, Andrew A.; McGowan, Craig P.

    2014-01-01

    Trotting, bipedal running, and especially hopping have long been considered the principal bouncing gaits of legged animals. We use the radial-leg spring constant krad to quantify the stiffness of the physical leg during bouncing gaits. The radial-leg is modeled as an extensible strut between the hip and the ground and krad is determined from the force and deflection of this strut in each instance of stance. A Hookean spring is modeled in-series with a linear actuator and the stiffness of this spring krad is determined by minimizing the work of the actuator while reproducing the measured force-deflection dynamics of an individual leg during trotting or running, and of the paired legs during hopping. Prior studies have estimated leg stiffness using kleg, a metric that imagines a virtual-leg connected to the center of mass. While kleg has been applied extensively in human and comparative biomechanics, we show that krad more accurately models the spring in the leg when actuation is allowed, as is the case in biological and robotic systems. Our allometric analysis of krad in the kangaroo rat, tammar wallaby, dog, goat, and human during hopping, trotting, or running show that krad scales as body mass to the two-third power, which is consistent with the predictions of dynamic similarity and with the scaling of kleg. Hence, two-third scaling of locomotor spring constants among mammals is supported by both the radial-leg and virtual-leg models, yet the scaling of krad emerges from work-minimization in the radial-leg model instead of being a defacto result of the ratio of force to length used to compute kleg. Another key distinction between the virtual-leg and radial-leg is that krad is substantially greater than kleg, as indicated by a 30–37% greater scaling coefficient for krad. We also show that the legs of goats are on average twice as stiff as those of dogs of the same mass and that goats increase the stiffness of their legs, in part, by more nearly aligning their

  11. AMSD Cryo Actuator Testing

    Science.gov (United States)

    Mullette, Mark; Matthews, Gary; Russell, Kevin (Technical Monitor)

    2002-01-01

    The actuator technology required for AMSD and subsequently NGST are critical in the successful development for future cryogenic systems. Kodak has undertaken an extensive test plan to determine the performance of the force actuators developed under the AMSD program. These actuators are currently in testing at MSFC and are expected to finish this test cycle in early June 2002.

  12. Trunk and hip muscle recruitment patterns during the prone leg extension following a lateral ankle sprain: A prospective case study pre and post injury

    Directory of Open Access Journals (Sweden)

    Lehman Gregory J

    2006-02-01

    Full Text Available Abstract Background and case presentation The prone leg extension (PLE is commonly used to identify dysfunction of muscle recruitment patterns. The prone leg extension is theorized to identify proximal muscle disturbances which are a result of distal injury or dysfunction (i.e. an ankle sprain. This case study compares the trunk and hip muscle (bilateral lower erector spine, ipsilateral hamstring and ipsilateral gluteus maximus timing during a PLE of a 27 year old female runner during a healthy state (pre ankle sprain and 2 and 8 weeks post ankle sprain. Results and discussion The gluteus maximus muscle onsets at 8 weeks post injury appeared to occur earlier compared with 2 weeks post injury. The Right Erector Spinae at 8 weeks post injury was also active earlier compared with the participant's non-injured state. A large degree of variability can be noted within trials on the same day for all muscle groups. Conclusion An acute ankle injury did not result in a delay in gluteus maximus muscle activation. The utility of the prone leg extension as a clinical and functional test is questionable due to the normal variability seen during the test and our current inability to determine what is normal and what is dysfunctional.

  13. Trunk and hip muscle recruitment patterns during the prone leg extension following a lateral ankle sprain: A prospective case study pre and post injury

    Science.gov (United States)

    Lehman, Gregory J

    2006-01-01

    Background and case presentation The prone leg extension (PLE) is commonly used to identify dysfunction of muscle recruitment patterns. The prone leg extension is theorized to identify proximal muscle disturbances which are a result of distal injury or dysfunction (i.e. an ankle sprain). This case study compares the trunk and hip muscle (bilateral lower erector spine, ipsilateral hamstring and ipsilateral gluteus maximus) timing during a PLE of a 27 year old female runner during a healthy state (pre ankle sprain) and 2 and 8 weeks post ankle sprain. Results and discussion The gluteus maximus muscle onsets at 8 weeks post injury appeared to occur earlier compared with 2 weeks post injury. The Right Erector Spinae at 8 weeks post injury was also active earlier compared with the participant's non-injured state. A large degree of variability can be noted within trials on the same day for all muscle groups. Conclusion An acute ankle injury did not result in a delay in gluteus maximus muscle activation. The utility of the prone leg extension as a clinical and functional test is questionable due to the normal variability seen during the test and our current inability to determine what is normal and what is dysfunctional. PMID:16504168

  14. Voluntary enhanced cocontraction of hamstring muscles during open kinetic chain leg extension exercise: its potential unloading effect on the anterior cruciate ligament.

    Science.gov (United States)

    Biscarini, Andrea; Benvenuti, Paolo; Botti, Fabio M; Brunetti, Antonella; Brunetti, Orazio; Pettorossi, Vito E

    2014-09-01

    A number of research studies provide evidence that hamstring cocontraction during open kinetic chain knee extension exercises enhances tibiofemoral (TF) stability and reduces the strain on the anterior cruciate ligament. To determine the possible increase in hamstring muscle coactivation caused by a voluntary cocontraction effort during open kinetic chain leg-extension exercises, and to assess whether an intentional hamstring cocontraction can completely suppress the anterior TF shear force during these exercises. Descriptive laboratory study. Knee kinematics as well as electromyographic activity in the semitendinosus (ST), semimembranosus (SM), biceps femoris (BF), and quadriceps femoris muscles were measured in 20 healthy men during isotonic leg extension exercises with resistance (R) ranging from 10% to 80% of the 1-repetition maximum (1RM). The same exercises were also performed while the participants attempted to enhance hamstring coactivation through a voluntary cocontraction effort. The data served as input parameters for a model to calculate the shear and compressive TF forces in leg extension exercises for any set of coactivation patterns of the different hamstring muscles. For R≤ 40% 1RM, the peak coactivation levels obtained with intentional cocontraction (l) were significantly higher (P hamstring muscle, maximum level l was reached at R = 30% 1RM, corresponding to 9.2%, 10.5%, and 24.5% maximum voluntary isometric contraction (MVIC) for the BF, ST, and SM, respectively, whereas the ratio l/l 0 reached its maximum at R = 20% 1RM and was approximately 2, 3, and 4 for the BF, SM, and ST, respectively. The voluntary enhanced coactivation level l obtained for R≤ 30% 1RM completely suppressed the anterior TF shear force developed by the quadriceps during the exercise. In leg extension exercises with resistance R≤ 40% 1RM, coactivation of the BF, SM, and ST can be significantly enhanced (up to 2, 3, and 4 times, respectively) by a voluntary hamstring

  15. A close examination of under-actuated attitude control subsystem design for future satellite missions' life extension

    Science.gov (United States)

    Lam, Quang M.; Barkana, Itzhak

    2014-12-01

    Satellite mission life, maintained and prolonged beyond its typical norm of their expectancy, are primarily dictated by the state of health of its Reaction Wheel Assembly (RWA), especially for commercial GEO satellites since torquer bars are no longer applicable while thruster assistant is unacceptable due to pointing accuracy impact during jet firing. The RWA is the primary set of actuators (as compared to thrusters for orbit maintenance and maneuvering) mainly responsible for the satellite mission for accurately and precisely pointing its payloads to the right targets to conduct its mission operations. The RWA consisting of either a set of four in pyramid or three in orthogonal is the primary set of actuators to allow the satellite to achieve accurate and precise pointing of the satellite payloads towards the desired targets. Future space missions will be required to achieve much longer lives and are currently perceived by the GEO satellite community as an "expected norm" of 20 years or longer. Driven by customers' demands/goals and competitive market have challenged Attitude Control Subsystems (ACS) engineers to develop better ACS algorithms to address such an emerging need. There are two main directions to design satellite's under-actuated control subsystem: (1) Attitude Feedback with Zero Momentum Principle and (2) Attitude Control by Angular Velocity Tracking via Small Time Local Controllability concept. Successful applications of these control laws have been largely demonstrated via simulation for the rest to rest case. Limited accuracy and oscillatory behaviors are observed in three axes for non-zero wheel momentum while realistic loss of a wheel scenario (i.e., fully actuated to under-actuated) has not been closely examined! This study revisits the under-actuated control design with detailed set ups of multiple scenarios reflecting real life operating conditions which have put current under-actuated control laws mentioned earlier into a re-evaluation mode

  16. Venogram - leg

    Science.gov (United States)

    Phlebogram - leg; Venography - leg; Angiogram - leg ... into a vein in the foot of the leg being looked at. An intravenous (IV) line is ... vein. A tourniquet may be placed on your leg so the dye flows into the deeper veins. ...

  17. Steerable Hopping Six-Legged Robot

    Science.gov (United States)

    Younse, Paulo; Aghazarian, Hrand

    2010-01-01

    The figure depicts selected aspects of a six-legged robot that moves by hopping and that can be steered in the sense that it can be launched into a hop in a controllable direction. This is a prototype of hopping robots being developed for use in scientific exploration of rough terrain on remote planets that have surface gravitation less than that of Earth. Hopping robots could also be used on Earth, albeit at diminished hopping distances associated with the greater Earth gravitation. The upper end of each leg is connected through two universal joints to an upper and a lower hexagonal frame, such that the tilt of the leg depends on the relative position of the two frames. Two non-back-driveable worm-gear motor drives are used to control the relative position of the two frames along two axes 120 apart, thereby controlling the common tilt of all six legs and thereby, further, controlling the direction of hopping. Each leg includes an upper and a lower aluminum frame segment with a joint between them. A fiberglass spring, connected via hinges to both segments, is used to store hopping energy prior to launch into a hop and to cushion the landing at the end of the hop. A cable for loading the spring is run into each leg through the center of the universal joints and then down along the center lines of the segments to the lower end of the leg. A central spool actuated by a motor with a harmonic drive and an electromagnetic clutch winds in all six cables to compress all six springs (thereby also flexing all six legs) simultaneously. To ensure that all the legs push off and land in the same direction, timing- belt pulley drives are attached to the leg segments, restricting the flexing and extension of all six legs to a common linear motion. In preparation for a hop, the spool can be driven to load the spring legs by an amount corresponding to a desired hop distance within range. The amount of compression can be computed from the reading of a shaft-angle encoder that

  18. 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...

  19. Greater Hip Extension but Not Hip Abduction Explosive Strength Is Associated With Lesser Hip Adduction and Knee Valgus Motion During a Single-Leg Jump-Cut.

    Science.gov (United States)

    Cronin, Baker; Johnson, Samuel T; Chang, Eunwook; Pollard, Christine D; Norcross, Marc F

    2016-04-01

    The relationships between hip abductor and extensor strength and frontal plane hip and knee motions that are associated with anterior cruciate ligament injury risk are equivocal. However, previous research on these relationships has evaluated relatively low-level movement tasks and peak torque rather than a time-critical strength measure such as the rate of torque development (RTD). Females with greater hip abduction and extension RTD would exhibit lesser frontal plane hip and knee motion during a single-leg jump-cutting task. Descriptive laboratory study. Forty recreationally active females performed maximal isometric contractions and single-leg jump-cuts. From recorded torque data, hip extension and abduction RTD was calculated from torque onset to 200 ms after onset. Three-dimensional motion analysis was used to quantify frontal plane hip and knee kinematics during the movement task. For each RTD measure, jump-cut biomechanics were compared between participants in the highest (high) and lowest (low) RTD tertiles. No differences in frontal plane hip and knee kinematics were identified between high and low hip abduction RTD groups. However, those in the high hip extension RTD group exhibited lower hip adduction (high, 3.8° ± 3.0°; low, 6.5° ± 3.0°; P = .019) and knee valgus (high, -2.5° ± 2.3°; low, -4.4° ± 3.2°; P = .046) displacements during the jump-cut. In movements such as cutting that are performed with the hip in a relatively abducted and flexed position, the ability of the gluteus medius to control hip adduction may be compromised. However, the gluteus maximus, functioning as a hip abductor, may take on a pivotal role in controlling hip adduction and knee valgus motion during these types of tasks. Training with a specific emphasis on increasing explosive strength of the hip extensors may be a means through which to improve frontal plane hip and knee control during high-risk maneuvers such as cutting.

  20. Scaling of the spring in the leg during bouncing gaits of mammals.

    Science.gov (United States)

    Lee, David V; Isaacs, Michael R; Higgins, Trevor E; Biewener, Andrew A; McGowan, Craig P

    2014-12-01

    Trotting, bipedal running, and especially hopping have long been considered the principal bouncing gaits of legged animals. We use the radial-leg spring constant [Formula: see text] to quantify the stiffness of the physical leg during bouncing gaits. The radial-leg is modeled as an extensible strut between the hip and the ground and [Formula: see text] is determined from the force and deflection of this strut in each instance of stance. A Hookean spring is modeled in-series with a linear actuator and the stiffness of this spring [Formula: see text] is determined by minimizing the work of the actuator while reproducing the measured force-deflection dynamics of an individual leg during trotting or running, and of the paired legs during hopping. Prior studies have estimated leg stiffness using [Formula: see text], a metric that imagines a virtual-leg connected to the center of mass. While [Formula: see text] has been applied extensively in human and comparative biomechanics, we show that [Formula: see text] more accurately models the spring in the leg when actuation is allowed, as is the case in biological and robotic systems. Our allometric analysis of [Formula: see text] in the kangaroo rat, tammar wallaby, dog, goat, and human during hopping, trotting, or running show that [Formula: see text] scales as body mass to the two-third power, which is consistent with the predictions of dynamic similarity and with the scaling of [Formula: see text]. Hence, two-third scaling of locomotor spring constants among mammals is supported by both the radial-leg and virtual-leg models, yet the scaling of [Formula: see text] emerges from work-minimization in the radial-leg model instead of being a defacto result of the ratio of force to length used to compute [Formula: see text]. Another key distinction between the virtual-leg and radial-leg is that [Formula: see text] is substantially greater than [Formula: see text], as indicated by a 30-37% greater scaling coefficient for [Formula

  1. Conjugated Polymers as Actuators: Modes of Actuation

    DEFF Research Database (Denmark)

    Skaarup, Steen

    2004-01-01

    The physical and chemical properties of conjugated polymers often depend very strongly on the degree of doping with anions or cations. The movement of ions in and out of the polymer matrix as it is redox cycled is also accompanied by mechanical changes. Both the volume and the stiffness can exhibit...... significant differences between the oxidized and reduced states. These effects form the basis of the use of conjugated polymers as actuators (or “artificial muscles”) controllable by a small (1-10 V) voltage. Three basic modes of actuation (bending, linear extension and stiffness change) have been proposed...

  2. Conjugated polymers as actuators: modes of actuation

    DEFF Research Database (Denmark)

    Skaarup, Steen

    2007-01-01

    The physical and chemical properties of conjugated polymers often depend very strongly on the degree of doping with anions or cations. The movement of ions in and out of the polymer matrix as it is redox cycled is also accompanied by mechanical changes. Both the volume and the stiffness can exhibit...... significant differences between the oxidized and reduced states. These effects form the basis of the use of conjugated polymers as actuators (or “artificial muscles”) controllable by a small (1-10 V) voltage. Three basic modes of actuation (bending, linear extension and stiffness change) have been proposed...

  3. Modeling and Control of Adjustable Articulated Parallel Compliant Actuation Arrangements in Articulated Robots

    Directory of Open Access Journals (Sweden)

    Wesley Roozing

    2018-02-01

    Full Text Available Considerable advances in robotic actuation technology have been made in recent years. Particularly the use of compliance has increased, both as series elastic elements as well as in parallel to the main actuation drives. This work focuses on the model formulation and control of compliant actuation structures including multiple branches and multiarticulation, and significantly contributes by proposing an elegant modular formulation that describes the energy exchange between the compliant elements and articulated multibody robot dynamics using the concept of power flows, and a single matrix that describes the entire actuation topology. Using this formulation, a novel gradient descent based control law is derived for torque control of compliant actuation structures with adjustable pretension, with proven convexity for arbitrary actuation topologies. Extensions toward handling unidirectionality of elastic elements and joint motion compensation are also presented. A simulation study is performed on a 3-DoF leg model, where series-elastic main drives are augmented by parallel elastic tendons with adjustable pretension. Two actuation topologies are considered, one of which includes a biarticulated tendon. The data demonstrate the effectiveness of the proposed modeling and control methods. Furthermore, it is shown the biarticulated topology provides significant benefits over the monoarticulated arrangement.

  4. On the biomimetic design of agile-robot legs.

    Science.gov (United States)

    Garcia, Elena; Arevalo, Juan Carlos; Muñoz, Gustavo; Gonzalez-de-Santos, Pablo

    2011-01-01

    The development of functional legged robots has encountered its limits in human-made actuation technology. This paper describes research on the biomimetic design of legs for agile quadrupeds. A biomimetic leg concept that extracts key principles from horse legs which are responsible for the agile and powerful locomotion of these animals is presented. The proposed biomimetic leg model defines the effective leg length, leg kinematics, limb mass distribution, actuator power, and elastic energy recovery as determinants of agile locomotion, and values for these five key elements are given. The transfer of the extracted principles to technological instantiations is analyzed in detail, considering the availability of current materials, structures and actuators. A real leg prototype has been developed following the biomimetic leg concept proposed. The actuation system is based on the hybrid use of series elasticity and magneto-rheological dampers which provides variable compliance for natural motion. From the experimental evaluation of this prototype, conclusions on the current technological barriers to achieve real functional legged robots to walk dynamically in agile locomotion are presented.

  5. On the Biomimetic Design of Agile-Robot Legs

    Directory of Open Access Journals (Sweden)

    Pablo Gonzalez-de-Santos

    2011-11-01

    Full Text Available The development of functional legged robots has encountered its limits in human-made actuation technology. This paper describes research on the biomimetic design of legs for agile quadrupeds. A biomimetic leg concept that extracts key principles from horse legs which are responsible for the agile and powerful locomotion of these animals is presented. The proposed biomimetic leg model defines the effective leg length, leg kinematics, limb mass distribution, actuator power, and elastic energy recovery as determinants of agile locomotion, and values for these five key elements are given. The transfer of the extracted principles to technological instantiations is analyzed in detail, considering the availability of current materials, structures and actuators. A real leg prototype has been developed following the biomimetic leg concept proposed. The actuation system is based on the hybrid use of series elasticity and magneto-rheological dampers which provides variable compliance for natural motion. From the experimental evaluation of this prototype, conclusions on the current technological barriers to achieve real functional legged robots to walk dynamically in agile locomotion are presented.

  6. On the Biomimetic Design of Agile-Robot Legs

    Science.gov (United States)

    Garcia, Elena; Arevalo, Juan Carlos; Muñoz, Gustavo; Gonzalez-de-Santos, Pablo

    2011-01-01

    The development of functional legged robots has encountered its limits in human-made actuation technology. This paper describes research on the biomimetic design of legs for agile quadrupeds. A biomimetic leg concept that extracts key principles from horse legs which are responsible for the agile and powerful locomotion of these animals is presented. The proposed biomimetic leg model defines the effective leg length, leg kinematics, limb mass distribution, actuator power, and elastic energy recovery as determinants of agile locomotion, and values for these five key elements are given. The transfer of the extracted principles to technological instantiations is analyzed in detail, considering the availability of current materials, structures and actuators. A real leg prototype has been developed following the biomimetic leg concept proposed. The actuation system is based on the hybrid use of series elasticity and magneto-rheological dampers which provides variable compliance for natural motion. From the experimental evaluation of this prototype, conclusions on the current technological barriers to achieve real functional legged robots to walk dynamically in agile locomotion are presented. PMID:22247667

  7. Leg Swelling

    Science.gov (United States)

    ... ed. New York, N.Y.: The McGraw Hill Companies; 2016. http://www.accessmedicine.com. Accessed Dec. 31, ... http://www.mayoclinic.org/symptoms/leg-swelling/basics/definition/SYM-20050910 . Mayo Clinic Footer Legal Conditions and ...

  8. Leg extension power is a pre-disaster modifiable risk factor for post-traumatic stress disorder among survivors of the Great East Japan Earthquake: a retrospective cohort study.

    Science.gov (United States)

    Momma, Haruki; Niu, Kaijun; Kobayashi, Yoritoshi; Huang, Cong; Otomo, Atsushi; Chujo, Masahiko; Tadaura, Hiroko; Nagatomi, Ryoichi

    2014-01-01

    Post-traumatic stress disorder (PTSD) is a common psychological problem following natural disasters. Although pre-disaster risk factors are important for early detection and proactive support, the examination of such has been limited to sociodemographic factors, which were largely unaffected by the disasters. We examined the association between pre-disaster physical functioning and lifestyle and PTSD symptoms five months after the earthquake in the Great East Japan Earthquake survivors who were participating in a pre-existing cohort study. We designed a retrospective cohort study of a cooperative association in Sendai from August 2010 to August 2011. In 2010, lifestyle, physical condition, and sociodemographic factors were examined by self-reported questionnaires completed by 522 employees of this organization. We also measured the leg extension power of all the participants. PTSD symptoms were evaluated by the Japanese version of the Impact of Event Scale-Revised (IES-R-J) following the earthquake of 2011. In multivariate linear regression analysis, leg extension power (β = -0.128, P = 0.025), daily drinking (β  = 0.203, P = 0.006), and depressive symptoms (β  = 0.139, P = 0.008) were associated with total score of the IES-R-J among men. Moreover, for the IES-R-J subscale, leg extension power was also negatively associated with Intrusion (β = -0.114, P = 0.045) and Hyperarousal (β = -0.163, P = 0.004) after adjusting for all other significant variables. For women, hypertension (β  = 0.226, P = 0.032) and depressive symptoms (β  = 0.205, P = 0.046) were associated with the total score of the IES-R-J. Leg extension power is a potentially modifiable pre-disaster risk factor among men for attenuating the severity of PTSD symptoms associated with great disasters such as the Great East Japan Earthquake among men.

  9. Leg extension power is a pre-disaster modifiable risk factor for post-traumatic stress disorder among survivors of the Great East Japan Earthquake: a retrospective cohort study.

    Directory of Open Access Journals (Sweden)

    Haruki Momma

    Full Text Available BACKGROUND: Post-traumatic stress disorder (PTSD is a common psychological problem following natural disasters. Although pre-disaster risk factors are important for early detection and proactive support, the examination of such has been limited to sociodemographic factors, which were largely unaffected by the disasters. We examined the association between pre-disaster physical functioning and lifestyle and PTSD symptoms five months after the earthquake in the Great East Japan Earthquake survivors who were participating in a pre-existing cohort study. METHODS: We designed a retrospective cohort study of a cooperative association in Sendai from August 2010 to August 2011. In 2010, lifestyle, physical condition, and sociodemographic factors were examined by self-reported questionnaires completed by 522 employees of this organization. We also measured the leg extension power of all the participants. PTSD symptoms were evaluated by the Japanese version of the Impact of Event Scale-Revised (IES-R-J following the earthquake of 2011. RESULTS: In multivariate linear regression analysis, leg extension power (β = -0.128, P = 0.025, daily drinking (β  = 0.203, P = 0.006, and depressive symptoms (β  = 0.139, P = 0.008 were associated with total score of the IES-R-J among men. Moreover, for the IES-R-J subscale, leg extension power was also negatively associated with Intrusion (β = -0.114, P = 0.045 and Hyperarousal (β = -0.163, P = 0.004 after adjusting for all other significant variables. For women, hypertension (β  = 0.226, P = 0.032 and depressive symptoms (β  = 0.205, P = 0.046 were associated with the total score of the IES-R-J. CONCLUSIONS: Leg extension power is a potentially modifiable pre-disaster risk factor among men for attenuating the severity of PTSD symptoms associated with great disasters such as the Great East Japan Earthquake among men.

  10. Broken Leg

    Science.gov (United States)

    ... the leg, which can result in a fracture. Stress fractures outside of sport situations are more common in people who have: ... shoes. Choose the appropriate shoe for your favorite sports or activities. And ... can prevent stress fractures. Rotate running with swimming or biking. If ...

  11. Night Leg Cramps

    Science.gov (United States)

    Symptoms Night leg cramps By Mayo Clinic Staff Night leg cramps, also called nocturnal leg cramps, are painful, involuntary contractions or spasms of muscles in your legs, usually occurring when you're in bed. Night ...

  12. Greater Hip Extension but Not Hip Abduction Explosive Strength Is Associated With Lesser Hip Adduction and Knee Valgus Motion During a Single-Leg Jump-Cut

    OpenAIRE

    Cronin, Baker; Johnson, Samuel T.; Chang, Eunwook; Pollard, Christine D.; Norcross, Marc F.

    2016-01-01

    Background: The relationships between hip abductor and extensor strength and frontal plane hip and knee motions that are associated with anterior cruciate ligament injury risk are equivocal. However, previous research on these relationships has evaluated relatively low-level movement tasks and peak torque rather than a time-critical strength measure such as the rate of torque development (RTD). Hypothesis: Females with greater hip abduction and extension RTD would exhibit lesser frontal plane...

  13. Electric-Pneumatic Actuator: A New Muscle for Locomotion

    Directory of Open Access Journals (Sweden)

    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.

  14. A small biomimetic quadruped robot driven by multistacked dielectric elastomer actuators

    International Nuclear Information System (INIS)

    Nguyen, Canh Toan; Phung, Hoa; Nguyen, Tien Dat; Lee, Choonghan; Kim, Uikyum; Lee, Donghyouk; Moon, Hyungpil; Koo, Jachoon; Choi, Hyouk Ryeol; Nam, Jae-do

    2014-01-01

    A kind of dielectric elastomer (DE) material, called ‘synthetic elastomer’, has been developed based on acrylonitrile butadiene rubber (NBR) to be used as a dielectric elastomer actuator (DEA). By stacking single layers of synthetic elastomer, a linear actuator, called a multistacked actuator, is produced, and used by mechatronic and robotic systems to generate linear motion. In this paper, we demonstrate the application of the multistacked dielectric elastomer actuator in a biomimetic legged robot. A miniature robot driven by a biomimetic actuation system with four 2-DOF (two-degree-of-freedom) legged mechanisms is realized. Based on the experimental results, we evaluate the performance of the proposed robot and validate the feasibility of the multistacked actuator in a locomotion system as a replacement for conventional actuators. (paper)

  15. Leg Injuries and Disorders

    Science.gov (United States)

    Your legs are made up of bones, blood vessels, muscles, and other connective tissue. They are important for motion ... falling, or having an accident can damage your legs. Common leg injuries include sprains and strains, joint ...

  16. Peripheral artery disease - legs

    Science.gov (United States)

    Peripheral vascular disease; PVD; PAD; Arteriosclerosis obliterans; Blockage of leg arteries; Claudication; Intermittent claudication; Vaso-occlusive disease of the legs; Arterial insufficiency of ...

  17. Extended DNA Tile Actuators

    DEFF Research Database (Denmark)

    Kristiansen, Martin; Kryger, Mille; Zhang, Zhao

    2012-01-01

    A dynamic linear DNA tile actuator is expanded to three new structures of higher complexity. The original DNA actuator was constructed from a central roller strand which hybridizes with two piston strands by forming two half-crossover junctions. A linear expansion of the actuator is obtained...... by fusing two actuators of different sequence designs with a third central roller strand. This structure spans 35 nm and its integrity was verified by PAGE analysis. Owing to sequence homology around the crossovers the actuator can obtain 12 different states. The states of the actuator are controlled...... by a lock strand inserted at one end of the actuator and monitored by Forster resonance energy transfer (FRET) spectroscopy between a fluorophore pair which is located at the other end of the actuator. Two other designs were made where the linear actuator monomer is expanded into two dimensions by forming...

  18. Smart Tendon Actuated Flexible Actuator

    Directory of Open Access Journals (Sweden)

    Md. Masum Billah

    2015-01-01

    Full Text Available We investigate the kinematic feasibility of a tendon-based flexible parallel platform actuator. Much of the research on tendon-driven Stewart platforms is devoted either to the completely restrained positioning mechanism (CRPM or to one particular type of the incompletely restrained positioning mechanism (IRPM where the external force is provided by the gravitational pull on the platform such as in cable-suspended Stewart platforms. An IRPM-based platform is proposed which uses the external force provided by a compliant member. The compliant central column allows the configuration to achieve n DOFs with n tendons. In particular, this investigation focuses on the angular deflection of the upper platform with respect to the lower platform. The application here is aimed at developing a linkable module that can be connected to one another so as to form a “snake robot” of sorts. Since locomotion takes precedence over positioning in this application, a 3-DOF Stewart platform is adopted. For an arbitrary angular displace of the end-effector, the corresponding length of each tendon can be determined through inverse kinematics. Mathematical singularities are investigated using the traditional analytical method of defining the Jacobian.

  19. Effective force application in guided leg extensions

    NARCIS (Netherlands)

    Doorenbosch, C.A.M.; Veeger, H. E J; van Zandwijk, J. P.; van Ingen Schenau, G. J.

    1996-01-01

    In guided movements, limb kinematics is determined by the object on which a force is applied (as in cycling). Consequently, the force direction may deviate from the effective direction. It is examined how effective force application is related to maximal power output. A recent study, where subjects

  20. Electromagnetic rotational actuation.

    Energy Technology Data Exchange (ETDEWEB)

    Hogan, Alexander Lee

    2010-08-01

    There are many applications that need a meso-scale rotational actuator. These applications have been left by the wayside because of the lack of actuation at this scale. Sandia National Laboratories has many unique fabrication technologies that could be used to create an electromagnetic actuator at this scale. There are also many designs to be explored. In this internship exploration of the designs and fabrications technologies to find an inexpensive design that can be used for prototyping the electromagnetic rotational actuator.

  1. Déficit bilateral nos movimentos de flexão e extensão de perna e flexão do cotovelo Déficit bilateral en los movimientos de flexion y extension de la pierna y flexion del codo Bilateral deficit in leg flexion and extension and elbow flexion movements

    Directory of Open Access Journals (Sweden)

    Christianne Pereira Giesbrecht Chaves

    2004-12-01

    áxima (CM en la flexión y extensión de pierna e flexión del de codo aisladamente y entre la suma de esos dos resultados con aquel desarrollado simultaneamente por las dos piernas y los dos brazos, respectivamente. Sometemos a 60 indivíduos al ejercicio de flexión y extensión de pierna y a flexión de codo a un test de 1RM. Los resultados para los movimientos de flexión y extensión de pierna y flexión de codo izquierdos y derechos en la CM fueron de 31,6 (± 7,9, 32,0 (± 8,0, 20,2 (± 9,2, 20,2 (± 9,8, 29,3 (± 13,9 e 29,8 (± 14,1 kg respectivamente, y se mostraron similares (p > 0,05 y fuertemente asociados (r = 0,96, 0,96 e 0,98. Comparando la suma de los valores unilaterales con los de ejecución bilateral, la CM presentó una diferencia significativa para los movimientos de extensión de pierna (p = 0,04 y flexión de codo (p = 0,03, el mismo no fué observado en el movimiento de flexión de pierna (p = 0,75. Este resultado puede ser explicado por el menor incremento de carga - dos kilos y medio en este último movimiento en relación a los dos movimientos anteriores - cinco kilos. A pesar de la mayoría de los sujetos sean diestros, no hubo diferencias unilaterales en la CM a pesar de no todos estar entrenados. La suma de los resultados unilaterales fué mayor en 9,8% y 4,0% para los movimientos de extensión de la pierna y flexión del codo, respectivamente, de aquel obtenido bilateralmente, mostrando, probablemente una limitación central en la coordenación motora de un movimiento complejo hecho en máxima velocidad y con carga elevada. Por otro lado, en el movimiento de flexión de pierna, la suma de los resultados unilaterales fué inferior a la bilateral (-0,6%, presentando un posible aprendizage del movimiento y adaptación al entrenamiento con pesos a partir de las doce semanas.Endurance exercises (EE may be performed unilaterally and bilaterally. The objective was to compare the maximum load (ML in leg flexion and extension and elbow flexion alone

  2. Analysis of Innovative Design of Energy Efficient Hydraulic Actuators

    OpenAIRE

    M Osman Abdalla

    2013-01-01

    Hydraulic cylinder actuators are used extensively in industrial, construction and agricultural works. The small sized outlet ports of the cylinders resist the flow of discharged oil; and as a result the piston motion is slowed down. This causes a lot of heat generation and energy loss within the actuators. The study investigates and analyzes the possibilities of reducing the hydraulic resistance and increasing efficiency of the hydraulic actuator. Conventional hydraulic cylinders are simulate...

  3. Multiscale modeling and topology optimization of poroelastic actuators

    DEFF Research Database (Denmark)

    Andreasen, Casper Schousboe; Sigmund, Ole

    2012-01-01

    This paper presents a method for design of optimized poroelastic materials which under internal pressurization turn into actuators for application in, for example, linear motors. The actuators are modeled in a two-scale fluid–structure interaction approach. The fluid saturated material...... microstructure is optimized using topology optimization in order to achieve a better macroscopic performance quantified by vertical or torsional deflections. Constraints are introduced to ensure a certain deflection/extension ratio of the actuator....

  4. Leg lengthening - slideshow

    Science.gov (United States)

    ... this page: //medlineplus.gov/ency/presentations/100127.htm Leg lengthening - series—Indications To use the sharing features ... with lengthening procedures are the bones of the leg, the tibia and the femur. Surgical treatment may ...

  5. Arterial bypass leg - slideshow

    Science.gov (United States)

    ... medlineplus.gov/ency/presentations/100155.htm Arterial bypass leg - series—Normal anatomy To use the sharing features ... Overview The arteries which supply blood to the leg originate from the aorta and iliac vessels. Review ...

  6. Leg lengthening and shortening

    Science.gov (United States)

    ... this page: //medlineplus.gov/ency/article/002965.htm Leg lengthening and shortening To use the sharing features on this page, please enable JavaScript. Leg lengthening and shortening are types of surgery to ...

  7. Foot, leg, and ankle swelling

    Science.gov (United States)

    Swelling of the ankles - feet - legs; Ankle swelling; Foot swelling; Leg swelling; Edema - peripheral; Peripheral edema ... Foot, leg, and ankle swelling is common when the person also: Is overweight Has a blood clot in the leg Is older Has ...

  8. Restless legs syndrome

    Directory of Open Access Journals (Sweden)

    Ovallath S

    2012-10-01

    Full Text Available Sujith Ovallath, P DeepaJames Parkinson's Movement Disorder Research Centre, Kannur Medical College, Kerala, IndiaBackground: Restless legs syndrome (RLS is a common sleep-related disorder characterized by abnormal sensation and an urge to move the lower limbs. Symptoms occur at rest in the evening or at night, and they are alleviated by moving the affected extremity or by walking. Although the exact etiopathogenesis of RLS remains elusive, the rapid improvement of symptoms with dopaminergic agents suggests that dopaminergic system dysfunction may be a basic mechanism. Dopaminergic agents are the best-studied agents, and are considered first-line treatment of RLS.Objective: To review the diagnostic criteria, clinical features, etiopathogenesis, and the treatment options of RLS.Methods: The suggestions are based on evidence from studies published in peer-reviewed journals, or upon a comprehensive review of the medical literature.Results/conclusion: Extensive data are available for proving the link between the dopaminergic system and RLS. A possible genetic link also has been studied extensively. Dopamine agonists, especially pramipexole and ropinirole, are particularly useful in the treatment of RLS. Pharmacological treatment should however be limited to those patients who suffer from clinically relevant RLS with impaired sleep quality or quality of life.Keywords: dopamine, levodopa, pramipexole

  9. Soft buckling actuators

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Dian; Whitesides, George M.

    2017-12-26

    A soft actuator is described, including: a rotation center having a center of mass; a plurality of bucklable, elastic structural components each comprising a wall defining an axis along its longest dimension, the wall connected to the rotation center in a way that the axis is offset from the center of mass in a predetermined direction; and a plurality of cells each disposed between two adjacent bucklable, elastic structural components and configured for connection with a fluid inflation or deflation source; wherein upon the deflation of the cell, the bucklable, elastic structural components are configured to buckle in the predetermined direction. A soft actuating device including a plurality of the soft actuators and methods of actuation using the soft actuator or soft actuating device disclosed herein are also described.

  10. Magnetic actuators and sensors

    CERN Document Server

    Brauer, John R

    2014-01-01

    An accessible, comprehensive guide on magnetic actuators and sensors, this fully updated second edition of Magnetic Actuators and Sensors includes the latest advances, numerous worked calculations, illustrations, and real-life applications. Covering magnetics, actuators, sensors, and systems, with updates of new technologies and techniques, this exemplary learning tool emphasizes computer-aided design techniques, especially magnetic finite element analysis, commonly used by today's engineers. Detailed calculations, numerous illustrations, and discussions of discrepancies make this text an inva

  11. Spherically Actuated Motor

    Science.gov (United States)

    Peeples, Steven

    2015-01-01

    A three degree of freedom (DOF) spherical actuator is proposed that will replace functions requiring three single DOF actuators in robotic manipulators providing space and weight savings while reducing the overall failure rate. Exploration satellites, Space Station payload manipulators, and rovers requiring pan, tilt, and rotate movements need an actuator for each function. Not only does each actuator introduce additional failure modes and require bulky mechanical gimbals, each contains many moving parts, decreasing mean time to failure. A conventional robotic manipulator is shown in figure 1. Spherical motors perform all three actuation functions, i.e., three DOF, with only one moving part. Given a standard three actuator system whose actuators have a given failure rate compared to a spherical motor with an equal failure rate, the three actuator system is three times as likely to fail over the latter. The Jet Propulsion Laboratory reliability studies of NASA robotic spacecraft have shown that mechanical hardware/mechanism failures are more frequent and more likely to significantly affect mission success than are electronic failures. Unfortunately, previously designed spherical motors have been unable to provide the performance needed by space missions. This inadequacy is also why they are unavailable commercially. An improved patentable spherically actuated motor (SAM) is proposed to provide the performance and versatility required by NASA missions.

  12. Soft Robotic Actuators

    Science.gov (United States)

    Godfrey, Juleon Taylor

    In this thesis a survey on soft robotic actuators is conducted. The actuators are classified into three main categories: Pneumatic Artificial Muscles (PAM), Electronic Electroactive Polymers (Electric EAP), and Ionic Electroactive Polymers (Ionic EAP). Soft robots can have many degrees and are more compliant than hard robots. This makes them suitable for applications that are difficult for hard robots. For each actuator background history, build materials, how they operate, and modeling are presented. Multiple actuators in each class are reviewed highlighting both their use and their mathematical formulation. In addition to the survey the McKibben actuator was chosen for fabrication and in-depth experimental analysis. Four McKibben actuators were fabricated using mesh sleeve, barbed hose fittings, and different elastic bladders. All were actuated using compressed air. Tensile tests were performed for each actuator to measure the tension force as air pressure increased from 20 to 100 psi in 10 psi increments. To account for material relaxation properties eleven trials for each actuator were run for 2-3 days. In conclusion, the smallest outer diameter elastic bladder was capable of producing the highest force due to the larger gap between the bladder and the sleeve.

  13. Sensors and actuators, Twente

    NARCIS (Netherlands)

    Bergveld, Piet

    1989-01-01

    This paper describes the organization and the research programme of the Sensor and Actuator (S&A) Research Unit of the University of Twente, Enschede, the Netherlands. It includes short descriptions of all present projects concerning: micromachined mechanical sensors and actuators, optical sensors,

  14. with piezoelectric actuators

    Indian Academy of Sciences (India)

    By using MATLAB and Microsoft Excel, the nonlinear hysteresis equation of path 2-1 for the considered piezoelectric actuators is simulated, the graph of this simulation is shown in figure 7 and the obtained equation is written on the graph. Since in the AFC loop it is required to have the inverse function of the actuator, again ...

  15. Venous leg ulcers.

    Science.gov (United States)

    Nelson, E Andrea; Adderley, Una

    2016-01-15

    Leg ulcers usually occur secondary to venous reflux or obstruction, but 20% of people with leg ulcers have arterial disease, with or without venous disorders. Between 1.5 and 3.0 in 1000 people have active leg ulcers. Prevalence increases with age to about 20 in 1000 people aged over 80 years. We conducted a systematic overview, aiming to answer the following clinical questions: What are the effects of treatments for venous leg ulcers? What are the effects of organisational interventions for venous leg ulcers? What are the effects of advice about self-help interventions in people receiving usual care for venous leg ulcers? What are the effects of interventions to prevent recurrence of venous leg ulcers? We searched: Medline, Embase, The Cochrane Library, and other important databases up to March 2014 (Clinical Evidence overviews are updated periodically; please check our website for the most up-to-date version of this overview). At this update, searching of electronic databases retrieved 116 studies. After deduplication and removal of conference abstracts, 63 records were screened for inclusion in the overview. Appraisal of titles and abstracts led to the exclusion of 43 studies and the further review of 20 full publications. Of the 20 full articles evaluated, four systematic reviews were updated and four RCTs were added at this update. We performed a GRADE evaluation for 23 PICO combinations. In this systematic overview, we categorised the efficacy for 13 interventions based on information about the effectiveness and safety of advice to elevate leg, advice to keep leg active, compression stockings for prevention of recurrence, compression bandages and stockings to treat venous leg ulcers, laser treatment (low level), leg ulcer clinics, pentoxifylline, skin grafting, superficial vein surgery for prevention of recurrence, superficial vein surgery to treat venous leg ulcers, therapeutic ultrasound, and topical negative pressure.

  16. Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

    Science.gov (United States)

    Liang, Conghui; Ceccarelli, Marco; Takeda, Yukio

    2012-12-01

    In this paper, operation analysis of a Chebyshev-Pantograph leg mechanism is presented for a single degree of freedom (DOF) biped robot. The proposed leg mechanism is composed of a Chebyshev four-bar linkage and a pantograph mechanism. In contrast to general fully actuated anthropomorphic leg mechanisms, the proposed leg mechanism has peculiar features like compactness, low-cost, and easy-operation. Kinematic equations of the proposed leg mechanism are formulated for a computer oriented simulation. Simulation results show the operation performance of the proposed leg mechanism with suitable characteristics. A parametric study has been carried out to evaluate the operation performance as function of design parameters. A prototype of a single DOF biped robot equipped with two proposed leg mechanisms has been built at LARM (Laboratory of Robotics and Mechatronics). Experimental test shows practical feasible walking ability of the prototype, as well as drawbacks are discussed for the mechanical design.

  17. Development and Physical Control Research on Prototype Artificial Leg

    Directory of Open Access Journals (Sweden)

    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.

  18. OMS engine shutoff valve and actuation system design and evaluation. [for space shuttles

    Science.gov (United States)

    Wichmann, H.

    1974-01-01

    Shutoff valve and actuation system concepts that are most suitable for the Orbital Maneuvering Systems engine application were determined. Emphasis was placed on the ten year and 100 mission life requirement, propellant and propellant residue compatibility and weight. It was found that poppet or ball valves utilizing electric or electropneumatic actuation were most applicable. Preliminary design layouts of a number of valve and actuation concepts were prepared and analyzed to make the optimum concept selection. Pneumatic actuation systems were required to feature their own pneumatic supply so that for the quad redundant valve, it was necessary to include two pneumatic supply systems, one for each of the series legs of the quad redundant package. The requirement for the pneumatic package placed heavy reliability, weight, and maintenance penalties upon electropneumatic actuation systems. The two valve and actuation systems concepts selected featured electric torque motor operation and a poppet as well as a ball valve concept with a retractable seal.

  19. Compact piezohydraulic actuation system

    Science.gov (United States)

    Nasser, Khalil; Leo, Donald J.; Cudney, Harley H.

    2000-06-01

    Design and analysis of a scalable piezohydraulic actuation system is presented. Efficiency analysis of frequency rectification demonstrates that hydraulic actuation transfers the maximum amount of work from the actuator to the load. The ratio of peak electrical power to average power delivered caries from 8 percent to 25 percent depending on the piezoelectric coupling coefficient, highlighting the need for efficient power electronics to minimize heat dissipation in the system and minimize volume. A lumped parameter system model demonstrates that fluid compliance is the limiting facto in the stiffness of a bidirectional actuator that does not require hydraulic accumulators or four-way valves. A benchtop experiment consisting of a piezoelectric shock actuator, pumping chamber, and a linear hydraulic cylinder is developed and tested to determine the effect of friction on the micron- level motion of the actuator. The effects of friction are minimized by applying a pneumatic precharge to the system and driving the actuator at its maximum voltage level. Friction is not deemed a limiting factor to the development of a piezohydraulic system with stroke outputs on the order of 100 micrometers per cycle.

  20. Lyden-af-Leg

    DEFF Research Database (Denmark)

    Toft, Herdis

    Præsentation af seniorforsker-projekt Lyden-af-Leg i et traderingsperspektiv og med indledende fokus på YouTube som traderings-platform.......Præsentation af seniorforsker-projekt Lyden-af-Leg i et traderingsperspektiv og med indledende fokus på YouTube som traderings-platform....

  1. Secondary hyperparathyroidism: Uncommon cause of a leg ulcer

    NARCIS (Netherlands)

    van Rijssen, L. B.; Brenninkmeijer, E. E. A.; Nieveen van Dijkum, E. J. M.

    2012-01-01

    Most leg ulcers are vascular based. Only if vascular therapy fails other causes are considered. We report the case of a female with incapacitating leg ulcers caused by a rare condition which was only diagnosed after failing treatment. PRESENTATION OF CASE: The female had an extensive previous

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

    OpenAIRE

    Jingtao Lei; Jianmin Zhu

    2017-01-01

    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 d...

  3. Design and Evaluation of the AIRGAIT Exoskeleton: Leg Orthosis Control for Assistive Gait Rehabilitation

    Directory of Open Access Journals (Sweden)

    Mohd Azuwan Mat Dzahir

    2013-01-01

    Full Text Available This paper introduces the body weight support gait training system known as the AIRGAIT exoskeleton and delves into the design and evaluation of its leg orthosis control algorithm. The implementation of the mono- and biarticular pneumatic muscle actuators (PMAs as the actuation system was initiated to generate more power and precisely control the leg orthosis. This research proposes a simple paradigm for controlling the mono- and bi-articular actuator movements cocontractively by introducing a cocontraction model. Three tests were performed. The first test involved control of the orthosis with monoarticular actuators alone without a subject (WO/S; the second involved control of the orthosis with mono- and bi-articular actuators tested WO/S; and the third test involved control of the orthosis with mono- and bi-articular actuators tested with a subject (W/S. Full body weight support (BWS was implemented in this study during the test W/S as the load supported by the orthosis was at its maximum capacity. This assessment will optimize the control system strategy so that the system operates to its full capacity. The results revealed that the proposed control strategy was able to co-contractively actuate the mono- and bi-articular actuators simultaneously and increase stiffness at both hip and knee joints.

  4. Design and simulation for a hydraulic actuated quadruped robot

    Energy Technology Data Exchange (ETDEWEB)

    Rong, Xuewen; Li, Yibin; Li, Bin [Shandong University, Jinan (China); Ruan, Jiuhong [Shandong Jiaotong University, Jinan (China)

    2012-04-15

    This paper describes the mechanical configuration of a quadruped robot firstly. Each of the four legs consists of three rotary joints. All joints of the robot are actuated by linear hydraulic servo cylinders. Then it deduces the forward and inverse kinematic equations for four legs with D-H transformation matrices. Furthermore, it gives a composite foot trajectory composed of cubic curve and straight line, which greatly reduces the velocity and acceleration fluctuations of the torso along forward and vertical directions. Finally, dynamics cosimulation is given with MSC.ADAMS and MATLAB. The results of co-simulation provide important guidance to mechanism design and parameters preference for the linear hydraulic servo cylinders.

  5. Magnetically Actuated Seal Project

    Data.gov (United States)

    National Aeronautics and Space Administration — FTT proposes development of a magnetically actuated dynamic seal. Dynamic seals are used throughout the turbopump in high-performance, pump-fed, liquid rocket...

  6. Magnetically Actuated Seal

    Science.gov (United States)

    Pinera, Alex

    2013-01-01

    This invention is a magnetically actuated seal in which either a single electromagnet, or multiple electromagnets, are used to control the seal's position. This system can either be an open/ close type of system or an actively controlled system.

  7. Novel Cryogenic Actuator Development

    Data.gov (United States)

    National Aeronautics and Space Administration —  The goal of this IRAD is to design, manufacture, and test actuator drive components coated with new novel materials that have exceptionally strong hardness and low...

  8. 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...

  9. Tendon Driven Finger Actuation System

    Science.gov (United States)

    Ihrke, Chris A. (Inventor); Reich, David M. (Inventor); Bridgwater, Lyndon (Inventor); Linn, Douglas Martin (Inventor); Askew, Scott R. (Inventor); Diftler, Myron A. (Inventor); Platt, Robert (Inventor); Hargrave, Brian (Inventor); Valvo, Michael C. (Inventor); Abdallah, Muhammad E. (Inventor); hide

    2013-01-01

    A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger.

  10. Automated stopcock actuator

    OpenAIRE

    Vandehey, N. T.; O\\'Neil, J. P.

    2015-01-01

    Introduction We have developed a low-cost stopcock valve actuator for radiochemistry automation built using a stepper motor and an Arduino, an open-source single-board microcontroller. The con-troller hardware can be programmed to run by serial communication or via two 5–24 V digital lines for simple integration into any automation control system. This valve actuator allows for automated use of a single, disposable stopcock, providing a number of advantages over stopcock manifold systems ...

  11. Soft actuators and soft actuating devices

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Dian; Whitesides, George M.

    2017-10-17

    A soft buckling linear actuator is described, including: a plurality of substantially parallel bucklable, elastic structural components each having its longest dimension along a first axis; and a plurality of secondary structural components each disposed between and bridging two adjacent bucklable, elastic structural components; wherein every two adjacent bucklable, elastic structural components and the secondary structural components in-between define a layer comprising a plurality of cells each capable of being connected with a fluid inflation or deflation source; the secondary structural components from two adjacent layers are not aligned along a second axis perpendicular to the first axis; and the secondary structural components are configured not to buckle, the bucklable, elastic structural components are configured to buckle along the second axis to generate a linear force, upon the inflation or deflation of the cells. Methods of actuation using the same are also described.

  12. Actuation of polypyrrole nanowires

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Alexander S; Peteu, Serban F; Ly, James V; Requicha, Aristides A G; Thompson, Mark E; Zhou Chongwu [Laboratory for Molecular Robotics, University of Southern California, Los Angeles, CA 90089 (United States)], E-mail: requicha@usc.edu

    2008-04-23

    Nanoscale actuators are essential components of the NEMS (nanoelectromechanical systems) and nanorobots of the future, and are expected to become a major area of development within nanotechnology. This paper demonstrates for the first time that individual polypyrrole (PPy) nanowires with diameters under 100 nm exhibit actuation behavior, and therefore can potentially be used for constructing nanoscale actuators. PPy is an electroactive polymer which can change volume on the basis of its oxidation state. PPy-based macroscale and microscale actuators have been demonstrated, but their nanoscale counterparts have not been realized until now. The research reported here answers positively the fundamental question of whether PPy wires still exhibit useful volume changes at the nanoscale. Nanowires with a 50 nm diameter and a length of approximately 6 {mu}m, are fabricated by chemical polymerization using track-etched polycarbonate membranes as templates. Their actuation response as a function of oxidation state is investigated by electrochemical AFM (atomic force microscopy). An estimate of the minimum actuation force is made, based on the displacement of the AFM cantilever.

  13. Design, testing and control of a magnetorheological actuator for assistive knee braces

    Science.gov (United States)

    Chen, J. Z.; Liao, W. H.

    2010-03-01

    This paper is aimed at developing a smart actuator for assistive knee braces to provide assistance to disabled or elderly people with mobility problems. A magnetorheological (MR) actuator is developed to be used in assistive knee braces to provide controllable torque. The MR actuator can work as a brake or a clutch. When active torque is needed, the DC motor works and the MR actuator functions as a clutch to transfer the torque generated by the motor to the leg; when passive torque is desired, the DC motor is turned off and the MR actuator functions as a brake to provide controllable passive torque. The prototype of the developed MR actuator is fabricated and experiments are carried out to investigate the characteristics of the MR actuator. The results show that the MR actuator is able to provide sufficient torque needed for normal human activities. Adaptive control is proposed for controlling the MR actuator. Anti-windup strategy is used to achieve better control performance. Experiments on the MR actuator under control are also performed to study the torque tracking ability of the system.

  14. Design, testing and control of a magnetorheological actuator for assistive knee braces

    International Nuclear Information System (INIS)

    Chen, J Z; Liao, W H

    2010-01-01

    This paper is aimed at developing a smart actuator for assistive knee braces to provide assistance to disabled or elderly people with mobility problems. A magnetorheological (MR) actuator is developed to be used in assistive knee braces to provide controllable torque. The MR actuator can work as a brake or a clutch. When active torque is needed, the DC motor works and the MR actuator functions as a clutch to transfer the torque generated by the motor to the leg; when passive torque is desired, the DC motor is turned off and the MR actuator functions as a brake to provide controllable passive torque. The prototype of the developed MR actuator is fabricated and experiments are carried out to investigate the characteristics of the MR actuator. The results show that the MR actuator is able to provide sufficient torque needed for normal human activities. Adaptive control is proposed for controlling the MR actuator. Anti-windup strategy is used to achieve better control performance. Experiments on the MR actuator under control are also performed to study the torque tracking ability of the system

  15. Analysis of Reconfigured Control Loop with a Virtual Actuator

    Directory of Open Access Journals (Sweden)

    Anna Filasova

    2011-01-01

    Full Text Available Control reconfiguration changes the control structure in response to a fault detected in the plant. This becomes necessary, because a major fault like loss of an actuator breaks the corresponding control loop and therefore renders the whole system inoperable.  An important aim of control reconfiguration is to change the control structure as little as possible, since every change bears the potential of practical problems. The proposed solution is to keep the original controller in the loop and to add an extension called virtual actuator that implements the necessary changes of the control structure. The virtual actuator translates between the signals of the nominal controller and the signal of the faulty plants. This paper is concerned with the analysis of reconfigured loop with a virtual actuator for the system with the faulty actuator. The proposed analysis is illustrated on numerical example.

  16. A legged anchoring mechanism for capsule endoscopes using micropatterned adhesives.

    Science.gov (United States)

    Glass, Paul; Cheung, Eugene; Sitti, Metin

    2008-12-01

    This paper presents a new concept for an anchoring mechanism to enhance existing capsule endoscopes. The mechanism consists of three actuated legs with compliant feet lined with micropillar adhesives to be pressed into the intestine wall to anchor the device at a fixed location. These adhesive systems are inspired by gecko and beetle foot hairs. Single-leg and full capsule mathematical models of the forces generated by the legs are analyzed to understand capsule performance. Empirical friction models for the interaction of the adhesives with an intestinal substrate were experimentally determined in vitro using dry and oil-coated elastomer micropillar arrays with 140 microm pillar diameter, 105 microm spacing between pillars, and an aspect ratio of 1:1 on fresh porcine small intestine specimens. Capsule prototypes were also tested in a simulated intestine environment and compared with predicted peristaltic loads to assess the viability of the proposed design. The experimental results showed that a deployed 10 gr capsule robot can withstand axial peristaltic loads and anchor reliably when actuation forces are greater than 0.27 N using dry micropillars. Required actuation forces may be reduced significantly by using micropillars coated with a thin silicone oil layer.

  17. RESTLESS LEGS SYNDROME

    Directory of Open Access Journals (Sweden)

    Dmitriy Valer'evich Artem'ev

    2009-01-01

    Full Text Available The paper describes the epidemiology, etiology, pathogenesis, clinical picture, diagnosis, differential diagnosis, and treatment of restless legs syndrome. Recommendations are given how to choose therapeutic modalities and drugs in relation to different factors.

  18. Restless legs syndrome.

    Science.gov (United States)

    Venkateshiah, Saiprakash B; Ioachimescu, Octavian C

    2015-07-01

    Restless legs syndrome is a common sensorimotor disorder characterized by an urge to move, and associated with uncomfortable sensations in the legs (limbs). Restless legs syndrome can lead to sleep-onset or sleep-maintenance insomnia, and occasionally excessive daytime sleepiness, all leading to significant morbidity. Brain iron deficiency and dopaminergic neurotransmission abnormalities play a central role in the pathogenesis of this disorder, along with other nondopaminergic systems, although the exact mechanisms are still. Intensive care unit patients are especially vulnerable to have unmasking or exacerbation of restless legs syndrome because of sleep deprivation, circadian rhythm disturbance, immobilization, iron deficiency, and use of multiple medications that can antagonize dopamine. Published by Elsevier Inc.

  19. Digital Actuator Technology

    Energy Technology Data Exchange (ETDEWEB)

    Ken Thomas; Ted Quinn; Jerry Mauck; Richard Bockhorst

    2014-09-01

    There are significant developments underway in new types of actuators for power plant active components. Many of these make use of digital technology to provide a wide array of benefits in performance of the actuators and in reduced burden to maintain them. These new product offerings have gained considerable acceptance in use in process plants. In addition, they have been used in conventional power generation very successfully. This technology has been proven to deliver the benefits promised and substantiate the claims of improved performance. The nuclear industry has been reluctant to incorporate digital actuator technology into nuclear plant designs due to concerns due to a number of concerns. These could be summarized as cost, regulatory uncertainty, and a certain comfort factor with legacy analog technology. The replacement opportunity for these types of components represents a decision point for whether to invest in more modern technology that would provide superior operational and maintenance benefits. Yet, the application of digital technology has been problematic for the nuclear industry, due to qualification and regulatory issues. With some notable exceptions, the result has been a continuing reluctance to undertake the risks and uncertainties of implementing digital actuator technology when replacement opportunities present themselves. Rather, utilities would typically prefer to accept the performance limitations of the legacy analog actuator technologies to avoid impacts to project costs and schedules. The purpose of this report is to demonstrate that the benefits of digital actuator technology can be significant in terms of plant performance and that it is worthwhile to address the barriers currently holding back the widespread development and use of this technology. It addresses two important objectives in pursuit of the beneficial use of digital actuator technology for nuclear power plants: 1. To demonstrate the benefits of digital actuator

  20. Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices

    Science.gov (United States)

    Agarwal, Gunjan; Besuchet, Nicolas; Audergon, Basile; Paik, Jamie

    2016-09-01

    Soft actuators made from elastomeric active materials can find widespread potential implementation in a variety of applications ranging from assistive wearable technologies targeted at biomedical rehabilitation or assistance with activities of daily living, bioinspired and biomimetic systems, to gripping and manipulating fragile objects, and adaptable locomotion. In this manuscript, we propose a novel two-component soft actuator design and design tool that produces actuators targeted towards these applications with enhanced mechanical performance and manufacturability. Our numerical models developed using the finite element method can predict the actuator behavior at large mechanical strains to allow efficient design iterations for system optimization. Based on two distinctive actuator prototypes’ (linear and bending actuators) experimental results that include free displacement and blocked-forces, we have validated the efficacy of the numerical models. The presented extensive investigation of mechanical performance for soft actuators with varying geometric parameters demonstrates the practical application of the design tool, and the robustness of the actuator hardware design, towards diverse soft robotic systems for a wide set of assistive wearable technologies, including replicating the motion of several parts of the human body.

  1. Micro-actuators; Microactionneurs

    Energy Technology Data Exchange (ETDEWEB)

    Ballandras, S.; Gagnepain, J.J. [Laboratoire de Physique et Metrologie des Oscillateurs du Centre National de la Recherche Scientifique (CNRS), 25 - Besancon (France); Froelicher, M. [Centre Technique de l`Industrie Horlogere, 25 - Besancon (France); Lepaul, G. [Laboratoire de Conception Systematique des Produits, Institut Polytechnique de Sevanans, 25 - Besancon (France); Minotti, P. [Laboratoire de Mecanique Appliquee, Universite de Franche-Comte,associe au CNRS, 25 - Besancon (France)

    1992-03-01

    The new mechanical technologies developed by the electronic industry has permitted the extreme miniaturization of mechanical devices which has led to the manufacturing of micro-actuators and micro-motors of a millimetric overall size but with internal elementary parts of micrometric size. The movement inside these systems uses different kind of forces: electrostatic, piezoelectric, magnetostrictive, superconductive etc.. The principal material used is the silicon which can fully integrate both the mechanical and electronic functions. The realization of a 2 or 3 dimensions structure requires a chemical or ionic machining and the use of composite materials with different combinations of silicon, nitrides, silica or poly-silicon for the anisotropic and selective removal of matter. The reduction of size changes the mechanical properties of materials and the response time and power required to obtain the motion. This chapter describes the main types of micro-actuators and their functioning principles: electrostatic motors (linear and rotative), piezoelectric motors (stationary waves and progressive waves motors, mode conversion and multi-modes motors, hybrid transducer motors), magnetostrictive and levitation actuators, electromagnetic motors (clock-type motors and electromagnetic actuators), thermal actuators (dilatation-type, thermodynamic motors, shape memory alloys-type). (J.S.) 90 refs.

  2. 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.

  3. Torsional Ratcheting Actuating System

    Energy Technology Data Exchange (ETDEWEB)

    BARNES,STEPHEN MATTHEW; MILLER,SAMUEL L.; RODGERS,M. STEVEN; BITSIE,FERNANDO

    2000-01-24

    A new type of surface micromachined ratcheting actuation system has been developed at the Microelectronics Development Laboratory at Sandia National Laboratories. The actuator uses a torsional electrostatic comb drive that is coupled to an external ring gear through a ratcheting scheme. The actuator can be operated with a single square wave, has minimal rubbing surfaces, maximizes comb finger density, and can be used for open-loop position control. The prototypes function as intended with a minimum demonstrated operating voltage of 18V. The equations of motion are developed for the torsional electrostatic comb drive. The resonant frequency, voltage vs. displacement and force delivery characteristics are predicted and compared with the fabricated device's performance.

  4. Actuator concepts and mechatronics

    Science.gov (United States)

    Gilbert, Michael G.; Horner, Garnett C.

    1998-06-01

    Mechatronic design implies the consideration of integrated mechanical, electrical, and local control characteristics in electromechanical device design. In this paper, mechatronic development of actuation device concepts for active aircraft aerodynamic flow control are presented and discussed. The devices are intended to be embedded in aircraft aerodynamic surfaces to provide zero-net-momentum jets or additional flow-vorticity to control boundary layers and flow- separation. Two synthetic jet device prototypes and one vorticity-on-demand prototype currently in development are described in the paper. The aspects of actuation materials, design approaches to generating jets and vorticity, and the integration of miniaturized electronics are stressed.

  5. Series Elastic Actuators.

    Science.gov (United States)

    1995-01-01

    7.2 Planetary rover 75 7.3 Biped Robot 76 8 Conclusions 77 8.1 Review of Thesis 77 8.2 Further Work 77 List of Figures 1-1 Schematic of...have only four degrees of freedom, and a simple gripper. 75 76 CHAPTER 7. APPLICATIONS Figure 7-1: Photograph of robot arm 7.3 Biped Robot ...Another group at MIT is building a biped walking robot using series elastic actuators. The design of the actuators differs in that instead of using a

  6. Development and testing of a magnetorheological actuator for an assistive knee brace

    Science.gov (United States)

    Chen, Jinzhou; Liao, Wei-Hsin

    2008-03-01

    This paper proposes an assistive knee brace that is aimed to provide assistance to old or disabled people. A magnetorheological (MR) actuator is developed to be used in assistive knee braces to provide controllable torque. The MR actuator consists of a DC motor and an MR brake/clutch. When active torque is needed, the DC motor works and the MR actuator functions as a clutch to transfer the torque generated by the motor to the leg; when passive torque is desired, the DC motor is turned off and the MR actuator functions as a brake to provide controllable passive torque. The prototype of this MR actuator is fabricated and experiments are carried out to investigate the characteristics of the MR actuator. The results show that the MR actuator is able to provide sufficient torque needed for normal human activities. Adaptive control is proposed for controlling the MR actuator. Experiments of the MR actuator under control are performed to study the torque tracking ability of the system.

  7. Venous leg ulcers.

    Science.gov (United States)

    Nelson, E Andrea

    2011-12-21

    Leg ulcers usually occur secondary to venous reflux or obstruction, but 20% of people with leg ulcers have arterial disease, with or without venous disorders. Between 1.5 and 3.0/1000 people have active leg ulcers. Prevalence increases with age to about 20/1000 in people aged over 80 years. We conducted a systematic review and aimed to answer the following clinical questions: What are the effects of standard treatments, adjuvant treatments, and organisational interventions for venous leg ulcers? What are the effects of advice about self-help interventions in people receiving usual care for venous leg ulcers? What are the effects of interventions to prevent recurrence of venous leg ulcers? We searched: Medline, Embase, The Cochrane Library, and other important databases up to June 2011 (Clinical Evidence reviews are updated periodically; please check our website for the most up-to-date version of this review). We included harms alerts from relevant organisations such as the US Food and Drug Administration (FDA) and the UK Medicines and Healthcare products Regulatory Agency (MHRA). We found 101 systematic reviews, RCTs, or observational studies that met our inclusion criteria. We performed a GRADE evaluation of the quality of evidence for interventions. In this systematic review we present information relating to the effectiveness and safety of the following interventions: compression bandages and stockings, cultured allogenic (single or bilayer) skin replacement, debriding agents, dressings (cellulose, collagen, film, foam, hyaluronic acid-derived, semi-occlusive alginate), hydrocolloid (occlusive) dressings in the presence of compression, intermittent pneumatic compression, intravenous prostaglandin E1, larval therapy, laser treatment (low-level), leg ulcer clinics, multilayer elastic system, multilayer elastomeric (or non-elastomeric) high-compression regimens or bandages, oral treatments (aspirin, flavonoids, pentoxifylline, rutosides, stanozolol, sulodexide

  8. Nonmagnetic driver for piezoelectric actuators

    DEFF Research Database (Denmark)

    Ekhtiari, Marzieh

    2014-01-01

    Piezoelectric actuator drive aims to enable reliable motor performance in strong magnetic fields for magnetic res- onance imaging and computed tomography treatment tables. There are technical limitations in operation of these motors and drive systems related to magnetic interference. Piezoelectric...... actuators. Therefore, piezoelectric transformer-based power converters are used for driving piezoelectric actuator drive motor in the presence of high electromagnetic field....

  9. Spring uses in exoskeleton actuation design.

    Science.gov (United States)

    Wang, Shiqian; van Dijk, Wietse; van der Kooij, Herman

    2011-01-01

    An exoskeleton has to be lightweight, compliant, yet powerful to fulfill the demanding task of walking. This imposes a great challenge for the actuator design. Electric motors, by far the most common actuator in robotic, orthotic, and prosthetic devices, cannot provide sufficiently high peak and average power and force/torque output, and they normally require high-ratio, heavy reducer to produce the speeds and high torques needed for human locomotion. Studies on the human muscle-tendon system have shown that muscles (including tendons and ligaments) function as a spring, and by storing energy and releasing it at a proper moment, locomotion becomes more energy efficient. Inspired by the muscle behavior, we propose a novel actuation strategy for exoskeleton design. In this paper, the collected gait data are analyzed to identify the spring property of the human muscle-tendon system. Theoretical optimization results show that adding parallel springs can reduce the peak torque by 66%, 53%, and 48% for hip flexion/extension (F/E), hip abduction/adduction (A/A), and ankle dorsi/plantar flexion (D/PF), respectively, and the rms power by 50%, 45%, and 61%, respectively. Adding a series spring (forming a Series Elastic Actuator, SEA) reduces the peak power by 79% for ankle D/PF, and by 60% for hip A/A. A SEA does not reduce the peak power demand at other joints. The optimization approach can be used for designing other wearable robots as well. © 2011 IEEE

  10. Bistable microelectromechanical actuator

    Science.gov (United States)

    Fleming, James G.

    1999-01-01

    A bistable microelectromechanical (MEM) actuator is formed on a substrate and includes a stressed membrane of generally rectangular shape that upon release assumes a curvilinear cross-sectional shape due to attachment at a midpoint to a resilient member and at opposing edges to a pair of elongate supports. The stressed membrane can be electrostatically switched between a pair of mechanical states having mirror-image symmetry, with the MEM actuator remaining in a quiescent state after a programming voltage is removed. The bistable MEM actuator according to various embodiments of the present invention can be used to form a nonvolatile memory element, an optical modulator (with a pair of mirrors supported above the membrane and moving in synchronism as the membrane is switched), a switchable mirror (with a single mirror supported above the membrane at the midpoint thereof) and a latching relay (with a pair of contacts that open and close as the membrane is switched). Arrays of bistable MEM actuators can be formed for applications including nonvolatile memories, optical displays and optical computing.

  11. A Magnetic Bead Actuator

    NARCIS (Netherlands)

    Derks, R.; Prins, M.W.J.; Wimberger-Friedl, R.

    2006-01-01

    Actuation principles of superparamagnetic beads applicable on biosensing (at single beads and chain orderning) are studied in this report. This research can be used to develop new techniques that are able to accelerate bio-assays. An experimental setup containing a sub-microliter fluid volume

  12. The Actuated Guitar

    DEFF Research Database (Denmark)

    Larsen, Jeppe Veirum; Overholt, Daniel; Moeslund, Thomas B.

    2013-01-01

    Playing a guitar is normally only for people with fully functional hands. In this work we investigate alternative interaction concepts to enable or re-enable people with non-functional right hands or arms to play a guitar via actuated strumming. The functionality and complexity of right hand inte...

  13. Thermally Actuated Hydraulic Pumps

    Science.gov (United States)

    Jones, Jack; Ross, Ronald; Chao, Yi

    2008-01-01

    Thermally actuated hydraulic pumps have been proposed for diverse applications in which direct electrical or mechanical actuation is undesirable and the relative slowness of thermal actuation can be tolerated. The proposed pumps would not contain any sliding (wearing) parts in their compressors and, hence, could have long operational lifetimes. The basic principle of a pump according to the proposal is to utilize the thermal expansion and contraction of a wax or other phase-change material in contact with a hydraulic fluid in a rigid chamber. Heating the chamber and its contents from below to above the melting temperature of the phase-change material would cause the material to expand significantly, thus causing a substantial increase in hydraulic pressure and/or a substantial displacement of hydraulic fluid out of the chamber. Similarly, cooling the chamber and its contents from above to below the melting temperature of the phase-change material would cause the material to contract significantly, thus causing a substantial decrease in hydraulic pressure and/or a substantial displacement of hydraulic fluid into the chamber. The displacement of the hydraulic fluid could be used to drive a piston. The figure illustrates a simple example of a hydraulic jack driven by a thermally actuated hydraulic pump. The pump chamber would be a cylinder containing encapsulated wax pellets and containing radial fins to facilitate transfer of heat to and from the wax. The plastic encapsulation would serve as an oil/wax barrier and the remaining interior space could be filled with hydraulic oil. A filter would retain the encapsulated wax particles in the pump chamber while allowing the hydraulic oil to flow into and out of the chamber. In one important class of potential applications, thermally actuated hydraulic pumps, exploiting vertical ocean temperature gradients for heating and cooling as needed, would be used to vary hydraulic pressures to control buoyancy in undersea research

  14. 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.

  15. Nonmagnetic driver for piezoelectric actuators

    DEFF Research Database (Denmark)

    Ekhtiari, Marzieh

    2014-01-01

    Piezoelectric actuator drive aims to enable reliable motor performance in strong magnetic fields for magnetic res- onance imaging and computed tomography treatment tables. There are technical limitations in operation of these motors and drive systems related to magnetic interference. Piezoelectric...... actuators. Therefore, piezoelectric transformer-based power converters are used for driving piezoelectric actuator drive motor in the presence of high electromagnetic field....... actuator drive is the only form-fit continuous drive solution currently available for the development of high performance nonmagnetic motors. In this research focus will be on the non magnetic compact high efficiency driver for the piezo actuators and on employing energy recovery from the capacitive...

  16. Recent Advances in the Control of Piezoelectric Actuators

    Directory of Open Access Journals (Sweden)

    Ziqiang Chi

    2014-11-01

    Full Text Available The micro/nano positioning field has made great progress towards enabling the advance of micro/nano technology. Micro/nano positioning stages actuated by piezoelectric actuators are the key devices in micro/nano manipulation. The control of piezoelectric actuators has emerged as a hot topic in recent years. Piezoelectric materials have inherent hysteresis and creep nonlinearity, which can reduce the accuracy of the manipulation, even causing the instability of the whole system. Remarkable efforts have been made to compensate for the nonlinearity of piezoelectric actuation through the mathematical modelling and control approaches. This paper provides a review of recent advances on the control of piezoelectric actuators. After a brief introduction of basic components of typical piezoelectric micro/nano positioning platforms, the working principle and modelling of piezoelectric actuators are outlined in this paper. This is followed with the major control method and recent progress is presented in detail. Finally, some open issues and future work on the control of piezoelectric actuators are extensively discussed.

  17. Dielectric Actuation of Polymers

    Science.gov (United States)

    Niu, Xiaofan

    Dielectric polymers are widely used in a plurality of applications, such as electrical insulation, dielectric capacitors, and electromechanical actuators. Dielectric polymers with large strain deformations under an electric field are named dielectric elastomers (DE), because of their relative low modulus, high elongation at break, and outstanding resilience. Dielectric elastomer actuators (DEA) are superior to traditional transducers as a muscle-like technology: large strains, high energy densities, high coupling efficiency, quiet operation, and light weight. One focus of this dissertation is on the design of DE materials with high performance and easy processing. UV radiation curing of reactive species is studied as a generic synthesis methodology to provide a platform for material scientists to customize their own DE materials. Oligomers/monomers, crosslinkers, and other additives are mixed and cured at appropriate ratios to control the stress-strain response, suppress electromechanical instability of the resulting polymers, and provide stable actuation strains larger than 100% and energy densities higher than 1 J/g. The processing is largely simplified in the new material system by removal of the prestretching step. Multilayer stack actuators with 11% linear strain are demonstrated in a procedure fully compatible with industrial production. A multifunctional DE derivative material, bistable electroactive polymer (BSEP), is invented enabling repeatable rigid-to-rigid deformation without bulky external structures. Bistable actuation allows the polymer actuator to have two distinct states that can support external load without device failure. Plasticizers are used to lower the glass transition temperature to 45 °C. Interpenetrating polymer network structure is established inside the BSEP to suppress electromechanical instability, providing a breakdown field of 194 MV/m and a stable bistable strain as large as 228% with a 97% strain fixity. The application of BSEP

  18. Mechanical Design of a Hybrid Leg Exoskeleton to Augment Load-Carrying for Walking

    Directory of Open Access Journals (Sweden)

    Yunjie Miao

    2013-11-01

    Full Text Available An innovative lower extremity exoskeleton, SJTU-EX, is demonstrated in Shanghai JiaoTong University, which mainly aims to help soldiers and workers to support a payload in motion. This paper summarizes the mechanical design of SJTU-EX. Each pseudo-anthropomorphic leg of SJTU-EX has four active joints and two passive joints, and the joint ranges are optimized in consideration of both safety factors and the realization of typical motions. Springs are applied in the leg to eliminate the effect of gravity. The results of dynamic simulations are used to determine the actuated joints and the passive joints. Novel Hy-Mo actuators are introduced for SJTU-EX and the layout of the actuator for Diamond Side 2 is described in detail as a design example.

  19. Numerical Simulations of Level-Ground Walking Based on Passive Walk for Planar Biped Robots with Torso by Hip Actuators

    Science.gov (United States)

    Narukawa, Terumasa; Takahashi, Masaki; Yoshida, Kazuo

    This study aims at a design technique of energy-efficient biped walking robots on level ground with simple mechanisms. To do this, we focus on the passive dynamic walkers which can walk stably down a shallow slope without actuators and controllers. On level ground, active walking should be studied because the mechanical energy is mainly lost through the swing-leg impacts with the ground. In this paper, numerical simulations show that planar biped robots with torso can walk efficiently on level ground over a wide range of speed by only using hip actuators. The hip actuators are used for a torso and swing-leg control based on passive-dynamic walking. The torso is used to generate active power replacing gravity used in the case of the passive walk. The swing-leg control is introduced to walk stably over a wide range of speed.

  20. Thermally actuated linkage arrangement

    International Nuclear Information System (INIS)

    Anderson, P.M.

    1981-01-01

    A reusable thermally actuated linkage arrangement includes a first link member having a longitudinal bore therein adapted to receive at least a portion of a second link member therein, the first and second members being sized to effect an interference fit preventing relative movement there-between at a temperature below a predetermined temperature. The link members have different coefficients of thermal expansion so that when the linkage is selectively heated by heating element to a temperature above the predetermined temperature, relative longitudinal and/or rotational movement between the first and second link members is enabled. Two embodiments of a thermally activated linkage are disclosed which find particular application in actuators for a grapple head positioning arm in a nuclear reactor fuel handling mechanism to facilitate back-up safety retraction of the grapple head independently from the primary fuel handling mechanism drive system. (author)

  1. Active Polymer Gel Actuators

    Directory of Open Access Journals (Sweden)

    Shuji Hashimoto

    2010-01-01

    Full Text Available Many kinds of stimuli-responsive polymer and gels have been developed and applied to biomimetic actuators or artificial muscles. Electroactive polymers that change shape when stimulated electrically seem to be particularly promising. In all cases, however, the mechanical motion is driven by external stimuli, for example, reversing the direction of electric field. On the other hand, many living organisms can generate an autonomous motion without external driving stimuli like self-beating of heart muscles. Here we show a novel biomimetic gel actuator that can walk spontaneously with a wormlike motion without switching of external stimuli. The self-oscillating motion is produced by dissipating chemical energy of oscillating reaction. Although the gel is completely composed of synthetic polymer, it shows autonomous motion as if it were alive.

  2. Mechanisms and actuators for rotorcraft blade morphing

    Science.gov (United States)

    Vocke, Robert D., III

    The idea of improved fight performance through changes in the control surfaces dates back to the advent of aviation with the Wright brothers' pioneering work on "wing warping," but it was not until the recent progress in material and actuator development that such control surfaces seemed practical for modern aircraft. This has opened the door to a new class of aircraft that have the ability to change shape or morph, which are being investigated due to the potential to have a single platform serve multiple mission objectives, as well as improve performance characteristics. While the majority of existing research for morphing aircraft has focused on fixedwing aircraft, rotary-wing aircraft have begun to receive more attention. The purpose of this body of work is to investigate the current state of morphing actuation technology for rotorcraft and improve upon it. Specifically, this work looks at two types of morphing: Pneumatic Artificial Muscle (PAM) actuated trailing edge flaps and conformal variable diameter morphing. First, active camber changes through the use of PAM powered trailing edge flaps were investigated due to the potential for reductions in power requirements and vibration/noise levels. A PAM based antagonistic actuation system was developed utilizing a novel combination of mechanism geometry and PAM bias contraction optimization to overcome the natural extension stiffening characteristics of PAMs. In open-loop bench-top testing against a "worst-case" constant torsional loading, the system demonstrated actuation authority suitable for both primary control and vibration/noise reduction. Additionally, closed-loop test data indicated that the system was capable of tracking complex waveforms consistent with those needed for rotorcraft control. This system demonstrated performance on-par with the state of the art pneumatic trailing edge flap actuators, yet with a much smaller footprint and impact on the rotor-blade. The second morphing system developed in

  3. Satellite Attitude Control Using Only Electromagnetic Actuation

    DEFF Research Database (Denmark)

    Wisniewski, Rafal

    was stated as a continuous function of the state. A control law for magnetic actuated satellite was proposed. Complete comprehension of the nature of the satellite control problem required a new approach merging the nonlinear control theory with physics of the rigid body motion and an extension of earlier......The primary purpose of this work was to develop control laws for three axis stabilization of a magnetic actuated satellite. This was achieved by a combination of linear and nonlinear system theory. In order to reach this goal new theoretical results were produced in both fields. The focus...... of the work was on the class of periodic systems reflecting orbital motion of the satellite. In addition to a theoretical treatment, the thesis contains a large portion of application considerations. The controllers developed were implemented for the Danish Ørsted satellite. The control concept considered...

  4. Introduction to actuator

    International Nuclear Information System (INIS)

    Sung, Rak Jin

    1988-01-01

    This book introduces solenoid as actuator, magnetic attraction of current, a magnetic field generated by coil, calculation of inductance, thinking way of magnetic energy, principle and application of DC motor, basic expression of DC motor, sorts and characteristics of DC motor, electric control of DC motor, exchange operation by electric control, action of free wheeling diodes, principle and characteristic induction motor electric control of induction motor, stepping motor and hysteresis motor and linear motor.

  5. Cylindrical Piezoelectric Fiber Composite Actuators

    Science.gov (United States)

    Allison, Sidney G.; Shams, Qamar A.; Fox, Robert L.

    2008-01-01

    The use of piezoelectric devices has become widespread since Pierre and Jacques Curie discovered the piezoelectric effect in 1880. Examples of current applications of piezoelectric devices include ultrasonic transducers, micro-positioning devices, buzzers, strain sensors, and clocks. The invention of such lightweight, relatively inexpensive piezoceramic-fiber-composite actuators as macro fiber composite (MFC) actuators has made it possible to obtain strains and displacements greater than those that could be generated by prior actuators based on monolithic piezoceramic sheet materials. MFC actuators are flat, flexible actuators designed for bonding to structures to apply or detect strains. Bonding multiple layers of MFC actuators together could increase force capability, but not strain or displacement capability. Cylindrical piezoelectric fiber composite (CPFC) actuators have been invented as alternatives to MFC actuators for applications in which greater forces and/or strains or displacements may be required. In essence, a CPFC actuator is an MFC or other piezoceramic fiber composite actuator fabricated in a cylindrical instead of its conventional flat shape. Cylindrical is used here in the general sense, encompassing shapes that can have circular, elliptical, rectangular or other cross-sectional shapes in the planes perpendicular to their longitudinal axes.

  6. Microelectromechanical (MEM) thermal actuator

    Science.gov (United States)

    Garcia, Ernest J [Albuquerque, NM; Fulcher, Clay W. G. [Sandia Park, NM

    2012-07-31

    Microelectromechanical (MEM) buckling beam thermal actuators are disclosed wherein the buckling direction of a beam is constrained to a desired direction of actuation, which can be in-plane or out-of-plane with respect to a support substrate. The actuators comprise as-fabricated, linear beams of uniform cross section supported above the substrate by supports which rigidly attach a beam to the substrate. The beams can be heated by methods including the passage of an electrical current through them. The buckling direction of an initially straight beam upon heating and expansion is controlled by incorporating one or more directional constraints attached to the substrate and proximal to the mid-point of the beam. In the event that the beam initially buckles in an undesired direction, deformation of the beam induced by contact with a directional constraint generates an opposing force to re-direct the buckling beam into the desired direction. The displacement and force generated by the movement of the buckling beam can be harnessed to perform useful work, such as closing contacts in an electrical switch.

  7. An Ultralightweight and Living Legged Robot.

    Science.gov (United States)

    Vo Doan, Tat Thang; Tan, Melvin Y W; Bui, Xuan Hien; Sato, Hirotaka

    2018-02-01

    In this study, we describe the most ultralightweight living legged robot to date that makes it a strong candidate for a search and rescue mission. The robot is a living beetle with a wireless electronic backpack stimulator mounted on its thorax. Inheriting from the living insect, the robot employs a compliant body made of soft actuators, rigid exoskeletons, and flexure hinges. Such structure would allow the robot to easily adapt to any complex terrain due to the benefit of soft interface, self-balance, and self-adaptation of the insect without any complex controller. The antenna stimulation enables the robot to perform not only left/right turning but also backward walking and even cessation of walking. We were also able to grade the turning and backward walking speeds by changing the stimulation frequency. The power required to drive the robot is low as the power consumption of the antenna stimulation is in the order of hundreds of microwatts. In contrast to the traditional legged robots, this robot is of low cost, easy to construct, simple to control, and has ultralow power consumption.

  8. ORTHOPEDIC LEG BRACE

    Science.gov (United States)

    Myers, William Neil (Inventor)

    2005-01-01

    Knee braces generally have been rigid in both the knee bending direction and in the knee straightening direction unless a manually operated release is incorporated in them to allow the knee to bend. Desirably a braced knee joint should effectively duplicate the compound, complex, actions of a normal knee. The key to knee braces is the knee joint housing. The housing herein carries a number of cam action pawls. with teeth adapted to engage the internal teeth of a ratchet ring mounted in the housing. Cam action return springs and the shape of the cam action pawl teeth allow rotation of the ratchet ring in a leg straightening direction while still supporting a load. The leg can then be extended during walking while at the same time being prevented by the cam action pawls from buckling in the knee bending direction.

  9. Self-Latching Piezocomposite Actuator

    Science.gov (United States)

    Wilkie, William K. (Inventor); Bryant, Robert G. (Inventor); Lynch, Christopher S. (Inventor)

    2017-01-01

    A self-latching piezocomposite actuator includes a plurality of shape memory ceramic fibers. The actuator can be latched by applying an electrical field to the shape memory ceramic fibers. The actuator remains in a latched state/shape after the electrical field is no longer present. A reverse polarity electric field may be applied to reset the actuator to its unlatched state/shape. Applied electric fields may be utilized to provide a plurality of latch states between the latched and unlatched states of the actuator. The self-latching piezocomposite actuator can be used for active/adaptive airfoils having variable camber, trim tabs, active/deformable engine inlets, adaptive or adjustable vortex generators, active optical components such as mirrors that change shapes, and other morphing structures.

  10. Hind wings in Basal birds and the evolution of leg feathers.

    Science.gov (United States)

    Zheng, Xiaoting; Zhou, Zhonghe; Wang, Xiaoli; Zhang, Fucheng; Zhang, Xiaomei; Wang, Yan; Wei, Guangjin; Wang, Shuo; Xu, Xing

    2013-03-15

    Recent discoveries of large leg feathers in some theropods have implications for our understanding of the evolution of integumentary features on the avialan leg, and particularly of their relevance for the origin of avialan flight. Here we report 11 basal avialan specimens that will greatly improve our knowledge of leg integumentary features among early birds. In particular, they provide solid evidence for the existence of enlarged leg feathers on a variety of basal birds, suggest that extensively scaled feet might have appeared secondarily at an early stage in ornithuromorph evolution, and demonstrate a distal-to-proximal reduction pattern for leg feathers in avialan evolution.

  11. Legāti

    OpenAIRE

    Segliņa, Aiga

    2010-01-01

    Autore teorētiski analizē legāta jēdzienu testamentārās mantošanas ietvaros un atspoguļo praktiska pētījuma rezultātus. Teorētiskā daļa apskata legāta nodibināšanas formu un spēkā esamību, tā iegūšanu un atraidīšanu, izpildi un zaudēšanu, novēlējuma robežas un aprobežojumus. Pētījums veikts aptaujas veidā ar mērķi noskaidrot, cik liela Latvijas iedzīvotāju daļa apzinās legāta nodrošinātās priekšrocības testamentārajā mantošanā. Apskatīts notāra neitralitātes jautājums attiecībā pret mantošana...

  12. A curved resonant flexoelectric actuator

    Science.gov (United States)

    Zhang, Shuwen; Liu, Kaiyuan; Xu, Minglong; Shen, Shengping

    2017-08-01

    Flexoelectricity is an electro-mechanical coupling effect that exists in all dielectrics and has the potential to replace piezoelectric actuating on the microscale. In this letter, a curved flexoelectric actuator with non-polarized polyvinylidene fluoride is presented and shown to exhibit good electro-mechanical properties. This provides experimental support for a body of theoretical research into converse flexoelectricity in polymeric materials. In addition, this work demonstrates the feasibility of lead-free microscale actuating without piezoelectricity.

  13. Stable walking with asymmetric legs

    International Nuclear Information System (INIS)

    Merker, Andreas; Rummel, Juergen; Seyfarth, Andre

    2011-01-01

    Asymmetric leg function is often an undesired side-effect in artificial legged systems and may reflect functional deficits or variations in the mechanical construction. It can also be found in legged locomotion in humans and animals such as after an accident or in specific gait patterns. So far, it is not clear to what extent differences in the leg function of contralateral limbs can be tolerated during walking or running. Here, we address this issue using a bipedal spring-mass model for simulating walking with compliant legs. With the help of the model, we show that considerable differences between contralateral legs can be tolerated and may even provide advantages to the robustness of the system dynamics. A better understanding of the mechanisms and potential benefits of asymmetric leg operation may help to guide the development of artificial limbs or the design novel therapeutic concepts and rehabilitation strategies.

  14. Actuator technology and market outlook: where does the actuator move

    Directory of Open Access Journals (Sweden)

    Aleksanin Sergei Andreevich

    2013-11-01

    There are made conclusions about the "migration" of demand from hydraulic and pneumatic solutions to electromechanical actuators in the aerospace and manufacturing industries. Identify advantages of electromechanics over more traditional actuators in terms of energy efficiency and reliability. Also identify the most promising areas of the drive technological development.

  15. 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.

  16. 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

  17. Robotic Arm Actuated by Electroactie Polymers

    Science.gov (United States)

    Bar-Cohen, Y.; Xue, T.; Shaninpoor, M.; Simpson, J. O.; Smith, J.

    1998-01-01

    Actuators are used for many planetary and space applications. To meet the NASA goal to reduce the actuators size, mass, cost and power consumption, electroactie polymers (EAP) are being developed to induce large bending and longitudinal actuation strains.

  18. Inflatable actuators: an attempt for a common approach based on Treloar’s rubber elasticity theory

    Science.gov (United States)

    Tondu, Bertrand

    2018-01-01

    Inflatable actuators are defined as pressure hyperelastic vessels whose expansion is constrained for generating either movements in extension, or typical contractile movements of artificial muscles. By using Treloar’s theory of rubber elasticity, applied to thin-walled pressure vessels, we propose to determine in which conditions they can be considered as stable open-loop positioning actuators. Antagonism can be viewed as an extension of this open-loop stability principle applicable to artificial muscles as to extensible actuators. We especially show its relevance for multiple chambers pressurized cylinders and how Treloar’s theory can help to model their bending in a readable and relevant formal way. We also try to justify why we think that antagonism applied to extensible actuators can actually appear as the best way for designing miniaturized multiple degrees of freedom rubber made microactuators if, however, only a limited power is required.

  19. Leg cramps and restless legs syndrome during pregnancy.

    Science.gov (United States)

    Hensley, Jennifer G

    2009-01-01

    Sleep disturbance during pregnancy can result in excessive daytime sleepiness, diminished daytime performance, inability to concentrate, irritability, and the potential for an increased length of labor and increased risk of operative birth. Sleep disturbance may be the result of a sleep disorder, such as leg cramps, a common yet benign disorder, or restless legs syndrome, a sensorimotor disorder. Both disrupt sleep, are distressing to the pregnant woman, and mimic one another and other serious disorders. During pregnancy, up to 30% of women can be affected by leg cramps, and up to 26% can be affected by restless legs syndrome.

  20. Apparatus, system, and method for providing fabric-elastomer composites as pneumatic actuators

    Energy Technology Data Exchange (ETDEWEB)

    Martinez, Ramses V.; Whitesides, George M.

    2017-10-25

    Soft pneumatic actuators based on composites consisting of elastomers with embedded sheet or fiber structures (e.g., paper or fabric) that are flexible but not extensible are described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twisting, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into three-dimensional structures following the principles of origami; these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while keeping them light in weight.

  1. [Swollen leg with blisters].

    Science.gov (United States)

    Rafeiner, Ph; Templeton, A J; Vonesch, H J

    2005-10-05

    We report the case of a 84-year-old woman suffering from strong pain in her right leg initially resembling thrombosis of deep veins. Eight hours after admission a superficial blister developed at the calf with following hemorrhagic aspect and spontanous eruption of clear yellowish fluid. Later on a new blister appeared at the thigh. The patient died 33 hours after admission of streptococcal toxic shock syndrome. The latter was based on a necrotizing fasciitis. Streptoccus pyogenes (group A) could be cultivated from the blood and fluid of the blister. We discuss the clinical presentation of necrotizing fasciitis with "pain out of proportion" as characteristic complaint and the appropriate management.

  2. Textiloma in the leg

    Directory of Open Access Journals (Sweden)

    Patel Amol

    2007-01-01

    Full Text Available Textiloma is defined as a tumor formed due to retained gauze. It is rarely reported in the musculoskeletal system. We are presenting a case with a soft tissue swelling over the lateral aspect of the lower third of the leg, come for implant removal of the distal tibia and fibular fracture. We removed the soft tissue mass enbloc thinking it to be a benign tumor. On cutting the mass on the operation table, a gauze piece encased by fibrous tissue was found. Textiloma can present as tumoral forms and can mimic as a pseudo-tumor.

  3. Electromagnetic actuation in MEMS switches

    DEFF Research Database (Denmark)

    Oliveira Hansen, Roana Melina de; Mátéfi-Tempfli, Mária; Chemnitz, Steffen

    . Electromagnetic actuation is a very promising approach to operate such MEMS and Power MEMS devices, due to the long range, reproducible and strong forces generated by this method, among other advantages. However, the use of electromagnetic actuation in such devices requires the use of thick magnetic films, which...

  4. Kinematics of an in-parallel actuated manipulator based on the Stewart platform mechanism

    Science.gov (United States)

    Williams, Robert L., II

    1992-01-01

    This paper presents kinematic equations and solutions for an in-parallel actuated robotic mechanism based on Stewart's platform. These equations are required for inverse position and resolved rate (inverse velocity) platform control. NASA LaRC has a Vehicle Emulator System (VES) platform designed by MIT which is based on Stewart's platform. The inverse position solution is straight-forward and computationally inexpensive. Given the desired position and orientation of the moving platform with respect to the base, the lengths of the prismatic leg actuators are calculated. The forward position solution is more complicated and theoretically has 16 solutions. The position and orientation of the moving platform with respect to the base is calculated given the leg actuator lengths. Two methods are pursued in this paper to solve this problem. The resolved rate (inverse velocity) solution is derived. Given the desired Cartesian velocity of the end-effector, the required leg actuator rates are calculated. The Newton-Raphson Jacobian matrix resulting from the second forward position kinematics solution is a modified inverse Jacobian matrix. Examples and simulations are given for the VES.

  5. Myonecrosis in the leg caused by Salmonella enteritidis

    DEFF Research Database (Denmark)

    Jørring, S; Kolmos, H J; Klareskov, B

    1994-01-01

    Five weeks after an episode of gastroenteritis, a 65-year-old diabetic male developed an extensive myonecrosis, with gas production in the left leg caused by Salmonella enteritidis. The patient was treated with surgical revision and antibiotics. To our knowledge, this is the first case of myonecr......Five weeks after an episode of gastroenteritis, a 65-year-old diabetic male developed an extensive myonecrosis, with gas production in the left leg caused by Salmonella enteritidis. The patient was treated with surgical revision and antibiotics. To our knowledge, this is the first case...

  6. Design of a biped robot actuated by pneumatic artificial muscles.

    Science.gov (United States)

    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.

  7. The effect of spinal manipulation on imbalances in leg strength.

    Science.gov (United States)

    Chilibeck, Philip D; Cornish, Stephen M; Schulte, Al; Jantz, Nathan; Magnus, Charlene R A; Schwanbeck, Shane; Juurlink, Bernhard H J

    2011-09-01

    We hypothesized that spinal manipulation (SM) would reduce strength imbalances between legs. Using an un-blinded randomized design, 28 males and 21 females (54 ± 19y) with at least a 15% difference in isometric strength between legs for hip flexion, extension, abduction, or knee flexion were randomized to treatment or placebo (mock spinal manipulation). Strength of the stronger and weaker legs for hip flexion, extension, abduction, and/or knee flexion was assessed before and after the intervention. SM reduced the relative strength difference between legs for knee flexion (mean ± SD 57 ± 53 to 5 ± 14%) and hip flexion (24 ± 12 to 11 ± 15%) compared to placebo (34 ± 29 to 24 ± 36%, and 20 ± 18 to 22 ± 26%, respectively) (p = 0.05). SM also improved strength in the weak leg for hip abduction (104 ± 43 to 116 ± 43 Nm) compared to placebo (84 ± 24 to 85 ± 31 Nm) (p = 0.03). This study suggests that spinal manipulation may reduce imbalances in strength between legs for knee and hip flexion.

  8. Emphysematous Pyelonephritis Presenting as Necrotizing Fasciitis of the Leg

    Directory of Open Access Journals (Sweden)

    Yu-Xiong Ye

    2009-03-01

    Full Text Available We report a 50-year-old man with poorly controlled diabetes mellitus who presented with a painful, swollen right leg. He had also experienced right flank pain for 1 week prior to admission. Physical examination was notable for tenderness over the right flank. The right leg was diffusely swollen and exquisitely tender to touch, with palpable crepitance. Laboratory tests revealed leukocytosis and pyuria. Computed tomography showed a right ureteral stone with hydronephrosis and characteristic findings of emphysematous pyelonephritis. Furthermore, a right perirenal gas-forming abscess with extension to the right leg was noted. The patient was successfully treated with antibiotic therapy, aggressive control of blood sugar, percutaneous drainage of the hydronephrosis and perirenal abscess, and aggressive debridement of the leg.

  9. T-Slide Linear Actuators

    Science.gov (United States)

    Vranish, John

    2009-01-01

    T-slide linear actuators use gear bearing differential epicyclical transmissions (GBDETs) to directly drive a linear rack, which, in turn, performs the actuation. Conventional systems use a rotary power source in conjunction with a nut and screw to provide linear motion. Non-back-drive properties of GBDETs make the new actuator more direct and simpler. Versions of this approach will serve as a long-stroke, ultra-precision, position actuator for NASA science instruments, and as a rugged, linear actuator for NASA deployment duties. The T slide can operate effectively in the presence of side forces and torques. Versions of the actuator can perform ultra-precision positioning. A basic T-slide actuator is a long-stroke, rack-and-pinion linear actuator that, typically, consists of a T-slide, several idlers, a transmission to drive the slide (powered by an electric motor) and a housing that holds the entire assembly. The actuator is driven by gear action on its top surface, and is guided and constrained by gear-bearing idlers on its other two parallel surfaces. The geometry, implemented with gear-bearing technology, is particularly effective. An electronic motor operating through a GBDET can directly drive the T slide against large loads, as a rack and pinion linear actuator, with no break and no danger of back driving. The actuator drives the slide into position and stops. The slide holes position with power off and no brake, regardless of load. With the T slide configuration, this GBDET has an entire T-gear surface on which to operate. The GB idlers coupling the other two T slide parallel surfaces to their housing counterpart surfaces provide constraints in five degrees-of-freedom and rolling friction in the direction of actuation. Multiple GB idlers provide roller bearing strength sufficient to support efficient, rolling friction movement, even in the presence of large, resisting forces. T-slide actuators can be controlled using the combination of an off

  10. Nuclear radiation actuated valve

    Science.gov (United States)

    Christiansen, David W.; Schively, Dixon P.

    1985-01-01

    A nuclear radiation actuated valve for a nuclear reactor. The valve has a valve first part (such as a valve rod with piston) and a valve second part (such as a valve tube surrounding the valve rod, with the valve tube having side slots surrounding the piston). Both valve parts have known nuclear radiation swelling characteristics. The valve's first part is positioned to receive nuclear radiation from the nuclear reactor's fuel region. The valve's second part is positioned so that its nuclear radiation induced swelling is different from that of the valve's first part. The valve's second part also is positioned so that the valve's first and second parts create a valve orifice which changes in size due to the different nuclear radiation caused swelling of the valve's first part compared to the valve's second part. The valve may be used in a nuclear reactor's core coolant system.

  11. Differentiating nocturnal leg cramps and restless legs syndrome.

    Science.gov (United States)

    Rana, Abdul Qayyum; Khan, Fatima; Mosabbir, Abdullah; Ondo, William

    2014-07-01

    Leg pain and discomfort are common complaints in any primary physician's clinic. Two common causes of pain or discomfort in legs are nocturnal leg cramps (NLC) and restless leg syndrome (RLS). NLC present as painful and sudden contractions mostly in part of the calf. Diagnosis of NLC is mainly clinical and sometimes involves investigations to rule out other mimics. RLS is a condition characterized by the discomfort or urge to move the lower limbs, which occurs at rest or in the evening/night. The similarity of RLS and leg cramps poses the issue of errors in diagnosing and differentiating the two. In this paper we review the pathopysiology of each entity and their diagnosis as well as treatment. The two conditions are then compared to appreciate the differences and similarities. Finally, suggestions are recommended for complete assessment.

  12. Klinefelter Syndrome With Leg Ulcers

    Directory of Open Access Journals (Sweden)

    Narendra G

    1999-01-01

    Full Text Available Leg ulcers are frequently caused by venous insufficiency, arterial insufficiency, neuropathy, or a combination of these factors. Klinefelter syndrome in association with chronic leg ulcers have been reported earlier. We report a case of Klinefelter syndrome with non- healing ulcer. The diagnosis of the Klinefelter syndrome was confirmed by karyotyping.

  13. Variable Valve Actuation

    Energy Technology Data Exchange (ETDEWEB)

    Jeffrey Gutterman; A. J. Lasley

    2008-08-31

    Many approaches exist to enable advanced mode, low temperature combustion systems for diesel engines - such as premixed charge compression ignition (PCCI), Homogeneous Charge Compression Ignition (HCCI) or other HCCI-like combustion modes. The fuel properties and the quantity, distribution and temperature profile of air, fuel and residual fraction in the cylinder can have a marked effect on the heat release rate and combustion phasing. Figure 1 shows that a systems approach is required for HCCI-like combustion. While the exact requirements remain unclear (and will vary depending on fuel, engine size and application), some form of substantially variable valve actuation is a likely element in such a system. Variable valve actuation, for both intake and exhaust valve events, is a potent tool for controlling the parameters that are critical to HCCI-like combustion and expanding its operational range. Additionally, VVA can be used to optimize the combustion process as well as exhaust temperatures and impact the after treatment system requirements and its associated cost. Delphi Corporation has major manufacturing and product development and applied R&D expertise in the valve train area. Historical R&D experience includes the development of fully variable electro-hydraulic valve train on research engines as well as several generations of mechanical VVA for gasoline systems. This experience has enabled us to evaluate various implementations and determine the strengths and weaknesses of each. While a fully variable electro-hydraulic valve train system might be the 'ideal' solution technically for maximum flexibility in the timing and control of the valve events, its complexity, associated costs, and high power consumption make its implementation on low cost high volume applications unlikely. Conversely, a simple mechanical system might be a low cost solution but not deliver the flexibility required for HCCI operation. After modeling more than 200 variations of

  14. Magnetically Actuated Seal, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — FTT proposes development of a magnetically actuated dynamic seal. Dynamic seals are used throughout the turbopump in high-performance, pump-fed, liquid rocket...

  15. Magnetically Actuated Seal, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — FTT proposes development of a magnetically actuated dynamic seal. Dynamic seals are used throughout the turbopump in high-performance, pump-fed, liquid rocket...

  16. Meso scale flextensional piezoelectric actuators

    Science.gov (United States)

    York, Peter A.; Jafferis, Noah T.; Wood, Robert J.

    2018-01-01

    We present an ultra-thin meso scale piezoelectric actuator consisting of a piezoceramic beam and a carbon fiber displacement-amplification frame. We show that the actuator can be designed to achieve a wide range of force/displacement characteristics on the mN/μm scales. The best performing design achieved a free displacement of 106 μm and a blocked force of 73 mN, yielding a total energy density of 0.51 {{Jkg}}-1 for the 7.6 mg system. We describe a printed circuit MEMS process for fabricating the actuator that incorporates laser micromachining, chemical vapor deposition, and precision carbon fiber lamination. Lastly, we report the incorporation of the actuator into a microgripper and describe other promising application opportunities in micro-optics and micro-laser systems.

  17. The leg stiffnesses animals use may improve the stability of locomotion.

    Science.gov (United States)

    Shen, ZhuoHua; Seipel, Justin

    2015-07-21

    Despite a wide diversity of running animals, their leg stiffness normalized by animal size and weight (a relative leg stiffness) resides in a narrow range between 7 and 27. Here we determine if the stability of locomotion could be a driving factor for the tight distribution of animal leg stiffness. We simulated an established physics-based model (the actuated Spring-Loaded Inverted Pendulum model) of animal running and found that, with the same energetic cost, perturbations to locomotion are optimally corrected when relative leg stiffness is within the biologically observed range. Here we show that the stability of locomotion, in combination with energetic cost, could be a significant factor influencing the nearly universally observed animal relative leg stiffness range. The energetic cost of locomotion has been widely acknowledged as influencing the evolution of physiology and locomotion behaviors. Specifically, its potential importance for relative leg stiffness has been demonstrated. Here, we demonstrate that stability of locomotion may also be a significant factor influencing relative leg stiffness. Published by Elsevier Ltd.

  18. Modeling and control of precision actuators

    CERN Document Server

    Kiong, Tan Kok

    2013-01-01

    IntroductionGrowing Interest in Precise ActuatorsTypes of Precise ActuatorsApplications of Precise ActuatorsNonlinear Dynamics and ModelingHysteresisCreepFrictionForce RipplesIdentification and Compensation of Preisach Hysteresis in Piezoelectric ActuatorsSVD-Based Identification and Compensation of Preisach HysteresisHigh-Bandwidth Identification and Compensation of Hysteretic Dynamics in Piezoelectric ActuatorsConcluding RemarksIdentification and Compensation of Frict

  19. 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

  20. Control of Adjustable Compliant Actuators

    Directory of Open Access Journals (Sweden)

    Berno J.E. Misgeld

    2014-05-01

    Full Text Available Adjustable compliance or variable stiffness actuators comprise an additional element to elastically decouple the actuator from the load and are increasingly applied to human-centered robotic systems. The advantages of such actuators are of paramount importance in rehabilitation robotics, where requirements demand safe interaction between the therapy system and the patient. Compliant actuator systems enable the minimization of large contact forces arising, for example, from muscular spasticity and have the ability to periodically store and release energy in cyclic movements. In order to overcome the loss of bandwidth introduced by the elastic element and to guarantee a higher range in force/torque generation, new actuator designs consider variable or nonlinear stiffness elements, respectively. These components cannot only be adapted to the walking speed or the patient condition, but also entail additional challenges for feedback control. This paper introduces a novel design method for an impedance-based controller that fulfills the control objectives and compares the performance and robustness to a classical cascaded control approach. The new procedure is developed using a non-standard positive-real Η2 controller design and is applied to a loop-shaping approach. Robust norm optimal controllers are designed with regard to the passivity of the actuator load-impedance transfer function and the servo control problem. Classical cascaded and positive-real Η2 controller designs are validated and compared in simulations and in a test bench using a passive elastic element of varying stiffness.

  1. Piezoelectric actuators for active optics

    Science.gov (United States)

    Le Letty, R.; Barillot, F.; Fabbro, H.; Guay, Ph.; Cadiergues, L.

    2017-11-01

    Piezoelectric actuators find their first applications in active space optics. The purpose of this paper is to describe the state of the art and some applications. Piezo actuators display attractive features for space applications, such as precise positioning, unlubricated, non magnetic and compact features, and low power consumption. However, piezo mechanisms cannot be considered separately from their driving and control electronic. Piezo actuators, such as Amplified Piezo Actuators or Parallel Pre-stressed Actuators, initially designed under CNES contracts, shall find their first space flight applications in optics on the PHARAO Laser bench: • fine pointing of the laser beams, • laser cavity tuning. Breadboard mechanisms based on piezo actuators have also been tested for refocusing purposes. Other applications includes the improvement of the CCD resolution through an oversampling technique, such as in the SOHO/LASCO instrument, fast optical shutter operation, optical filter in combination with a Fabry - Perot interferometer, such as in future LIDAR for earth observation. The first applications shall be described and an overview of the future potential applications shall be given.

  2. Explosive actuated valve

    International Nuclear Information System (INIS)

    Byrne, K.G.

    1983-01-01

    1. A device of the character described comprising the combination of a housing having an elongate bore and including a shoulder extending inwardly into said bore, a single elongate movable plunger disposed in said bore including an outwardly extending flange adjacent one end thereof overlying said shoulder, normally open conduit means having an inlet and an outlet perpendicularly piercing said housing intermediate said shoulder and said flange and including an intermediate portion intersecting and normally openly communicating with said bore at said shoulder, normally closed conduit means piercing said housing and intersecting said bore at a location spaced from said normally open conduit means, said elongate plunger including a shearing edge adjacent the other end thereof normally disposed intermediate both of said conduit means and overlying a portion of said normally closed conduit means, a deformable member carried by said plunger intermediate said flange and said shoulder and normally spaced from and overlying the intermediate portion of said normally open conduit means, and means on the housing communicating with the bore to retain an explosive actuator for moving said plunger to force the deformable member against the shoulder and extrude a portion of the deformable member out of said bore into portions of the normally open conduit means for plugging the same and to effect the opening of said normally closed conduit means by the plunger shearing edge substantially concomitantly with the plugging of the normally open conduit means

  3. Human-robot-interaction control for orthoses with pneumatic soft-actuators--concept and initial trails.

    Science.gov (United States)

    Baiden, David; Ivlev, Oleg

    2013-06-01

    The purpose of this paper is to present a concept of human-robot-interaction control for robots with compliant pneumatic soft-actuators which are directly attached to the human body. Backdrivability of this type of actuators is beneficial for comfort and safety and they are well suitable to design rehabilitation robots for training of activities of daily living (ADL). The concept is verified with an application example of sit-to-stand tasks taking conventional treatment in neurology as reference. The focus is on stroke patients with a target group suffering from hemiplegia and paralysis in one half of the body. A 2 DOF exoskeleton robot was used as testbed to implement the control concept for supporting rising based on a master-slave position control such that movements from the fit leg are transferred to the affected leg. Furthermore the wearer of the robot has the possibility to adjust support for stabilizing the knee joint manually. Preliminary results are presented.

  4. Restless legs syndrome: literature review

    Directory of Open Access Journals (Sweden)

    Emmanouil Symvoulakis

    Full Text Available Restless legs syndrome is a distressing condition, with negative effects on sleep and daytime activities that affect personal, family and occupational life. The overall impact of restless legs syndrome on quality of life is comparable to that of chronic and frustrating conditions such as depression and diabetes. Misdiagnosis and inappropriate treatment may increase patients' suffering in terms of uncertainty, overuse or misuse of care services and lack of trust. Presenting a synthesis of the main topics in the literature on restless legs syndrome facilitates for a better understanding and its management in primary care settings.

  5. Measurement of body fat using leg to leg bioimpedance

    OpenAIRE

    Sung, R; Lau, P; Yu, C; Lam, P; Nelson, E

    2001-01-01

    AIMS—(1) To validate a leg to leg bioimpedance analysis (BIA) device in the measurement of body composition in children by assessment of its agreement with dual energy x ray absorptiometry (DXA) and its repeatability. (2) To establish a reference range of percentage body fat in Hong Kong Chinese children.
METHODS—Sequential BIA and DXA methods were used to determine body composition in 49 children aged 7-18 years; agreement between the two methods was calculated. Repea...

  6. Reachability and Real-Time Actuation Strategies for the Active SLIP Model

    Science.gov (United States)

    2015-06-01

    spring leg, the Spring Loaded Inverted Pendulum (SLIP) is a prevalent model for analyzing running and hopping. In this work we consider an actuated...forced symmetry of the stance phase for the Spring-Loaded Inverted Pendulum , In Proceedings of the 2012 IEEE International Conference on Robotics and...Part of this work has been funded by the Defense Advanced Research Projects Agency (DARPA) as part of the Maximum Mobility and Manipulation (M3

  7. Leg-adjustment strategies for stable running in three dimensions

    International Nuclear Information System (INIS)

    Peuker, Frank; Maufroy, Christophe; Seyfarth, André

    2012-01-01

    The dynamics of the center of mass (CoM) in the sagittal plane in humans and animals during running is well described by the spring-loaded inverted pendulum (SLIP). With appropriate parameters, SLIP running patterns are stable, and these models can recover from perturbations without the need for corrective strategies, such as the application of additional forces. Rather, it is sufficient to adjust the leg to a fixed angle relative to the ground. In this work, we consider the extension of the SLIP to three dimensions (3D SLIP) and investigate feed-forward strategies for leg adjustment during the flight phase. As in the SLIP model, the leg is placed at a fixed angle. We extend the scope of possible reference axes from only fixed horizontal and vertical axes to include the CoM velocity vector as a movement-related reference, resulting in six leg-adjustment strategies. Only leg-adjustment strategies that include the CoM velocity vector produced stable running and large parameter domains of stability. The ability of the model to recover from perturbations along the direction of motion (directional stability) depended on the strategy for lateral leg adjustment. Specifically, asymptotic and neutral directional stability was observed for strategies based on the global reference axis and the velocity vector, respectively. Additional features of velocity-based leg adjustment are running at arbitrary low speed (kinetic energy) and the emergence of large domains of stable 3D running that are smoothly transferred to 2D SLIP stability and even to 1D SLIP hopping. One of the additional leg-adjustment strategies represented a large convex region of parameters where stable and robust hopping and running patterns exist. Therefore, this strategy is a promising candidate for implementation into engineering applications, such as robots, for instance. In a preliminary comparison, the model predictions were in good agreement with the experimental data, suggesting that the 3D SLIP is an

  8. Characterizing rapid-onset vasodilation to single muscle contractions in the human leg

    Science.gov (United States)

    Credeur, Daniel P.; Holwerda, Seth W.; Restaino, Robert M.; King, Phillip M.; Crutcher, Kiera L.; Laughlin, M. Harold; Padilla, Jaume

    2014-01-01

    Rapid-onset vasodilation (ROV) following single muscle contractions has been examined in the forearm of humans, but has not yet been characterized in the leg. Given known vascular differences between the arm and leg, we sought to characterize ROV following single muscle contractions in the leg. Sixteen healthy men performed random ordered single contractions at 5, 10, 20, 40, and 60% of their maximum voluntary contraction (MVC) using isometric knee extension made with the leg above and below heart level, and these were compared with single isometric contractions of the forearm (handgrip). Single thigh cuff compressions (300 mmHg) were utilized to estimate the mechanical contribution to leg ROV. Continuous blood flow was determined by duplex-Doppler ultrasound and blood pressure via finger photoplethysmography (Finometer). Single isometric knee extensor contractions produced intensity-dependent increases in peak leg vascular conductance that were significantly greater than the forearm in both the above- and below-heart level positions (e.g., above heart level: leg 20% MVC, +138 ± 28% vs. arm 20% MVC, +89 ± 17%; P leg. Collectively, these data demonstrate the presence of a rapid and robust vasodilation to single muscle contractions in the leg that is largely independent of mechanical factors, thus establishing the leg as a viable model to study ROV in humans. PMID:25539935

  9. Leg pain and gynecologic malignancy.

    Science.gov (United States)

    Singh, Lilly; Stevens, Erin E

    2013-09-01

    Gynecologic malignancies affect more than 83 000 women in the United States, each year. Because the disease involves the pelvis, many patients have side effects distal to this area in their lower extremities. The differential diagnosis of leg pain can be divided into vascular, neurologic, and musculoskeletal causes. In this review article, we address numerous etiologies of leg pain, reviewing the prevalence of disease, physical examination findings, diagnostic as well as treatment modalities.

  10. Compact, Pneumatically Actuated Filter Shuttle

    Science.gov (United States)

    Leighy, Bradley D.

    2003-01-01

    A compact, pneumatically actuated filter shuttle has been invented to enable alternating imaging of a wind-tunnel model in two different spectral bands characteristic of the pressure and temperature responses of a pressure and temperature-sensitive paint. This filter shuttle could also be used in other settings in which there are requirements for alternating imaging in two spectral bands. Pneumatic actuation was chosen because of a need to exert control remotely (that is, from outside the wind tunnel) and because the power leads that would be needed for electrical actuation would pose an unacceptable hazard in the wind tunnel. The entire shuttle mechanism and its housing can be built relatively inexpensively [camera used for viewing the wind-tunnel model. The mechanism includes a pneumatic actuator connected to a linkage. The linkage converts the actuator stroke to a scissor-like motion that places one filter in front of the camera and the other filter out of the way. Optoelectronic sensors detect tabs on the sliding panels for verification of the proper positioning of the filters.

  11. Restless legs syndrome (RLS) with expansion of symptoms to the face.

    Science.gov (United States)

    Buchfuhrer, Mark J

    2008-01-01

    It has been well established that restless legs syndrome (RLS) manifests with symptoms most frequently in the legs followed by the arms. Other body parts may be affected but it has been somewhat controversial as to whether symptoms may extend to the face. We are reporting two cases of RLS showing unusual extension of symptoms. These two patients presented with symptoms which extended to body parts beyond the legs, including to the face. The facial symptoms can be relieved by walking, massage or medication. It is important to be aware of unusual extension of symptoms either as progression of the disease or as manifestation of augmentation.

  12. Modeling and Simulation of Control Actuation System with Fuzzy-PID Logic Controlled Brushless Motor Drives for Missiles Glider Applications.

    Science.gov (United States)

    Muniraj, Murali; Arulmozhiyal, Ramaswamy

    2015-01-01

    A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system.

  13. Advancements in Actuated Musical Instruments

    DEFF Research Database (Denmark)

    Overholt, Daniel; Berdahl, Edgar; Hamilton, Robert

    2011-01-01

    This article presents recent developments in actuated musical instruments created by the authors, who also describe an ecosystemic model of actuated performance activities that blur traditional boundaries between the physical and virtual elements of musical interfaces. Actuated musical instruments...... in that they produce sound via vibrating element(s) that are co-manipulated by humans and electromechanical systems. We examine the possibilities that arise when such instruments are played in different performative environments and music-making scenarios, and we postulate that such designs may give rise to new...... methods of musical performance. The Haptic Drum, the Feedback Resonance Guitar, the Electromagnetically Prepared Piano, the Overtone Fiddle and Teleoperation with Robothands are described, along with musical examples and reflections on the emergent properties of the performance ecologies...

  14. Restless Legs Syndrome and Leg Motor Restlessness in Parkinson's Disease.

    Science.gov (United States)

    Suzuki, Keisuke; Miyamoto, Masayuki; Miyamoto, Tomoyuki; Hirata, Koichi

    2015-01-01

    Sleep disturbances are important nonmotor symptoms in Parkinson's disease (PD) that are associated with a negative impact on quality of life. Restless legs syndrome (RLS), which is characterized by an urge to move the legs accompanied by abnormal leg sensations, can coexist with PD, although the pathophysiology of these disorders appears to be different. RLS and PD both respond favorably to dopaminergic treatment, and several investigators have reported a significant relationship between RLS and PD. Sensory symptoms, pain, motor restlessness, akathisia, and the wearing-off phenomenon observed in PD should be differentiated from RLS. RLS in PD may be confounded by chronic dopaminergic treatment; thus, more studies are needed to investigate RLS in drug-naïve patients with PD. Recently, leg motor restlessness (LMR), which is characterized by an urge to move the legs that does not fulfill the diagnostic criteria for RLS, has been reported to be observed more frequently in de novo patients with PD than in age-matched healthy controls, suggesting that LMR may be a part of sensorimotor symptoms intrinsic to PD. In this paper, we provide an overview of RLS, LMR, and PD and of the relationships among these disorders.

  15. Magnetic Gearing Versus Conventional Gearing in Actuators for Aerospace Applications

    Science.gov (United States)

    Puchhammer, Gregor

    2014-01-01

    Magnetic geared actuators (MGA) are designed to perform highly reliable, robust and precise motion on satellite platforms or aerospace vehicles. The design allows MGA to be used for various tasks in space applications. In contrast to conventional geared drives, the contact and lubrication free force transmitting elements lead to a considerable lifetime and range extension of drive systems. This paper describes the fundamentals of magnetic wobbling gears (MWG) and the deduced inherent characteristics, and compares conventional and magnetic gearing.

  16. Leg 179 summary

    Digital Repository Service at National Institute of Oceanography (India)

    Pettigrew, T.J.; Casey, J.F.; Miller, D.J.; Araki, E.; Boissonnas, R.; Busby, R.; Einaudi, F.; Gerdom, M.; Guo, Z.P.; Hopkins, H.; Myers, G.; Rao, D.G.; Shibata, T.; Thy, P.

    on the east rim of the Atlantis II Fracture Zone, ~200 m northwest of Hole 735B (32°43.32′S, 57°15.85′E; Fig. F2). This site was selected based on a video survey beginning at Hole 735B, by which we sought to find a reasonably flat, large outcrop to initiate... of the system. A frequency analyzer for monitoring hammer operations was built and installed during the transit. After a 4-hr video survey starting at the Hole 735B guide base, we selected a location with extensive, relatively flat-appearing outcrop and set...

  17. Magnetic Actuation of Biological Systems

    Science.gov (United States)

    Lauback, Stephanie D.

    Central to the advancement of many biomedical and nanotechnology capabilities is the capacity to precisely control the motion of micro and nanostructures. These applications range from single molecule experiments to cell isolation and separation, to drug delivery and nanomachine manipulation. This dissertation focuses on actuation of biological micro- and nano-entities through the use of weak external magnetic fields, superparamagnetic beads, and ferromagnetic thin films. The magnetic platform presents an excellent method for actuation of biological systems due to its ability to directly control the motion of an array of micro and nanostructures in real-time with calibrated picoNewton forces. The energy landscape of two ferromagnetic thin film patterns (disks and zigzag wires) is experimentally explored and compared to corresponding theoretical models to quantify the applied forces and trajectories of superparamagnetic beads due to the magnetic traps. A magnetic method to directly actuate DNA nanomachines in real-time with nanometer resolution and sub-second response times using micromagnetic control was implemented through the use of stiff DNA micro-levers which bridged the large length scale mismatch between the micro-actuator and the nanomachine. Compared to current alternative methods which are limited in the actuation speeds and the number of reconfiguration states of DNA constructs, this magnetic approach enables fast actuation (˜ milliseconds) and reconfigurable conformations achieved through a continuous range of finely tuned steps. The system was initially tested through actuation of the stiff arm tethered to the surface, and two prototype DNA nanomachines (rotor and hinge) were successfully actuated using the stiff mechanical lever. These results open new possibilities in the development of functional robotic systems at the molecular scale. In exploiting the use of DNA stiff levers, a new technique was also developed to investigate the emergence of the

  18. Propellant-powered actuator for gas generators

    Science.gov (United States)

    Makowski, M. J.

    1972-01-01

    Hydrazine operated monopropellant generators are used for spacecraft rocket engines and propellant pressurization systems. Measured work output of monopropellant actuators compares favorably with output of squib-type actuators.

  19. Modular Actuators for Space Applications, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Rocketstar Robotics is proposing the development of a modern dual drive actuator. Rocketstar has put together numerous modern concepts for modular actuators that...

  20. Bio-inspired swing leg control for spring-mass robots running on ground with unexpected height disturbance.

    Science.gov (United States)

    Vejdani, H R; Blum, Y; Daley, M A; Hurst, J W

    2013-12-01

    We proposed three swing leg control policies for spring-mass running robots, inspired by experimental data from our recent collaborative work on ground running birds. Previous investigations suggest that animals may prioritize injury avoidance and/or efficiency as their objective function during running rather than maintaining limit-cycle stability. Therefore, in this study we targeted structural capacity (maximum leg force to avoid damage) and efficiency as the main goals for our control policies, since these objective functions are crucial to reduce motor size and structure weight. Each proposed policy controls the leg angle as a function of time during flight phase such that its objective function during the subsequent stance phase is regulated. The three objective functions that are regulated in the control policies are (i) the leg peak force, (ii) the axial impulse, and (iii) the leg actuator work. It should be noted that each control policy regulates one single objective function. Surprisingly, all three swing leg control policies result in nearly identical subsequent stance phase dynamics. This implies that the implementation of any of the proposed control policies would satisfy both goals (damage avoidance and efficiency) at once. Furthermore, all three control policies require a surprisingly simple leg angle adjustment: leg retraction with constant angular acceleration.

  1. Restless legs syndrome and periodic leg movements of sleep.

    Science.gov (United States)

    Rye, David B; Trotti, Lynn Marie

    2012-11-01

    Women are more commonly affected than men by restless legs syndrome, and prevalence is highest amongst those of northern European heritage. The motor manifestations include nonvolitional myoclonus (periodic leg movements). Disinhibition of spinal sensorimotor circuits may underlie these primary features and can be affected by peripheral as well as supraspinal networks. Insufficient mobilizable iron stores increase expressivity in some individuals. The sensorimotor features are relieved by dopamine, especially dopamine agonists, gabapentin and its derivatives, and opioids. A diagnosis relies on recognition of key primary and supportive features, and treatments are generally well tolerated, efficacious, and life-changing. Copyright © 2012 Elsevier Inc. All rights reserved.

  2. Experimental identification of piezo actuator characteristic

    Directory of Open Access Journals (Sweden)

    Ľ. Miková

    2015-01-01

    Full Text Available This paper deals with piezoelectric material, which can be used as actuator for conversion of electrical energy to mechanical work. Test equipment has been developed for experimental testing of the piezoactuators. Piezoactivity of this actuator has non-linear characteristic. This type of actuator is used for in-pipe mechanism design.

  3. Carbon nanotube-polymer composite actuators

    Science.gov (United States)

    Gennett, Thomas [Denver, CO; Raffaelle, Ryne P [Honeoye Falls, NY; Landi, Brian J [Rochester, NY; Heben, Michael J [Denver, CO

    2008-04-22

    The present invention discloses a carbon nanotube (SWNT)-polymer composite actuator and method to make such actuator. A series of uniform composites was prepared by dispersing purified single wall nanotubes with varying weight percents into a polymer matrix, followed by solution casting. The resulting nanotube-polymer composite was then successfully used to form a nanotube polymer actuator.

  4. Design of a piezoelectric rotation actuator

    NARCIS (Netherlands)

    Holterman, J.; de Vries, Theodorus J.A.; Babakhani, B.; Brouwer, Dannis Michel

    2012-01-01

    In order to facilitate active damping within a linear motion system, a self-sensing piezoelectric rotation actuator has been designed. The rotation actuator consists of two piezoelectric stacks that function as linear actuators, embedded in a mechanical interface with several elastic elements, thus

  5. A Millimetre-Sized Robot Realized by a Piezoelectric Impact-Type Rotary Actuator and a Hardware Neuron Model

    Directory of Open Access Journals (Sweden)

    Minami Takato

    2014-07-01

    Full Text Available Micro-robotic systems are increasingly used in medicine and other fields requiring precision engineering. This paper proposes a piezoelectric impact-type rotary actuator and applies it to a millimetre-size robot controlled by a hardware neuron model. The rotary actuator and robot are fabricated by micro-electro-mechanical systems (MEMS technology. The actuator is composed of multilayer piezoelectric elements. The rotational motion of the rotor is generated by the impact head attached to the piezoelectric element. The millimetre-size robot is fitted with six legs, three on either side of the developed actuator, and can walk on uneven surfaces like an insect. The three leg parts on each side are connected by a linking mechanism. The control system is a hardware neuron model constructed from analogue electronic circuits that mimic the behaviour of biological neurons. The output signal ports of the controller are connected to the multilayer piezoelectric element. This robot system requires no specialized software programs or A/D converters. The rotation speed of the rotary actuator reaches 60 rpm at an applied neuron frequency of 25 kHz during the walking motion. The width, length and height of the robot are 4.0, 4.6 and 3.6 mm, respectively. The motion speed is 180 mm/min.

  6. Optothermally actuated capillary burst valve

    DEFF Research Database (Denmark)

    Eriksen, Johan; Bilenberg, Brian; Kristensen, Anders

    2017-01-01

    We demonstrate the optothermal actuation of individual capillary burst valves in an all-polymer microfluidic device. The capillary burst valves are realised in a planar design by introducing a fluidic constriction in a microfluidic channel of constant depth. We show that a capillary burst valve can...

  7. Multilayer Piezoelectric Stack Actuator Characterization

    Science.gov (United States)

    Sherrit, Stewart; Jones, Christopher M.; Aldrich, Jack B.; Blodget, Chad; Bao, Xioaqi; Badescu, Mircea; Bar-Cohen, Yoseph

    2008-01-01

    Future NASA missions are increasingly seeking to use actuators for precision positioning to accuracies of the order of fractions of a nanometer. For this purpose, multilayer piezoelectric stacks are being considered as actuators for driving these precision mechanisms. In this study, sets of commercial PZT stacks were tested in various AC and DC conditions at both nominal and extreme temperatures and voltages. AC signal testing included impedance, capacitance and dielectric loss factor of each actuator as a function of the small-signal driving sinusoidal frequency, and the ambient temperature. DC signal testing includes leakage current and displacement as a function of the applied DC voltage. The applied DC voltage was increased to over eight times the manufacturers' specifications to investigate the correlation between leakage current and breakdown voltage. Resonance characterization as a function of temperature was done over a temperature range of -180C to +200C which generally exceeded the manufacturers' specifications. In order to study the lifetime performance of these stacks, five actuators from one manufacturer were driven by a 60volt, 2 kHz sine-wave for ten billion cycles. The tests were performed using a Lab-View controlled automated data acquisition system that monitored the waveform of the stack electrical current and voltage. The measurements included the displacement, impedance, capacitance and leakage current and the analysis of the experimental results will be presented.

  8. Flexible printed circuit board actuators

    Science.gov (United States)

    Lee, Junseok; Cha, Youngsu

    2017-12-01

    Out-of-plane actuators are made possible by the breaking of planar symmetry. In this paper, we present a thin-film out-of-plane electrostatic actuator for a flexible printed circuit board (FPCB) that can be fabricated with a single step of the conventional manufacturing process. No other components are required for actuation except a single sheet of the FPCB, and it works based on the planar asymmetry resulting from asymmetrically patterned top and bottom electrodes on each side of the polyimide film. With the structural asymmetry, the application of a high voltage in the order of kilovolts results in the asymmetry of the electric fields and the body force density, which generates the bending moment that leads to macroscopic deformations. We applied the finite element method to examine the asymmetry induced by the difference in the electrodes. In the experiment, the displacement responses to step input and square wave input of various frequencies were analyzed. It was found that our actuator constitutes an underdamped system, exhibiting resonance characteristics. The maximum oscillatory amplitude was determined at resonance, and the relationship between the displacement and the applied voltage was investigated.

  9. Actuator System with Dual Chambers

    DEFF Research Database (Denmark)

    2015-01-01

    The present invention relates to an actuator system with a magnetic lead screw (50), comprises a magnetic rotor (5) and a translator cylinder (2), the translator cylinder (2) comprises a magnetic stator (16), the translator cylinder (2) has a closed first end (14) and a second end confined by a l...

  10. Compliant actuation of rehabilitation robots

    NARCIS (Netherlands)

    Vallery, Heike; Veneman, J.F.; van Asseldonk, Edwin H.F.; Ekkelenkamp, R.; Buss, Martin; van der Kooij, Herman

    2008-01-01

    This article discusses the pros and cons of compliant actuation for rehabilitation robots on the example of LOPES, focusing on the cons. After illustrating the bandwidth limitations, a new result has been derived: if stability in terms of passivity of the haptic device is desired, the renderable

  11. Polypyrrole Actuators for Tremor Suppression

    DEFF Research Database (Denmark)

    Skaarup, Steen; Mogensen, Naja; Bay, Lasse

    2003-01-01

    enter the polymer in a slower process driven by osmotic pressure. Earlier work has tended to focus on achieving the maximum length change, therefore taking the time needed to include all processes. However, since the slower process described above is associated with the lowest strength of the actuator...

  12. Promethus Hot Leg Piping Concept

    International Nuclear Information System (INIS)

    AM Girbik; PA Dilorenzo

    2006-01-01

    The Naval Reactors Prime Contractor Team (NRPCT) recommended the development of a gas cooled reactor directly coupled to a Brayton energy conversion system as the Space Nuclear Power Plant (SNPP) for NASA's Project Prometheus. The section of piping between the reactor outlet and turbine inlet, designated as the hot leg piping, required unique design features to allow the use of a nickel superalloy rather than a refractory metal as the pressure boundary. The NRPCT evaluated a variety of hot leg piping concepts for performance relative to SNPP system parameters, manufacturability, material considerations, and comparison to past high temperature gas reactor (HTGR) practice. Manufacturability challenges and the impact of pressure drop and turbine entrance temperature reduction on cycle efficiency were discriminators between the piping concepts. This paper summarizes the NRPCT hot leg piping evaluation, presents the concept recommended, and summarizes developmental issues for the recommended concept

  13. Leg ulcers due to hyperhomocysteinemia

    Directory of Open Access Journals (Sweden)

    Krupa Shankar D

    2006-01-01

    Full Text Available Chronic leg ulcers are rare in young adults and generally indicate a vascular cause. We report a case of a 26-year-old man with leg ulcers of eight months duration. Doppler study indicated venous incompetence and a postphlebitic limb. However, as the distribution and number of ulcers was not consistent with stasis alone and no features of collagen vascular disease were noted, a hyperviscosity state was considered and confirmed with significantly elevated homocysteine level in the serum. Administration of vitamins B1, B2, B6 and B12, trimethyl-glycine, mecobalamine, folic acid and povidone iodine dressings with culture-directed antibiotic therapy led to a satisfactory healing of ulcers over a period of one month. Hyperhomocysteinemia must be considered in the differential diagnosis of leg ulcers in young individuals.

  14. The development and evaluation of a program for leg-strengthening exercises and balance assessment using Kinect

    OpenAIRE

    Choi, Jin-Seung; Kang, Dong-Won; Seo, Jeong-Woo; Kim, Dae-Hyeok; Yang, Seung-Tae; Tack, Gye-Rae

    2016-01-01

    [Purpose] In this study, a program was developed for leg-strengthening exercises and balance assessment using Microsoft Kinect. [Subjects and Methods] The program consists of three leg-strengthening exercises (knee flexion, hip flexion, and hip extension) and the one-leg standing test (OLST). The program recognizes the correct exercise posture by comparison with the range of motion of the hip and knee joints and provides a number of correct action examples to improve training. The program mea...

  15. Cross-legged Gods and One-legged Foresters

    NARCIS (Netherlands)

    Petrovskaia, N.I.

    The present article is a re-evaluation of a marvellous element in a medieval Welsh romance, Chwedl Iarlles y Ffynnawn ‘Tale of the Lady of the Fountain’, also known as Owein. One of the characters encountered by the hero is a one-eyed one-legged dark giant forester who appears to have a particular

  16. A bidirectional shape memory alloy folding actuator

    International Nuclear Information System (INIS)

    Paik, Jamie K; Wood, Robert J

    2012-01-01

    This paper presents a low-profile bidirectional folding actuator based on annealed shape memory alloy sheets applicable for meso- and microscale systems. Despite the advantages of shape memory alloys—high strain, silent operation, and mechanical simplicity—their application is often limited to unidirectional operation. We present a bidirectional folding actuator that produces two opposing 180° motions. A laser-patterned nickel alloy (Inconel 600) heater localizes actuation to the folding sections. The actuator has a thin ( < 1 mm) profile, making it appropriate for use in robotic origami. Various design parameters and fabrication variants are described and experimentally explored in the actuator prototype. (paper)

  17. The one-leg standing radiograph

    OpenAIRE

    Pinsornsak, P.; Naratrikun, K.; Kanitnate, S.; Sangkomkamhang, T.

    2016-01-01

    Objectives The purpose of this study was to compare the joint space width between one-leg and both-legs standing radiographs in order to diagnose a primary osteoarthritis of the knee. Methods Digital radiographs of 100 medial osteoarthritic knees in 50 patients were performed. The patients had undergone one-leg standing anteroposterior (AP) views by standing on the affected leg while a both-legs standing AP view was undertaken while standing on both legs. The severity of the osteoarthritis wa...

  18. Swarm intelligence algorithms for integrated optimization of piezoelectric actuator and sensor placement and feedback gains

    International Nuclear Information System (INIS)

    Dutta, Rajdeep; Ganguli, Ranjan; Mani, V

    2011-01-01

    Swarm intelligence algorithms are applied for optimal control of flexible smart structures bonded with piezoelectric actuators and sensors. The optimal locations of actuators/sensors and feedback gain are obtained by maximizing the energy dissipated by the feedback control system. We provide a mathematical proof that this system is uncontrollable if the actuators and sensors are placed at the nodal points of the mode shapes. The optimal locations of actuators/sensors and feedback gain represent a constrained non-linear optimization problem. This problem is converted to an unconstrained optimization problem by using penalty functions. Two swarm intelligence algorithms, namely, Artificial bee colony (ABC) and glowworm swarm optimization (GSO) algorithms, are considered to obtain the optimal solution. In earlier published research, a cantilever beam with one and two collocated actuator(s)/sensor(s) was considered and the numerical results were obtained by using genetic algorithm and gradient based optimization methods. We consider the same problem and present the results obtained by using the swarm intelligence algorithms ABC and GSO. An extension of this cantilever beam problem with five collocated actuators/sensors is considered and the numerical results obtained by using the ABC and GSO algorithms are presented. The effect of increasing the number of design variables (locations of actuators and sensors and gain) on the optimization process is investigated. It is shown that the ABC and GSO algorithms are robust and are good choices for the optimization of smart structures

  19. Back Pain with Leg Pain.

    Science.gov (United States)

    Vulfsons, Simon; Bar, Negev; Eisenberg, Elon

    2017-07-01

    The clinical diagnostic dilemma of low back pain that is associated with lower limb pain is very common. In relation to back pain that radiates to the leg, the International Association for the Study of Pain (IASP) states: "Pain in the lower limb should be described specifically as either referred pain or radicular pain. In cases of doubt no implication should be made and the pain should be described as pain in the lower limb." Bogduks' editorial in the journal PAIN (2009) helps us to differentiate and define the terms somatic referred pain, radicular pain, and radiculopathy. In addition, there are other pathologies distal to the nerve root that could be relevant to patients with back pain and leg pain such as plexus and peripheral nerve involvement. Hence, the diagnosis of back pain with leg pain can still be challenging. In this article, we present a patient with back and leg pain. The patient appears to have a radicular pain syndrome, but has no neurological impairment and shows signs of myofascial involvement. Is there a single diagnosis or indeed two overlapping syndromes? The scope of our article encompasses the common diagnostic possibilities for this type of patient. A discussion of treatment is beyond the scope of this article and depends on the final diagnosis/diagnoses made.

  20. Kan leg skabe fremtidens vindere?

    DEFF Research Database (Denmark)

    Holm, Claus

    2006-01-01

    Dansk Boldspil Union skruer ned for den præstationsorienterede tilgang til børnefodbold. I stedet skal børnenes leg med bolden i fokus. Målet er at forhindre massivt frafald i børne- og ungdomsfodbolden og højne niveauet hos topspillerne....

  1. Doppler ultrasound exam of an arm or leg

    Science.gov (United States)

    Peripheral vascular disease - Doppler; PVD - Doppler; PAD - Doppler; Blockage of leg arteries - Doppler; Intermittent claudication - Doppler; Arterial insufficiency of the legs - Doppler; Leg pain and ...

  2. Dual-responsive soft actuators based on self-assembled polymers

    Science.gov (United States)

    Kim, Seung Jae; Park, Moon Jeong

    Electroactive polymer actuators (EAPs) have been extensively studied for biomimetic technologies such as artificial muscles and soft robotics. While a large deformation can be achievable from EAPs under relatively low-driving voltages, the slow response time has long been a fundamental drawback of EAPs. Here, we investigate a new soft actuator capable of responding two different external stimuli. The actuator is composed of electroactive polymer and light-responsive polymer. We have employed ionic block copolymers having well-connected ion-conduction channels to raise response to electric-field. Light-responsive polymers were additionally incorporated into them to control the deformation of the actuator in an independent manner. Noteworthy observation in the present study is that the dual-responsive polymers resulted in synergetic achievement of high bending strain and fast response time, which marked a significant improvement from the conventional EAPs.

  3. Microelectromagnetic ferrofluid-based actuator

    Science.gov (United States)

    Melikhov, Y.; Lee, S. J.; Jiles, D. C.; Schmidt, D. H.; Porter, M. D.; Shinar, R.

    2003-05-01

    Computer simulations were used to investigate the performance of a microscale ferrofluid-based magnetic actuator developed for liquid dispensing in microfluidic channels. The actuation was based on the movement of a ferrofluid plug in a magnetic field gradient generated by on-chip effectively infinite parallel conductors. The movement, positioning, and retaining of ferrofluid plugs with different lengths at various locations along a microfluidic channel were investigated for two cases. In case (a), the magnetic field gradient was generated by a single conductor; when the ferrofluid reached its equilibrium position, the current was switched off and the nearest neighbor conductor was energized. A similar, consecutive on/off current switching was performed for case (b), where a set of conductors was energized simultaneously.

  4. Active Suppression of Rotating Stall Inception with Distributed Jet Actuation

    Directory of Open Access Journals (Sweden)

    Huu Duc Vo

    2007-01-01

    Full Text Available An analytical and experimental investigation of the effectiveness of full-span distributed jet actuation for active suppression of long length-scale rotating stall inception is carried out. Detailed modeling and experimental verification highlight the important effects of mass addition, discrete injectors, and feedback dynamics, which may be overlooked in preliminary theoretical studies of active control with jet injection. A model of the compression system incorporating nonideal injection and feedback dynamics is verified with forced response measurements to predict the right trends in the movement of the critical pole associated with the stall precursor. Active control experiments with proportional feedback control show that the predicted stall precursors are suppressed to give a 5.5% range extension in compressor flow coefficient. In addition, results suggest that the proposed model could be used to design a more sophisticated controller to further improve performance while reducing actuator bandwidth requirements.

  5. Microspoiler Actuation for Guided Projectiles

    Science.gov (United States)

    2016-01-06

    during these flight experiments. Four motors were shock tested to a maximum load of 23,000 gs – two brushless DC motors and two brushed DC motors ...Projectile (Rear Zoom). Figure 22. Maxon A-max 110147 Brushed DC Motor (left). Maxon A-max Motor Attached to ARL Shock Table (right...preliminary candidate mechanisms were designed in CAD using a variety of actuation approaches including linear solenoids and motor /cam designs. For

  6. Electrical actuators applications and performance

    CERN Document Server

    De Fornel, Bernard

    2013-01-01

    This helpful resource covers a large range of information regarding electrical actuators. In particular, robustness, a very problematic issue, is fully explored in a dedicated chapter. The text also deals with he estimate of non-measurable mechanical variables by examining the estimate of load moment, then observation of the positioning of a command without mechanical sensor. Finally, it examines the conditions needed to measure variables and real implementation of numerical algorithms. This is a key working resource for electrical engineers.

  7. An Innovative Shape Memory Actuator

    Directory of Open Access Journals (Sweden)

    Cappellini Valter

    2016-01-01

    Full Text Available The work describes a NiTi linear actuator. This material is able to realize a contraction with heating produced through Joule effect. Then a cooling of the active device is realized with forced air. Finally the lengthening is realized with another active element. The particular structure of the geometry allows for an increment of reliability, because the electrical connections are mechanically stabilized and the active elements are compelled to avoid undesired electrical contacts through an insulated cylindrical core.

  8. Moving coil-based actuators

    Science.gov (United States)

    Neff, Edward A.

    2002-09-01

    SMAC Corporation manufactures a wide variety of moving coil based electric servo actuators. These actuators were developed with a specific purpose in mind: To produce tools that would make the automation of assembly easier to accomplish, tools that could perform work in much the same manner as fingers but with more precision. The design targets were: A. Variable programmable accurate positioning down to sub-micron level. B. Variable programmable accurately controlled speeds. C. Variable programmable forces from grams to kilograms. D. Multiple axis configurations to increase degrees of freedom hence flexibility. E. The ability to perform work and verify its success at the same time. F. A low cost design that could eventually compete with pneumatic devices. (SMAC is related to two large pneumatic manufacturers: SMC Corp. and Mac Valve, Inc.) It should be noted that in the past a number of designers have developed voice coil based actuators, the Stout design and patent, with its discussion of programmable force was an early inspiration. SMAC's basic electro/mechanical and software design patents number 20.

  9. Design of high performance piezo composites actuators

    Science.gov (United States)

    Almajid, Abdulhakim A.

    Design of high performance piezo composites actuators are developed. Functionally Graded Microstructure (FGM) piezoelectric actuators are designed to reduce the stress concentration at the middle interface existed in the standard bimorph actuators while maintaining high actuation performance. The FGM piezoelectric laminates are composite materials with electroelastic properties varied through the laminate thickness. The elastic behavior of piezo-laminates actuators is developed using a 2D-elasticity model and a modified classical lamination theory (CLT). The stresses and out-of-plane displacements are obtained for standard and FGM piezoelectric bimorph plates under cylindrical bending generated by an electric field throughout the thickness of the laminate. The analytical model is developed for two different actuator geometries, a rectangular plate actuator and a disk shape actuator. The limitations of CLT are investigated against the 2D-elasticity model for the rectangular plate geometry. The analytical models based on CLT (rectangular and circular) and 2D-elasticity are compared with a model based on Finite Element Method (FEM). The experimental study consists of two FGM actuator systems, the PZT/PZT FGM system and the porous FGM system. The electroelastic properties of each layer in the FGM systems were measured and input in the analytical models to predict the FGM actuator performance. The performance of the FGM actuator is optimized by manipulating the thickness of each layer in the FGM system. The thickness of each layer in the FGM system is made to vary in a linear or non-linear manner to achieve the best performance of the FGM piezoelectric actuator. The analytical and FEM results are found to agree well with the experimental measurements for both rectangular and disk actuators. CLT solutions are found to coincide well with the elasticity solutions for high aspect ratios while the CLT solutions gave poor results compared to the 2D elasticity solutions for

  10. A comparison of one-legged and two-legged countermovement jumps

    NARCIS (Netherlands)

    van Soest, A J; Roebroeck, M.E.; Bobbert, M F; Huijing, P A; van Ingen Schenau, G J

    1985-01-01

    Ten well-trained male volleyball players performed one-legged and two-legged vertical countermovement jumps. Ground reaction forces, cinematographic data, and electromyographic data were recorded. Jumping height in one-legged jumps was 58.5% of that reached in two-legged jumps. Mean net torques in

  11. [Restless legs syndrome and nocturnal leg pain : Differential diagnosis and treatment].

    Science.gov (United States)

    Hornyak, M; Stiasny-Kolster, K; Evers, S; Happe, S

    2011-09-01

    Pain in the legs belongs to the five most frequent regional pain symptoms. Restless legs syndrome (RLS) presents a particular differential diagnosis for pain in the legs, which is characterized by a nocturnal urge to move the legs often associated with painful sensations in the legs. It is one of the most common neurological disorders and probably the leading cause of nocturnal pain in the legs. In this overview, the diagnosis and therapy of RLS as well as aspects of pain therapy of the disorder are presented. In addition, the differential diagnoses for exclusion of other specific causes of nocturnal pain in the legs are discussed.

  12. A magnetically actuated anchoring system for a wireless endoscopic capsule.

    Science.gov (United States)

    Zhou, Hao; Alici, Gursel; Munoz, Fredy

    2016-12-01

    In this study, we propose a new magnetically actuated anchoring system for wireless capsule endoscopes (WCE) by employing the principle of a switchable magnetic spring. A force model is derived to predict the magnetic force needed to support the interaction between the anchors and the intestinal lumen. The theoretical and experimental analysis conducted shows that the magnetic spring is capable of providing the force needed to activate the anchoring mechanism, which consists of four foldable legs. A prototype capsule with a size comparable with the size of a commercial WCE was designed, fabricated, and tested. The in-vitro tests with a real small intestine show that the proposed anchoring mechanism is able to raise the friction force between the anchoring legs and inner wall of the intestine by more than two times after its activation using an external magnetic field. Experimental results presented demonstrate that the proposed anchoring system, which has a low foot-print not taking up too much space on the capsule, can provide a reliable anchoring capability with the capsule inside the intestinal lumen.

  13. Slit Tubes for Semisoft Pneumatic Actuators.

    Science.gov (United States)

    Belding, Lee; Baytekin, Bilge; Baytekin, Hasan Tarik; Rothemund, Philipp; Verma, Mohit S; Nemiroski, Alex; Sameoto, Dan; Grzybowski, Bartosz A; Whitesides, George M

    2018-03-01

    This article describes a new principle for designing soft or 'semisoft' pneumatic actuators: SLiT (for SLit-in-Tube) actuators. Inflating an elastomeric balloon, when enclosed by an external shell (a material with higher Young's modulus) containing slits of different directions and lengths, produces a variety of motions, including bending, twisting, contraction, and elongation. The requisite pressure for actuation depends on the length of the slits, and this dependence allows sequential actuation by controlling the applied pressure. Different actuators can also be controlled using external "sliders" that act as reprogrammable "on-off" switches. A pneumatic arm and a walker constructed from SLiT actuators demonstrate their ease of fabrication and the range of motions they can achieve. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

  14. Plasma actuators for bluff body flow control

    Science.gov (United States)

    Kozlov, Alexey V.

    The aerodynamic plasma actuators have shown to be efficient flow control devices in various applications. In this study the results of flow control experiments utilizing single dielectric barrier discharge plasma actuators to control flow separation and unsteady vortex shedding from a circular cylinder in cross-flow are reported. This work is motivated by the need to reduce landing gear noise for commercial transport aircraft via an effective streamlining created by the actuators. The experiments are performed at Re D = 20,000...164,000. Circular cylinders in cross-flow are chosen for study since they represent a generic flow geometry that is similar in all essential aspects to a landing gear oleo or strut. The minimization of the unsteady flow separation from the models and associated large-scale wake vorticity by using actuators reduces the radiated aerodynamic noise. Using either steady or unsteady actuation at ReD = 25,000, Karman shedding is totally eliminated, turbulence levels in the wake decrease significantly and near-field sound pressure levels are reduced by 13.3 dB. Unsteady actuation at an excitation frequency of St D = 1 is found to be most effective. The unsteady actuation also has the advantage that total suppression of shedding is achieved for a duty cycle of only 25%. However, since unsteady actuation is associated with an unsteady body force and produces a tone at the actuation frequency, steady actuation is more suitable for noise control applications. Two actuation strategies are used at ReD = 82,000: spanwise and streamwise oriented actuators. Near field microphone measurements in an anechoic wind tunnel and detailed study of the near wake using LDA are presented in the study. Both spanwise and streamwise actuators give nearly the same noise reduction level of 11.2 dB and 14.2 dB, respectively, and similar changes in the wake velocity profiles. The contribution of the actuator induced noise is found to be small compared to the natural shedding

  15. [Compression therapy of chronic leg ulcers : Practical aspects].

    Science.gov (United States)

    Dissemond, J; Protz, K; Hug, J; Reich-Schupke, S; Kröger, K

    2017-02-16

    Compression therapy, together with modern moist wound treatment, is the basis for a successful conservative treatment of patients with chronic leg ulcers. In clinical practice, it is often the patients themselves who apply compression therapies. Many of the mostly elderly patients, however, are not able to reach their legs and feet due to movement restrictions, such as arthritis, arthrosis and even obesity. An adequate compression therapy also requires extensive experience and regular training. In practice only the minority of patients can perform bandaging well and therefore this should not be recommended. Self-management with do-it-yourself medical devices will become more and more important in the future. In addition to the psychological factors, cost aspects and demographic change, an expected lack of qualified nursing staff due to the number of elderly patients who are potentially in need of care means that self-management is becoming increasingly more important. For the essentially important compression therapy of patients with chronic leg ulcers, there already exist various therapy options. The needs, preferences and abilities of the patients concerned can be considered when selecting the appropriate system. Particularly for the self-management of compression therapy, adaptive compression bandages are suitable for patients with leg ulcers during the initial decompression phase and ulcer stocking systems in the subsequent maintenance phase.

  16. [Etiological diagnosis of leg ulcers].

    Science.gov (United States)

    Debure, Clélia

    2010-09-20

    Etiological diagnosis of leg ulcers must be the first step of treatment, even if we know that veinous disease is often present. We can build a clinical decisional diagram, which helps us to understand and not forget the other causes of chronic wounds and choose some basic examination, like ultrasound and histological findings. This diagnosis helps to choose the right treatment in order to cure even the oldest venous ulcers. Educational programs should be improved to prevent recurrence.

  17. Actuation fluid adapter for hydraulically-actuated electronically-controlled fuel injector and engine using same

    Science.gov (United States)

    Keyster, Eric S.; Merchant, Jack A.

    2002-01-01

    A fuel injector adapter consists of a block defining a pressure communication passage therethrough and an actuation fluid passage. The actuation fluid passage includes three separate branches that open through an outer surface of the block at three separate locations.

  18. Thick legs - not always lipedema.

    Science.gov (United States)

    Reich-Schupke, Stefanie; Altmeyer, Peter; Stücker, Markus

    2013-03-01

    Due to its increased presence in the press and on television, the diagnosis of lipedema is on the way to becoming a trendy diagnosis for those with thick legs. Despite this, one must recognize that lipedema is a very rare disease. It is characterized by disproportional obesity of the extremities, especially in the region of the hip and the legs, hematoma development after minimal trauma, and increased pressure-induced or spontaneous pain. Aids for making the correct diagnosis are (duplex) sonography, the waist-hip index or the waist-height index and lymphoscintigraphy. Important differential diagnoses are constitutional variability of the legs, lipohypertrophy in obesity, edema in immobility, edema in chronic venous insufficiency and rheumatic diseases. The symptom-based therapy of lipedema consists of conservative (compression, manual lymphatic drainage, exercise) and surgical treatments (liposuction). Until now there is no curative therapy. Obesity is an important risk factor for the severity and prognosis of lipedema. Further studies for a better understanding of the pathogenesis of lipedema and in the end possible curative treatments are urgently needed. © The Authors | Journal compilation © Blackwell Verlag GmbH, Berlin.

  19. Transputer Control of Hydraulic Actuators and Robots

    DEFF Research Database (Denmark)

    Conrad, Finn

    1996-01-01

    -time experiments and evaluation of control laws and algorithms is presented. Concepts of intelligent motion control and intelligent hydraulic actuators are proposed. Promising experimental path-tracking results obtained from model-based adaptive control algorithms are presented and discussed.......Results from a Danish mechatronics research program entitled IMCIA - Intelligent Control and Intelligent Actuators. The objective is development of intelligent actuators for intelligent motion control. A mechatronics test facility with a transputer controlled hydraulic robot suiteable for real...

  20. On Pressure-Actuated Cellular Structures

    OpenAIRE

    Gramüller, Benjamin

    2016-01-01

    The herein presented investigations address the implementation of a holistic design process for Pressure-Actuated Cellular Structures (PACS) and include their realization and characterization. Similar to the motion of nastic plants, the actuation principle of these biologically inspired shape-variable structures bases on the controlled expansion of pressurized volumes. The advantages of fluidic actuation are combined with an adaptive single-curved structure that deforms continuously and with ...

  1. Stimuli-Responsive Polymers for Actuation.

    Science.gov (United States)

    Zhang, Qiang Matthew; Serpe, Michael J

    2017-06-02

    A variety of stimuli-responsive polymers have been developed and used as actuators and/or artificial muscles, with the movement being driven by an external stimulus, such as electrical potential. This Review highlights actuators constructed from liquid-crystal elastomers, dielectric elastomers, ionic polymers, and conducting polymers. The Review covers recent examples of a variety of actuators generated from these materials and their utility. The mechanism of actuation will be detailed for most examples in order to stimulate possible future research, and lead to new applications and advanced applications. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  2. Tribological Aspects of Pneumatic Clutch Actuators

    OpenAIRE

    Riddar, Frida

    2013-01-01

    A clutch actuator is used in a vehicle to transmit movement and force from the clutch pedal to the release bearing of the clutch. A pneumatic clutch actuator consists of an anodised aluminium cylinder, inside of which a piston, with a rubber lip seal and a PTFE guiding ring, slides. The system is lubricated with silicone grease before assembly. A commercial clutch actuator of this type, has a service life of 3 million actuations and must function in a wide temperature range, from -40 ºC to 14...

  3. Engineered Muscle Actuators: Cells and Tissues

    National Research Council Canada - National Science Library

    Dennis, Robert G; Herr, Hugh; Parker, Kevin K; Larkin, Lisa; Arruda, Ellen; Baar, Keith

    2007-01-01

    .... Our primary objectives were to engineer living skeletal muscle actuators in culture using integrated bioreactors to guide tissue development and to maintain tissue contractility, to achieve 50...

  4. High Reliability Cryogenic Piezoelectric Valve Actuator Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Cryogenic fluid valves are subject to harsh exposure and actuators to drive these valves require robust performance and high reliability. DSM's piezoelectric...

  5. A porous actuator for an Isfet-based coulometric sensor-actuator system

    NARCIS (Netherlands)

    Luo, J.; Luo, J.; Olthuis, Wouter; Bergveld, Piet; van der Linden, W.E.; Bos, M.

    1991-01-01

    The previously developed prototype ISFET (ion-sensitive field effect transistor)-based coulometric sensor-actuator system suffers from delay in response due to the nonzero distance between the sensor and actuator. The authors describe a novel configuration of a sensor-actuator device which employs a

  6. Pediatric restless legs syndrome diagnostic criteria: an update by the International Restless Legs Syndrome Study Group.

    Science.gov (United States)

    Picchietti, Daniel L; Bruni, Oliviero; de Weerd, Al; Durmer, Jeffrey S; Kotagal, Suresh; Owens, Judith A; Simakajornboon, Narong

    2013-12-01

    Specific diagnostic criteria for pediatric restless legs syndrome (RLS) were published in 2003 following a workshop at the National Institutes of Health. Due to substantial new research and revision of the adult RLS diagnostic criteria, a task force was chosen by the International Restless Legs Syndrome Study Group (IRLSSG) to consider updates to the pediatric diagnostic criteria. A committee of seven pediatric RLS experts developed a set of 15 consensus questions to review, conducted a comprehensive literature search, and extensively discussed potential revisions. The committee recommendations were approved by the IRLSSG executive committee and reviewed by the IRLSSG membership. The pediatric RLS diagnostic criteria were simplified and integrated with the newly revised adult RLS criteria. Specific recommendations were developed for pediatric application of the criteria, including consideration of typical words used by children to describe their symptoms. Pediatric aspects of differential diagnosis, comorbidity, and clinical significance were then defined. In addition, the research criteria for probable and possible pediatric RLS were updated and criteria for a related condition, periodic limb movement disorder (PLMD), were clarified. Revised diagnostic criteria for pediatric RLS have been developed, which are intended to improve clinical practice and promote further research. Copyright © 2013 The Authors. Published by Elsevier B.V. All rights reserved.

  7. The SAHR Setup-Controlling Hopping Speed and Height Using a Single Actuator

    Directory of Open Access Journals (Sweden)

    N. Cherouvim

    2008-01-01

    Full Text Available In this paper we present and experimentally validate a control method for regulating both the forward speed and the apex height of a one-legged hopping robot, using only a single actuator. The control method is based on a dynamic model of the hopping robot and makes use of the dynamic coupling of the vertical and forward motions of the robot. The control is applied first to a simulated model of the robot and shown to track a desired forward robot speed and a desired apex height. Then the SAHR (single actuator hopping robot hardware is introduced and is used as an experimental platform with which to evaluate the performance of the control method. The control method is applied to the physical setup and is shown to lead to a stable hopping gait with a desired forward speed and apex height, despite the unmodelled disturbances met on the laboratory floor.

  8. Experimental Investigation on the Characteristics of Sliding Discharge Plasma Aerodynamic Actuation

    International Nuclear Information System (INIS)

    Song Huimin; Zhang Qiaogen; Li Yinghong; Jia Min; Wu Yun

    2011-01-01

    A new electrical discharge called sliding discharge was developed to generate plasma aerodynamic actuation for flow control. A microsecond-pulse high voltage with a DC component was used to energize a three-electrode actuator to generate sliding discharge. The characteristics of plasma aerodynamic actuation by sliding discharge were experimentally investigated. Discharge morphology shows that sliding discharge is formed when energized by properly adjusting microsecond-pulse and DC voltage. Compared to dielectric barrier discharge (DBD), the plasma extension of sliding discharge is quasi-diffusive and stable but longer and more intensive. Results from particle image velocimetry (PIV) test indicate that plasma aerodynamic actuation by sliding discharge can induce a ‘starting vortex’ and a quasi-steady ‘near-wall jet’. Body force induced by plasma aerodynamic actuation is about the order of mN, which is stronger than that induced by single DBD. It is inferred that microsecond-pulse sliding discharge may be more effective to generate large-scale plasma aerodynamic actuation, which is very promising for improving aircraft aerodynamic characteristics and propulsion efficiency.

  9. Experimental Investigation on the Characteristics of Sliding Discharge Plasma Aerodynamic Actuation

    Science.gov (United States)

    Song, Huimin; Li, Yinghong; Zhang, Qiaogen; Jia, Min; Wu, Yun

    2011-10-01

    A new electrical discharge called sliding discharge was developed to generate plasma aerodynamic actuation for flow control. A microsecond-pulse high voltage with a DC component was used to energize a three-electrode actuator to generate sliding discharge. The characteristics of plasma aerodynamic actuation by sliding discharge were experimentally investigated. Discharge morphology shows that sliding discharge is formed when energized by properly adjusting microsecond-pulse and DC voltage. Compared to dielectric barrier discharge (DBD), the plasma extension of sliding discharge is quasi-diffusive and stable but longer and more intensive. Results from particle image velocimetry (PIV) test indicate that plasma aerodynamic actuation by sliding discharge can induce a ‘starting vortex’ and a quasi-steady ‘near-wall jet’. Body force induced by plasma aerodynamic actuation is about the order of mN, which is stronger than that induced by single DBD. It is inferred that microsecond-pulse sliding discharge may be more effective to generate large-scale plasma aerodynamic actuation, which is very promising for improving aircraft aerodynamic characteristics and propulsion efficiency.

  10. An external disturbance sensor for ionic polymer metal composite actuators

    Science.gov (United States)

    Bakhtiarpour, Parisa; Parvizi, Amin; Müller, Martin; Shahinpoor, Mohsen; Marti, Othmar; Amirkhani, Masoud

    2016-01-01

    Ionic polymer metal composite (IPMC) is a fast-growing type of smart material with a wide range of applications. IPMC has been used extensively as an actuator, but for effective usage, one must add a self-sensing ability to it. Two common self-sensing techniques are mechanical-to-electrical transducer and surface resistance. The first one cannot be used while the actuator is running, and the second one needs a sample modification. In this work, we present a new self-sensing method, which can measure external disturbance in the presence of actuator voltage without any sample modification. The resistance across an IPMC sample follows Ohm’s law at sufficiently high frequency. We exploit the frequency dependency of the resistance across the sample to design the self-sensing method. In this technique a function generator, a lock-in amplifier and an isolation circuit were employed to measure an external impulse or steady disturbance. As implementing this technique does not require any change to the IPMC specimen or electrical connection (hanger), it can be added to any existing electroactive device.

  11. Low power consumption mini rotary actuator with SMA wires

    Science.gov (United States)

    Manfredi, Luigi; Huan, Yu; Cuschieri, Alfred

    2017-11-01

    Shape memory alloys (SMAs) are smart materials widely used as actuators for their high power to weight ratio despite their well-known low energy efficiency and limited mechanical bandwidth. For robotic applications, SMAs exhibit limitations due to high power consumption and limited stroke, varying from 4% to 7% of the total length. Hysteresis, during the contraction and extension cycle, requires a complex control algorithm. On the positive side, the small size and low weight are eminently suited for the design of mini actuators for robotic platforms. This paper describes the design and construction of a light weight and low power consuming mini rotary actuator with on-board contact-less position and force sensors. The design is specifically intended to reduce (i) energy consumption, (ii) dimensions of the sensory system, and (iii) provide a simple control without any need for SMA characterisation. The torque produced is controlled by on-board force sensors. Experiments were performed to investigate the energy consumption and performance (step and sinusoidal angle profiles with a frequency varying from 0.5 to 10 Hz and maximal amplitude of {15}\\circ ). We describe a transient capacitor effect related to the SMA wires during the sinusoidal profile when the active SMA wire is powered and the antagonist one switched-off, resulting in a transient current time varying from 300 to 400 ms.

  12. Chained Iron Microparticles for Directionally Controlled Actuation of Soft Robots.

    Science.gov (United States)

    Schmauch, Marissa M; Mishra, Sumeet R; Evans, Benjamin A; Velev, Orlin D; Tracy, Joseph B

    2017-04-05

    Magnetic field-directed self-assembly of magnetic particles in chains is useful for developing directionally responsive materials for applications in soft robotics. Using materials with greater complexity allows advanced functions, while still using simple device architectures. Elastomer films containing chained magnetic microparticles were prepared through solvent casting and formed into magnetically actuated lifters, accordions, valves, and pumps. Chaining both enhances actuation and imparts a directional response. Cantilevers used as lifters were able to lift up to 50 times the mass of the polymer film. We introduce the "specific torque", the torque per field per mass of magnetic particles, as a figure of merit for assessing and comparing the performance of lifters and related devices. Devices in this work generated specific torques of 68 Nm/kgT, which is significantly higher than in previously reported actuators. Applying magnetic fields to folded accordion structures caused extension and compression, depending on the accordion's orientation. In peristaltic pumps comprised of composite tubes containing embedded chains, magnetic fields caused a section of the tube to pinch closed where the field was applied. These results will facilitate both the further development of soft robots based on chained magnetic particles and efforts to engineer materials with higher specific torque.

  13. Controleum - an independently extensible control system

    DEFF Research Database (Denmark)

    Jensen, Martin Lykke Rytter

    2014-01-01

    - hard concerns are constraints that must always be met, while soft concerns describe desirable goals that may be prioritized by the system's user. The extensible controller uses a genetic algorithm to continuously resolve conflicts among independently developed control concerns. Both new software...... to introduce a new component without performing a global integrity check. Avoiding a global integrity check relies on anticipating what kind of extensions are required in the future and designing a suitable interface and coordination mechanism, so that conflicts among mutually unaware components can...... be resolved automatically. Typical control system components are concerned with the way in which actuators are controlled. Combining mutually unaware control system components that share interest in the same actuators are likely to lead to complex conflicts, thus making control systems a particularly...

  14. Biomimetic Design of an Under-Actuated Leg Exoskeleton for Load-Carrying Augmentation

    Science.gov (United States)

    2006-02-01

    the 6 operator. Difficulties in human sensing, stability of the servomechanisms, safety, power requirements and system complexity kept it from...connection was terminated. Figure 4.2 In a), the Accelus digital amplifier used at the hip is shown. In b), the PCB mount Accelnet mico -module used at

  15. PD control for robot manipulators actuated by switched reluctance motors

    Science.gov (United States)

    Hernández-Guzmán, Victor M.; Carrillo-Serrano, Roberto V.; Silva-Ortigoza, Ramón

    2013-03-01

    This article is concerned with position regulation in direct-drive n degrees of freedom rigid robots equipped only with revolute joints when actuated by switched reluctance motors. Our controller represents an extension to this case of a previous work in the literature which was proposed for a single-switched reluctance motor when moving a simple linear mechanical load. We show how to avoid a singularity present in such a previous controller. We also introduce some simplifications since the number of terms to be fedback is smaller. Further, a linear proportional inner electric current loop is included instead of a velocity dependent one.

  16. Epilepsy and restless legs syndrome.

    Science.gov (United States)

    Geyer, James D; Geyer, Emery E; Fetterman, Zachary; Carney, Paul R

    2017-03-01

    Restless legs syndrome (RLS) is a common neurological movement disorder occurring in approximately 10% of the general population. The prevalence of moderately severe RLS is 2.7% overall (3.7% for women and 1.7% for men). Epilepsy is also a common neurological disorder with significant associated morbidity and impact on quality of life. We evaluated the severity and frequency of primary RLS in patients with localization-related temporal lobe epilepsy (TLE) and investigated the role of prodromal RLS symptoms as a warning sign and lateralizing indicator. All epilepsy patients seen in the outpatient clinic were screened for movement disorders from 2005 to 2015. Ninety-eight consecutive patients with localization-related TLE (50 right TLE and 48 left TLE) who met inclusion criteria were seen in the outpatient clinic. The control group consisted of 50 individuals with no history or immediate family history of epilepsy. Each patient was evaluated with the International Restless Legs Study Group (IRLSSG) questionnaire, NIH RLS diagnostic criteria, ferritin level, and comprehensive sleep screening including polysomnography. Furthermore, patients with obstructive sleep apnea or a definite cause of secondary restless legs syndrome such as low serum ferritin or serum iron levels were also excluded from the study. There was a significant association between the type of epilepsy and whether or not patients had RLS χ 2 (1)=10.17, prestlessness was typically described as moderately severe. The RLS symptoms were more common and somewhat more severe in the right TLE group than the left TLE group. Copyright © 2016 Elsevier Inc. All rights reserved.

  17. Shape-memory actuated gimbal

    Science.gov (United States)

    Carpenter, Bernie F.; Head, R. J.; Gehling, Russ

    1995-05-01

    Future spacecraft systems will require advanced positioning systems to meet stringent reliability, vibration, lightweighting, and cost requirements. Current devices employing stepping motor and gear reduction assemblies may not be able to meet future design needs. A shape memory alloy (SMA) actuated multiaxis gimbal has been developed that provides solutions to these mechanism issues. SMAs utilize a thermally activated reversible phase transformation to recover their original heat-treated shape or to generate high-recovery stresses. when heated above a critical transformation temperature. NiTiCu alloy wires have been wound into helical spring actuators to control gimbal rotation using mechanical elements to convert the linear motion of antagonistic SMA springs into rotation. Analytical models that incorporate the nonlinear hysteretic behavior of SMAs have been generated to aid in spring design and SMA conditioning. Indirect resistive hearing of SMA springs was accomplished using programmable power supplies. A potentiometer sensor attached to the output axis of the gimbal was used to provide angular feedback to a digital controller. An antagonistic approach was used to independently control heating and cooling of the opposing spring element for improved stability and bandwidth response. Proportional-integral derivative control was implemented on the active SMA spring to obtain the desired level of rotation while overcoming an external load. Mechanical testing was conducted on the gimbal to assess control system stability, dynamic response, and power requirements. Torque in excess of 3 in./lb was generated using less than 20 watts of applied power.

  18. 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.

  19. Microfluidic Actuation of Carbon Nanotube Fibers for Neural Recordings

    Science.gov (United States)

    Vercosa, Daniel G.

    Implantable devices to record and stimulate neural circuits have led to breakthroughs in neuroscience; however, technologies capable of electrical recording at the cellular level typically rely on rigid metals that poorly match the mechanical properties of soft brain tissue. As a result these electrodes often cause extensive acute and chronic injury, leading to short electrode lifetime. Recently, flexible electrodes such as Carbon Nanotube fibers (CNTf) have emerged as an attractive alternative to conventional electrodes and studies have shown that these flexible electrodes reduce neuro-inflammation and increase the quality and longevity of neural recordings. Insertion of these new compliant electrodes, however, remains challenge. The stiffening agents necessary to make the electrodes rigid enough to be inserted increases device footprint, which exacerbates brain damage during implantation. To overcome this challenge we have developed a novel technology to precisely implant and actuate high-performance, flexible carbon nanotube fiber (CNTf) microelectrodes without using a stiffening agents or shuttles. Instead, our technology uses drag forces within a microfluidic device to drive electrodes into tissue while minimizing the amount of fluid that is ejected into the tissue. In vitro experiments in brain phantoms, show that microfluidic actuated CNTf can be implanted at least 4.5 mm depth with 30 microm precision, while keeping the total volume of fluid ejected below 0.1 microL. As proof of concept, we inserted CNTfs in the small cnidarian Hydra littoralis and observed compound action potentials corresponding to contractions and in agreement with the literature. Additionally, brain slices extracted from transgenic mice were used to show that our device can be used to record spontaneous and light evoked activity from the cortex and deep brain regions such as the thalamic reticular nucleus (TRN). Overall our microfluidic actuation technology provides a platform for

  20. Application of smart material-hydraulic actuators

    Science.gov (United States)

    Anderson, Eric H.; Bales, Gregory L.; White, Edward V.

    2003-08-01

    The application of a new class of actuators is considered. The actuators under development combine a high energy density smart material, specifically a piezoelectric material, with internal servohydraulic components. Large displacement outputs are produced, while the high force capacity of the stiff smart material is retained, for a net high-energy output. The actuator is considered "power-by-wire" because only electrical power is provided from the vehicle or system controller. A primary motivating application is in unmanned combat air vehicles (UCAVs). The particular actuation needs of these vehicles, in flight control and other utility functions, are described and distilled to a set of relevant device requirements. Other potential applications, such as flight motion simulation, are also highlighted. The new actuation architecture offers specific advantages over centralized hydraulic systems and has capabilities not present in electromechanical actuators (EMAs). The main advantage over centralized hydraulic systems is the elimination of the need for hydraulic lines. Compared to motor-driven ball screw type EMAs, the new actuators offer higher frequency response, and a larger peak-to-average output. A laboratory test facility designed to represent the loading experienced by a UCAV control surface is described. Key steps necessary to flight qualify the actuator are introduced.

  1. Actuator Fault Detection and Diagnosis for Quadrotors

    NARCIS (Netherlands)

    Lu, P.; Van Kampen, E.J.; Yu, B.

    2014-01-01

    This paper presents a method for fault detection and diagnosis of actuator loss of effectiveness for a quadrotor helicopter. This paper not only considers the detection of the actuator loss of effectiveness faults, but also addresses the diagnosis of the faults. The detection and estimation of the

  2. Conjugated Polymer Actuators: Prospects and Limitations

    DEFF Research Database (Denmark)

    Skaarup, Steen

    2007-01-01

    Actuators constructed with a conjugated polymer as the active part have been predicted to have a number of highly desirable properties: Large mechanical strength, high power density, i.e. high actuation speeds possible, sufficient maximum strain values, high reversibility and safe, low voltages (1...

  3. Selecting Actuator Configuration for a Benson Boiler

    DEFF Research Database (Denmark)

    Kragelund, Martin Nygaard; Leth, John-Josef; Wisniewski, Rafal

    2009-01-01

    This paper addresses the problem of an optimal actuator configuration in an economic perspective. The objective is to minimize the economical cost of operating a given plant. Functionals encapsulating information of the business objectives given the different actuators has been established with p...... fuels - coal, gas, and oil....

  4. Conducting Polymer Actuators: Prospects and Limitations

    DEFF Research Database (Denmark)

    Skaarup, Steen

    Actuators constructed with a conjugated polymer as the active part have been predicted to have a number of highly desirable properties: Large mechanical strength, high power density, i.e. high actuation speeds possible, sufficient maximum strain values, high reversibility and safe, low voltages (1...

  5. 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.

  6. Ceramic-Metal Interfaces in Multilayer Actuators

    DEFF Research Database (Denmark)

    Engell, John; Pedersen, Henrik Guldberg; Andersen, Bjørn

    1996-01-01

    Multilayer actuators consist of a number of piezoelectric or electrostrictive ceramic layers, separated by thin metal electrodes. Thus, the ceramic-metal interface plays an even more important role than for bulk piezoceramics. The performance and durability of the actuator depends closely...

  7. Fault Detection for Diesel Engine Actuator

    DEFF Research Database (Denmark)

    Blanke, M.; Bøgh, S.A.; Jørgensen, R.B.

    1994-01-01

    Feedback control systems are vulnerable to faults in control loop sensors and actuators, because feedback actions may cause abrupt responses and process damage when faults occur.......Feedback control systems are vulnerable to faults in control loop sensors and actuators, because feedback actions may cause abrupt responses and process damage when faults occur....

  8. Quinine for Nocturnal Leg Cramps

    Science.gov (United States)

    Man-Son-Hing, Malcolm; Wells, George; Lau, Anita

    1998-01-01

    OBJECTIVE With respect to the use of quinine for the treatment of nocturnal leg cramps, to determine whether the findings of a previously performed meta-analysis of published data are altered with the addition of unpublished data, and whether publication bias is present in this area. DESIGN A meta-analysis of eight (four published and four unpublished) randomized, double-blind, placebo-controlled trials, seven of which had a crossover design. SETTING Randomized trials that were available as of July 1997. SUBJECTS Ambulatory patients (659) who suffered from regular nocturnal leg cramps. MAIN RESULTS When individual patient data from all crossover studies were pooled, persons had 3.60 (95% confidence interval [CI] 2.15, 5.05) fewer cramps in a 4-week period when taking quinine compared with placebo. This compared with an estimate of 8.83 fewer cramps (95% CI 4.16, 13.49) from pooling published studies alone. The corresponding relative risk reductions were 21% (95% CI 12%, 30%) and 43% (95% CI 21%, 65%), respectively. Compared with placebo, the use of quinine was associated with an increased incidence of side effects, particularly tinnitus. Publication bias is present in the reporting of the efficacy of quinine for this indication, as almost all published studies reported larger estimates of its efficacy than did unpublished studies. CONCLUSIONS This study confirms that quinine is efficacious in the prevention of nocturnal leg cramps. However, its benefit may not be as large as reported from the pooling of published studies alone. Given the side effect profile of quinine, nonpharmacologic therapy (e.g., regular passive stretching of the affected muscle) is the best first-line treatment. For persons who find this ineffective and whose quality of life is significantly affected, a trial of quinine is warranted. Prescribing physicians must closely monitor the risks and benefits in individual patients. Publication bias is present in this area even though there is

  9. Advanced Actuator Concepts for High Precision Deformable Mirrors, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — TRS Technologies proposes to develop a variety of single crystal actuators for adaptive optics deformable mirrors. Single crystal piezoelectric actuators are...

  10. Genetic Algorithm Approaches for Actuator Placement

    Science.gov (United States)

    Crossley, William A.

    2000-01-01

    This research investigated genetic algorithm approaches for smart actuator placement to provide aircraft maneuverability without requiring hinged flaps or other control surfaces. The effort supported goals of the Multidisciplinary Design Optimization focus efforts in NASA's Aircraft au program. This work helped to properly identify various aspects of the genetic algorithm operators and parameters that allow for placement of discrete control actuators/effectors. An improved problem definition, including better definition of the objective function and constraints, resulted from this research effort. The work conducted for this research used a geometrically simple wing model; however, an increasing number of potential actuator placement locations were incorporated to illustrate the ability of the GA to determine promising actuator placement arrangements. This effort's major result is a useful genetic algorithm-based approach to assist in the discrete actuator/effector placement problem.

  11. Common mechanics of mode switching in locomotion of limbless and legged animals

    Science.gov (United States)

    Kuroda, Shigeru; Kunita, Itsuki; Tanaka, Yoshimi; Ishiguro, Akio; Kobayashi, Ryo; Nakagaki, Toshiyuki

    2014-01-01

    Crawling using muscular waves is observed in many species, including planaria, leeches, nemertea, aplysia, snails, chitons, earthworms and maggots. Contraction or extension waves propagate along the antero-posterior axis of the body as the crawler pushes the ground substratum backward. However, the observation that locomotory waves can be directed forward or backward has attracted much attention over the past hundred years. Legged organisms such as centipedes and millipedes exhibit parallel phenomena; leg tips form density waves that propagate backward or forward. Mechanical considerations reveal that leg-density waves play a similar role to locomotory waves in limbless species, and that locomotory waves are used by a mechanism common to both legged and limbless species to achieve crawling. Here, we report that both mode switching of the wave direction and friction control were achieved when backward motion was induced in the laboratory. We show that the many variations of switching in different animals can essentially be classified in two types according to mechanical considerations. We propose that during their evolution, limbless crawlers first moved in a manner similar to walking before legs were obtained. Therefore, legged crawlers might have learned the mechanical mode of movement involved in walking long before obtaining legs. PMID:24718452

  12. Actuators Using Piezoelectric Stacks and Displacement Enhancers

    Science.gov (United States)

    Bar-Cohen, Yoseph; Sherrit, Stewart; Bao, Xiaoqi; Badescu, Mircea; Lee, Hyeong Jae; Walkenmeyer, Phillip; Lih, Shyh-Shiuh

    2015-01-01

    Actuators are used to drive all active mechanisms including machines, robots, and manipulators to name a few. The actuators are responsible for moving, manipulating, displacing, pushing and executing any action that is needed by the mechanism. There are many types and principles of actuation that are responsible for these movements ranging from electromagnetic, electroactive, thermo-mechanic, piezoelectric, electrostrictive etc. Actuators are readily available from commercial producers but there is a great need for reducing their size, increasing their efficiency and reducing their weight. Studies at JPL’s Non Destructive Evaluation and Advanced Actuators (NDEAA) Laboratory have been focused on the use of piezoelectric stacks and novel designs taking advantage of piezoelectric’s potential to provide high torque/force density actuation and high electromechanical conversion efficiency. The actuators/motors that have been developed and reviewed in this paper are operated by various horn configurations as well as the use of pre-stress flexures that make them thermally stable and increases their coupling efficiency. The use of monolithic designs that pre-stress the piezoelectric stack eliminates the use of compression stress bolt. These designs enable the embedding of developed solid-state motors/actuators in any structure with the only macroscopically moving parts are the rotor or the linear translator. Finite element modeling and design tools were used to determine the requirements and operation parameters and the results were used to simulate, design and fabricate novel actuators/motors. The developed actuators and performance will be described and discussed in this paper.

  13. 3D printed soft parallel actuator

    Science.gov (United States)

    Zolfagharian, Ali; Kouzani, Abbas Z.; Khoo, Sui Yang; Noshadi, Amin; Kaynak, Akif

    2018-04-01

    This paper presents a 3-dimensional (3D) printed soft parallel contactless actuator for the first time. The actuator involves an electro-responsive parallel mechanism made of two segments namely active chain and passive chain both 3D printed. The active chain is attached to the ground from one end and constitutes two actuator links made of responsive hydrogel. The passive chain, on the other hand, is attached to the active chain from one end and consists of two rigid links made of polymer. The actuator links are printed using an extrusion-based 3D-Bioplotter with polyelectrolyte hydrogel as printer ink. The rigid links are also printed by a 3D fused deposition modelling (FDM) printer with acrylonitrile butadiene styrene (ABS) as print material. The kinematics model of the soft parallel actuator is derived via transformation matrices notations to simulate and determine the workspace of the actuator. The printed soft parallel actuator is then immersed into NaOH solution with specific voltage applied to it via two contactless electrodes. The experimental data is then collected and used to develop a parametric model to estimate the end-effector position and regulate kinematics model in response to specific input voltage over time. It is observed that the electroactive actuator demonstrates expected behaviour according to the simulation of its kinematics model. The use of 3D printing for the fabrication of parallel soft actuators opens a new chapter in manufacturing sophisticated soft actuators with high dexterity and mechanical robustness for biomedical applications such as cell manipulation and drug release.

  14. Leg fluid accumulation during prolonged sitting.

    Science.gov (United States)

    Vena, Daniel; Rubianto, Jonathan; Popovic, Milos; Yadollahi, Azadeh

    2016-08-01

    The accumulation of fluid in the legs due to sedentariness can be a health risk in extreme cases. Negative health impacts associated with leg fluid accumulation include leg edema and risk of blood clots. Furthermore, fluid accumulating in the legs is accompanied by fluid shift into the upper body which is also associated with health risks such as: increased blood pressure when lying down, respiratory problems in people with heart failure, and increased sleep apnea. Understanding the pattern by which fluid accumulates in the legs can aid in the development of devices for reducing leg fluid accumulation. The purpose of this study was to characterize the time course of fluid accumulation over a two-and-half-hour seated period. Non-obese participants with sleep apnea and no other co-morbidities were included in the sample as part of a larger study. Leg fluid was measured continuously using a method of bioelectrical impedance. Participants were first asked to lie supine for 30 minutes as a washout, and then sat with their legs still for two and a half hours. The main finding of this study is that the pattern of leg fluid accumulation differed in the first 45 minutes compared to the latter 105 minutes. In the first 45 minutes, fluid accumulated according to first order exponential function. In the latter period, fluid accumulated according to a linear function. The initial exponential accumulation is likely due to the large increase in capillary pressure caused by rapid blood flow into the legs due to gravity, leading to substantial filtration of blood plasma into the tissue spaces. The latter linear portion likely represents continued slow filtration of fluid out of the vasculature and into the tissue spaces. This is the first study to show that fluid accumulation in the legs is a combination of an exponential and linear functions. The linear increase identifies that there is no foreseeable point in which leg fluid stops accumulating while sitting for prolonged periods.

  15. Running with a load increases leg stiffness.

    Science.gov (United States)

    Silder, Amy; Besier, Thor; Delp, Scott L

    2015-04-13

    Spring-mass models have been used to characterize running mechanics and leg stiffness in a variety of conditions, yet it remains unknown how running while carrying a load affects running mechanics and leg stiffness. The purpose of this study was to test the hypothesis that running with a load increases leg stiffness. Twenty-seven subjects ran at a constant speed on a force-measuring treadmill while carrying no load, and while wearing weight vests loaded with 10%, 20%, and 30% of body weight. We measured lower extremity motion and created a scaled musculoskeletal model of each subject, which we used to estimate lower extremity joint angles and leg length. We estimated dimensionless leg stiffness as the ratio of the peak vertical ground reaction force (normalized to body weight) and the change in stance phase leg length (normalized to leg length at initial foot contact). Leg length was calculated as the distance from the center of the pelvis to the center-of-pressure under the foot. We found that dimensionless leg stiffness increased when running with load (p=0.001); this resulted from an increase in the peak vertical ground reaction force (pleg length (p=0.025). When running with load, subjects had longer ground contact times (pleg stiffness to accommodate an added load. Copyright © 2015 Elsevier Ltd. All rights reserved.

  16. Restless legs syndrome and periodic leg movements in patients with movement disorders: Specific considerations.

    Science.gov (United States)

    Högl, Birgit; Stefani, Ambra

    2017-05-01

    Restless legs syndrome is a frequent neurological disorder with potentially serious and highly distressing treatment complications. The role and potential implications of periodic leg movements during sleep range from being a genetic risk marker for restless legs syndrome to being a cardiovascular risk factor. The diagnosis of restless legs syndrome in patients with daytime movement disorders is challenging and restless legs syndrome needs to be differentiated from other sleep-related movement disorders. This article provides an update on the diagnosis of restless legs syndrome as an independent disorder and the role of periodic leg movements and reviews the association of restless legs syndrome with Parkinson's disease and other movement disorders. © 2017 International Parkinson and Movement Disorder Society. © 2017 International Parkinson and Movement Disorder Society.

  17. A MODULAR ACTUATOR ARCHITECTURE FOR ROBOTIC APPLICATIONS

    International Nuclear Information System (INIS)

    None

    2001-01-01

    .'s (ARM) modular robotic manipulator technology developed for DOE EM operations, which addresses many of the issues discussed in the previous section. This manipulator system has the capability of custom configurations, which accommodate common glovebox tasks such as materials repackaging. The modular nature and quick connects of this system simplify installations into ''hot'' boxes and any potential modifications or repair therein. In the field of automation and robotics, a very common element is one used to generate motion for precise positioning of loads. One example of such an automation component would be an individual joint within an industrial robotic manipulator. This component consists of a tightly integrated package containing an electric motor, gear train, output support bearings, position sensors, brake, servo-amplifier and communications controller. Within the context of this paper, this key building block is referred to as an actuator module. With regard to the needs of the EM, [8] and [9] have shown that while each focus area has unique requirements for robotic automation at a system or manipulator level, their requirements at the actuator level are very similar. Thereby, a modular approach to automation which utilizes a small set of versatile actuator modules can be used to construct a broad range of robotic systems and automation cells suited to EM applications. By providing a pre-engineered, pre-integrated motion system to different robotics users within the DOE, new automation systems can be more quickly created without extensive expertise in motion control or the expense of building custom equipment

  18. A MODULAR ACTUATOR ARCHITECTURE FOR ROBOTIC APPLICATIONS

    Energy Technology Data Exchange (ETDEWEB)

    None

    2001-07-01

    .'s (ARM) modular robotic manipulator technology developed for DOE EM operations, which addresses many of the issues discussed in the previous section. This manipulator system has the capability of custom configurations, which accommodate common glovebox tasks such as materials repackaging. The modular nature and quick connects of this system simplify installations into ''hot'' boxes and any potential modifications or repair therein. In the field of automation and robotics, a very common element is one used to generate motion for precise positioning of loads. One example of such an automation component would be an individual joint within an industrial robotic manipulator. This component consists of a tightly integrated package containing an electric motor, gear train, output support bearings, position sensors, brake, servo-amplifier and communications controller. Within the context of this paper, this key building block is referred to as an actuator module. With regard to the needs of the EM, [8] and [9] have shown that while each focus area has unique requirements for robotic automation at a system or manipulator level, their requirements at the actuator level are very similar. Thereby, a modular approach to automation which utilizes a small set of versatile actuator modules can be used to construct a broad range of robotic systems and automation cells suited to EM applications. By providing a pre-engineered, pre-integrated motion system to different robotics users within the DOE, new automation systems can be more quickly created without extensive expertise in motion control or the expense of building custom equipment.

  19. Characterization of kink actuators as compared to traditional chevron shaped Bent-Beam electrothermal actuators

    KAUST Repository

    Rawashdeh, E.

    2012-07-06

    This paper compares the design and performance of kink actuators, a modified version of the bent-beam thermal actuator, to the standard chevron-shaped designs. A variety of kink and chevron actuator designs were fabricated from polysilicon. While the actuators were electrically probed, these designs were tested using a probe station connected to a National Instruments (NI) controller that uses LabVIEW to extract the displacement results via image processing. The displacement results were then used to validate the thermal-electric-structural simulations produced by COMSOL. These results, in turn, were used to extract the stiffness for both actuator types. The data extracted show that chevron actuators can have larger stiffness values with increasing offsets, but at the cost of lower amplification factors. In contrast, kink actuators showed a constant stiffness value equivalent to the chevron actuator with the highest amplification factor. The kink actuator also had larger amplification factors than chevrons at all designs tested. Therefore, kink actuators are capable of longer throws at lower power levels than the standard chevron designs.

  20. Restless legs syndrome mimicking S1 radiculopathy.

    Science.gov (United States)

    Zambelis, Th; Wolgamuth, B R; Papoutsi, S N; Economou, N T

    2016-01-01

    Α case of a chronic idiopathic form of a severe type of Restless Legs Syndrome (RLS), which developed during pregnancy and persisted after this, misdiagnosed for 34 years as radiculopathy S1, is reported. In spite of the thorough clinical and laboratory investigation, in addition to constant changes of the therapeutic approach, the diagnosis of S1 radiculopathy could not be confirmed, resulting in a chronic clinical course; the latter was characterized by relapses and remissions not attributed or linked in any way to the treatment (various types of). In fact, it was due to a routine workup in a sleep clinic, where the patient was referred because of a coincident chronic insomnia (Restless Legs Syndrome is a known and important cause of insomnia/chronic insomnia), which resulted in a proper diagnosis and treatment of this case. With the use of Restless Legs Syndrome appropriate treatment (Pramipexole 0.18 mg taken at bedtime, a dopaminergic agent and Level A recommended drug for Restless Legs Syndrome) an excellent response and immediate elimination of symptoms was achieved. Restless Legs Syndrome may present with a variety of symptoms (with the most prominent shortly being reported with the acronym URGE: Urge to move the legs usually associated with unpleasant leg sensations, Rest induces symptoms, Getting active brings relief, Evening and night deteriorate symptoms); given the fact that Restless Legs Syndrome presents with a great variety and heterogeneity of symptoms (mostly pain, dysesthesia and paresthesia), which may occur in several other diseases (the so called "RLS mimics"), proper diagnosis of Restless Legs Syndrome usually fails. Restless Legs Syndrome misinterpreted as S1 radiculopathy, to the best of our knowledge, has not been reported yet in the literature. Here, case history, clinical course and common RLS mimics are presented. Different forms of Restless Legs Syndrome manifestations, which are commonly -as in this case- misinterpreted due to their

  1. Smart film actuators using biomass plastic

    Science.gov (United States)

    Yoneyama, Satoshi; Tanaka, Nobuo

    2011-04-01

    This paper presents a novel smart film actuator based on the use of a biomass plastic as a piezoelectric film. Conventional polymeric smart sensors and actuators have been based upon synthetic piezoelectric polymer films such as PVDF. Almost all synthetic polymers are made from nearly depleted oil resources. In addition combustion of their materials releases carbon dioxide, thereby contributing to global warming. Thus at least two important sustainability principles are violated when employing synthetic polymers: avoiding depletable resources and avoiding ecosystem destruction. To overcome such problems, industrial plastic products made from synthetic polymers were developed to replace oil-based plastics with biomass plastics. This paper applies a biomass plastic with piezoelectricity such as poly-L-lactic acid (PLLA). As a result, PLLA film becomes a distributed parameter actuator per se, hence an environmentally conscious smart film actuator is developed. Firstly, this paper overviews the fundamental properties of piezoelectric synthetic polymers and biopolymers. The concept of carbon neutrality using biopolymers is mentioned. Then a two-dimensional modal actuator for exciting a specific structural mode is proposed. Furthermore, a biomass plastic-based cantilever beam with the capability of modal actuation is developed, the validity of the proposed smart film actuator based upon a biomass plastic being analytically as well as experimentally verified.

  2. Pulsed-DC DBD Plasma Actuators

    Science.gov (United States)

    Duong, Alan; Corke, Thomas; Thomas, Flint

    2017-11-01

    A power system for dielectric barrier discharge (DBD) plasma actuators that utilizes a pulsed-DC waveform is presented. The plasma actuator arrangement is identical to most typical AC-DBD designs with staggered electrodes that are separated by a dielectric insulator. A key difference is that the pulsed-DC actuator utilizes a DC voltage source to drive the actuator instead of an AC voltage input. The DC source is supplied to both electrodes. The exposed electrode remains constant in time while the encapsulated electrode is periodically grounded for short instances then is allowed to rise to the source DC level. Further investigation of the pulsed-DC plasma actuator was conducted. Time-resolved velocity measurements were done to characterize the induced velocity field generated by the pulsed-DC plasma actuator. A model of the pulsed-DC plasma actuator is developed in LTspice for further study. The work presented are intended in developing a model to be used in CFD flow control simulations. NASA SBIR NNX14CC12C.

  3. Smart film actuators using biomass plastic

    International Nuclear Information System (INIS)

    Yoneyama, Satoshi; Tanaka, Nobuo

    2011-01-01

    This paper presents a novel smart film actuator based on the use of a biomass plastic as a piezoelectric film. Conventional polymeric smart sensors and actuators have been based upon synthetic piezoelectric polymer films such as PVDF. Almost all synthetic polymers are made from nearly depleted oil resources. In addition combustion of their materials releases carbon dioxide, thereby contributing to global warming. Thus at least two important sustainability principles are violated when employing synthetic polymers: avoiding depletable resources and avoiding ecosystem destruction. To overcome such problems, industrial plastic products made from synthetic polymers were developed to replace oil-based plastics with biomass plastics. This paper applies a biomass plastic with piezoelectricity such as poly-L-lactic acid (PLLA). As a result, PLLA film becomes a distributed parameter actuator per se, hence an environmentally conscious smart film actuator is developed. Firstly, this paper overviews the fundamental properties of piezoelectric synthetic polymers and biopolymers. The concept of carbon neutrality using biopolymers is mentioned. Then a two-dimensional modal actuator for exciting a specific structural mode is proposed. Furthermore, a biomass plastic-based cantilever beam with the capability of modal actuation is developed, the validity of the proposed smart film actuator based upon a biomass plastic being analytically as well as experimentally verified

  4. Elastomeric actuator devices for magnetic resonance imaging

    Science.gov (United States)

    Dubowsky, Steven (Inventor); Hafez, Moustapha (Inventor); Jolesz, Ferenc A. (Inventor); Kacher, Daniel F. (Inventor); Lichter, Matthew (Inventor); Weiss, Peter (Inventor); Wingert, Andreas (Inventor)

    2008-01-01

    The present invention is directed to devices and systems used in magnetic imaging environments that include an actuator device having an elastomeric dielectric film with at least two electrodes, and a frame attached to the actuator device. The frame can have a plurality of configurations including, such as, for example, at least two members that can be, but not limited to, curved beams, rods, plates, or parallel beams. These rigid members can be coupled to flexible members such as, for example, links wherein the frame provides an elastic restoring force. The frame preferably provides a linear actuation force characteristic over a displacement range. The linear actuation force characteristic is defined as .+-.20% and preferably 10% over a displacement range. The actuator further includes a passive element disposed between the flexible members to tune a stiffness characteristic of the actuator. The passive element can be a bi-stable element. The preferred embodiment actuator includes one or more layers of the elastomeric film integrated into the frame. The elastomeric film can be made of many elastomeric materials such as, for example, but not limited to, acrylic, silicone and latex.

  5. Magnetic suspension characteristics of electromagnetic actuators

    Science.gov (United States)

    Rao, Dantam K.; Dill, J.; Zorzi, E.

    1993-01-01

    Electromagnetic actuators that use a current-carrying coil (which is placed in a magnetic field) to generate mechanical force are conceptually attractive components for active control of rotating shafts. In one concept that is being tested in the laboratory, the control forces from such actuators are applied on the flexibly supported bearing housings of the rotor. Development of this concept into a practical reality requires a clear and thorough understanding of the role of electromechanical parameters of these actuators in delivering the right amount of control force at the right phase into the rotor. The electromechanical parameters of the actuators investigated are the mass of the armature, stiffness of its suspension, electrical resistance, and inductance of the coils. Improper selection of these parameters can result in degradation in their performance, leading to mistuning between the actuator and the rotor. Through a simple analysis, it is shown that use of such mistuned actuators could result in sharp fluctuations in the phase of the control force delivered into the rotor around the critical speeds. These sharp fluctuations in phase, called 'Phase Glitches', are undesirable. Hence, future designs of controllers should take into account the undesirable mistuning effects between the actuator and the rotor caused by the phase glitches.

  6. Concept of a Series-Parallel Elastic Actuator for a Powered Transtibial Prosthesis

    Directory of Open Access Journals (Sweden)

    Bram Vanderborght

    2013-07-01

    Full Text Available The majority of the commercial transtibial prostheses are purely passive devices. They store energy in an elastic element during the beginning of a step and release it at the end. A 75 kg human, however, produces on average 26 J of energy during one stride at the ankle joint when walking at normal cadence and stores/releases 9 J of energy, contributing to energy efficient locomotion. According to Winter, a subject produces on average of 250W peak power at a maximum joint torque of 125 Nm. As a result, powering a prosthesis with traditional servomotors leads to excessive motors and gearboxes at the outer extremities of the legs. Therefore, research prototypes use series elastic actuation (SEA concepts to reduce the power requirements of the motor. In the paper, it will be shown that SEAs are able to reduce the power of the electric motor, but not the torque. To further decrease the motor size, a novel human-centered actuator concept is developed, which is inspired by the variable recruitment of muscle fibers of a human muscle. We call this concept series-parallel elastic actuation (SPEA, and the actuator consists of multiple parallel springs, each connected to an intermittent mechanism with internal locking and a single motor. As a result, the motor torque requirements can be lowered and the efficiency drastically increased. In the paper, the novel actuation concept is explained, and a comparative study between a stiff motor, an SEA and an SPEA, which all aim at mimicking human ankle behavior, is performed.

  7. Biomimetic photo-actuation: progress and challenges

    Science.gov (United States)

    Dicker, Michael P. M.; Weaver, Paul M.; Rossiter, Jonathan M.; Bond, Ian P.; Faul, Charl F. J.

    2016-04-01

    Photo-actuation, such as that observed in the reversible sun-tracking movements of heliotropic plants, is produced by a complex, yet elegant series of processes. In the heliotropic leaf movements of the Cornish Mallow, photo-actuation involves the generation, transport and manipulation of chemical signals from a distributed network of sensors in the leaf veins to a specialized osmosis driven actuation region in the leaf stem. It is theorized that such an arrangement is both efficient in terms of materials use and operational energy conversion, as well as being highly robust. We concern ourselves with understanding and mimicking these light driven, chemically controlled actuating systems with the aim of generating intelligent structures which share the properties of efficiency and robustness that are so important to survival in Nature. In this work we present recent progress in mimicking these photo-actuating systems through remote light exposure of a metastable state photoacid and the resulting signal and energy transfer through solution to a pH-responsive hydrogel actuator. Reversible actuation strains of 20% were achieved from this arrangement, with modelling then employed to reveal the critical influence hydrogel pKa has on this result. Although the strong actuation achieved highlights the progress that has been made in replicating the principles of biomimetic photo-actuation, challenges such as photoacid degradation were also revealed. It is anticipated that current work can directly lead to the development of high-performance and low-cost solartrackers for increased photovoltaic energy capture and to the creation of new types of intelligent structures employing chemical control systems.

  8. Intensive treatment of leg lymphedema

    Directory of Open Access Journals (Sweden)

    Pereira de Godoy Jose

    2010-01-01

    Full Text Available Background: Despite of all the problems caused by lymphedema, this disease continues to affect millions of people worldwide. Thus, the identification of the most efficacious forms of treatment is necessary. Aim: The aim of this study was to evaluate a novel intensive outpatient treatment for leg lymphedema. Methods: Twenty-three legs of 19 patients were evaluated in a prospective randomized study. The inclusion criteria were patients with Grade II and III lymphedema, where the difference, measured by volumetry, between the affected limb below the knee and the healthy limb was greater than 1.5 kg. Intensive treatment was carried out for 6- to 8-h sessions in the outpatient clinic. Analysis of variance was utilized for statistical analysis with an alpha error of 5% (P-value < 0.05 being considered significant. Results: All limbs had significant reductions in size with the final mean loss being 81.1% of the volume of edema. The greatest losses occurred in the first week (P-value < 0.001. Losses of more than 90% of the lymphedema occurred in 9 (39.13% patients; losses of more than 80% in 13 (56.52%, losses of more than 70% in 17 (73.91% and losses of more than 50% were recorded for 95.65% of the patients; only 1 patient lost less than 50% (37.9% of the edema. Conclusion: The intensive treatment of lymphedema in the outpatient clinic can produce significant reductions in the volume of edema over a short period of time and can be recommended for any grade of lymphedema, in particular the more advanced degrees.

  9. Leg blood flow during static exercise.

    Science.gov (United States)

    Kilbom, A; Persson, J

    1982-01-01

    Leg blood flow was studied with the constant infusion dye technique during static exercise of the thigh muscles (quadriceps) and during hand-grips at 15 and 25-30% of MVC. Blood flow and oxygen uptake in the leg increased in quadriceps exercise and reached their highest values (around 1.21/min and 165 ml/min respectively) at 25-30% of MVC, whereas leg vascular resistance decreased. Regional circulatory adaptations and the oxygen uptake - leg blood flow relationship were in close agreement with the responses found in dynamic leg exercise. In view of the marked rise in intramuscular pressure previously observed during quadriceps contractions, a restriction of blood flow and an increased vascular resistance had been expected. Involuntary activation of leg muscles other than the quadriceps may explain the finding. Contractions of the contralateral quadriceps induced a slight increase in leg blood flow, whereas hand-grips had no influence on blood flow or vascular resistance in the leg. The distribution of the cardiac output during static contractions is discussed, and it is concluded that during hand-grips the increase in blood flow is predominantly distributed to the upper part of the body.

  10. Børns leg og eksperimenterende virksomhed

    DEFF Research Database (Denmark)

    Damgaard Warrer, Sarah; Broström, Stig

    Børns leg og eksperimenterende virksomhed er et rigt felt med mange perspektiver, indgangsvinkler og nuancer. I denne bog kædes leg og det eksperimenterende og skabende sammen som to gensidigt forbundne fænomener og belyses i pædagogisk og didaktisk perspektiv. Desuden beskrives potentialet i båd...

  11. FEM assisted design and simulation of novel electrothermal actuators

    NARCIS (Netherlands)

    Deladi, S.; Krijnen, Gijsbertus J.M.; Elwenspoek, Michael Curt

    2003-01-01

    In this work the authors present the design, simulation, and experimental results of novel electrothermal actuators, such as the trimorph actuator for out-of-plane motion, the coupled in-plane actuator for in-plane motion and an actuator providing combined in- and out-of-plane motion that have been

  12. A road to practical dielectric elastomer actuators based robotics and mechatronics: discrete actuation

    Science.gov (United States)

    Plante, Jean-Sébastien; Devita, Lauren M.; Dubowsky, Steven

    2007-04-01

    Fundamental studies of Dielectric Elastomer Actuators (DEAs) using viscoelastic materials such as VHB 4905/4910 from 3M showed significant advantages at high stretch rates. The film's viscous forces increase actuator life and the short power-on times minimize energy losses through current leakage. This paper presents a design paradigm that exploits these fundamental properties of DEAs called discrete actuation. Discrete actuation uses DEAs at high stretch rates to change the states of robotic or mechatronic systems in discrete steps. Each state of the system is stable and can be maintained without actuator power. Discrete actuation can be used in robotic and mechatronic applications such as manipulation and locomotion. The resolution of such systems increases with the number of discrete states, 10 to 100 being sufficient for many applications. An MRI-guided needle positioning device for cancer treatments and a space exploration robot using hopping for locomotion are presented as examples of this concept.

  13. Active and Inactive Leg Hemodynamics during Sequential Single-Leg Interval Cycling.

    Science.gov (United States)

    Gordon, Nicole; Abbiss, Chris R; Ihsan, Mohammed; Maiorana, Andrew J; Peiffer, Jeremiah J

    2018-01-11

    Leg order during sequential single-leg cycling (i.e. exercising both legs independently within a single session) may affect local muscular responses potentially influencing adaptations. This study examined the cardiovascular and skeletal muscle hemodynamic responses during double-leg and sequential single-leg cycling. Ten young healthy adults (28 ± 6 y) completed six 1-min double-leg intervals interspersed with one minute of passive recovery and, on a separate occasion, 12 (six with one leg followed by six with the other leg) 1-min single-leg intervals interspersed with one minute of passive recovery. Oxygen consumption, heart rate, blood pressure, muscle oxygenation, muscle blood volume and power output were measured throughout each session. Oxygen consumption, heart rate and power output were not different between sets of single-leg intervals but the average of both sets was lower than the double-leg intervals. Mean arterial pressure was higher during double-leg compared with sequential single-leg intervals (115 ± 9 mmHg vs. 104 ± 9 mmHg; p<0.05) and higher during the initial compared with second set of single-leg intervals (108 ± 10 mmHg vs. 101 ± 10 mmHg; p<0.05). The increase in muscle blood volume from baseline was similar between the active single-leg and double-leg (267 ± 150 μM[BULLET OPERATOR]cm vs. 214 ± 169 μM[BULLET OPERATOR]cm; p=0.26). The pattern of change in muscle blood volume from the initial to second set of intervals was significantly different (p<0.05) when the leg was active in the initial (-52.3 ± 111.6%) compared with second set (65.1 ± 152.9%). These data indicate that the order in which each leg performs sequential single-leg cycling influences the local hemodynamic responses, with the inactive muscle influencing the stimulus experienced by the contralateral leg.

  14. Pneumatic Multi-Pocket Elastomer Actuators for Metacarpophalangeal Joint Flexion and Abduction-Adduction

    Directory of Open Access Journals (Sweden)

    Tapio Veli Juhani Tarvainen

    2017-09-01

    Full Text Available During recent years, interest has been rising towards developing fluidic fiber-reinforced elastomer actuators for wearable soft robotics used in hand rehabilitation and power-assist. However, they do not enable finger abduction-adduction, which plays an important role in activities of daily living, when grasping larger objects. Furthermore, the developed gloves often do not have separate control of joints, which is important for doing various common rehabilitation motions. The main obstacle for the development of a fully-assisting glove is moving a joint with multiple degrees of freedom. If the functions are built into the same structure, they are naturally coupled and affect each other, which makes them more difficult to design and complex to control than a simple flexion-extension actuator. In this study, we explored the key design elements and fabrication of pneumatic multi-pocket elastomer actuators for a soft rehabilitation glove. The goal was to gain more control over the metacarpophalangeal joint’s response by increasing the degree of actuation. Three main functional designs were tested for achieving both flexion and abduction-adduction. Five prototypes, with four different actuator geometries and four different reinforcement types, were designed and fabricated. They were evaluated by recording their free motion with motion capture and measuring their torque output using a dummy finger. Results showed the strengths and weaknesses of each design in separating the control of the two functions. We discuss the different improvements that are needed in order to make each design plausible for developing an actuator that meets the requirements for full assist of the hand’s motions. In conclusion, we show that it is possible to produce multi-pocket actuators for assisting MCP joint motion in both flexion and abduction-adduction, although coupling between the separate functions is still problematic and should be considered further.

  15. Effect of leg length on ROM, VJ and leg dexterity in dance.

    Science.gov (United States)

    Wyon, M A; Nevill, A M; Dekker, K; Brown, D D; Clarke, F; Pelly, J; Koutedakis, Y

    2010-09-01

    We investigated the associations between leg length and specific ballet movements in different skill groups. Volunteers were from an undergraduate dance programme (n=18), a pre-professional school (n=43) and from an elite classical ballet company (n=45). Individual data were collected for anthropometry, vertical jump, leg dexterity, and leg active and passive ROM. ANCOVA identified both main effects as significant with regard to vertical jump (gender Peffects with gender, skill or leg length. Active and passive range of motion noted gender (P=0.001) and skill (Peffects of leg length on fundamental ballet skills. The longer legs that benefit vertical jump have a negative influence on range of motion and leg dexterity except for highly skilled dancers, who through skill, seem to have overcome the effects of some of these dichotomies. Georg Thieme Verlag KG Stuttgart . New York.

  16. Robust Tracking Control for a Piezoelectric Actuator

    National Research Council Canada - National Science Library

    Salah, M; McIntyre, M; Dawson, D; Wagner, J

    2006-01-01

    In this paper, a hysteresis model-based nonlinear robust controller is developed for a piezoelectric actuator, utilizing a Lyapunov-based stability analysis, which ensures that a desired displacement...

  17. Tension Stiffened and Tendon Actuated Manipulator

    Science.gov (United States)

    Doggett, William R. (Inventor); Dorsey, John T. (Inventor); Ganoe, George G. (Inventor); King, Bruce D. (Inventor); Jones, Thomas C. (Inventor); Mercer, Charles D. (Inventor); Corbin, Cole K. (Inventor)

    2015-01-01

    A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge.

  18. Self-actuating reactor shutdown system

    Science.gov (United States)

    Barrus, Donald M.; Brummond, Willian A; Peterson, Leslie F.

    1988-01-01

    A control system for the automatic or self-actuated shutdown or "scram" of a nuclear reactor. The system is capable of initiating scram insertion by a signal from the plant protection system or by independent action directly sensing reactor conditions of low-flow or over-power. Self-actuation due to a loss of reactor coolant flow results from a decrease of pressure differential between the upper and lower ends of an absorber element. When the force due to this differential falls below the weight of the element, the element will fall by gravitational force to scram the reactor. Self-actuation due to high neutron flux is accomplished via a valve controlled by an electromagnet and a thermionic diode. In a reactor over-power, the diode will be heated to a change of state causing the electromagnet to be shorted thereby actuating the valve which provides the changed flow and pressure conditions required for scramming the absorber element.

  19. Maximizing Function through Intelligent Robot Actuator Control

    Data.gov (United States)

    National Aeronautics and Space Administration — Maximizing Function through Intelligent Robot Actuator Control Successful missions to Mars and beyond will only be possible with the support of high-performance...

  20. Sensors and actuators inherent in biological species

    Science.gov (United States)

    Taya, Minoru; Stahlberg, Rainer; Li, Fanghong; Zhao, Ying Joyce

    2007-04-01

    This paper addresses examples of sensing and active mechanisms inherent in some biological species where both plants and animals cases are discussed: mechanosensors and actuators in Venus Fly Trap and cucumber tendrils, chemosensors in insects, two cases of interactions between different kingdoms, (i) cotton plant smart defense system and (ii) bird-of-paradise flower and hamming bird interaction. All these cases lead us to recognize how energy-efficient and flexible the biological sensors and actuators are. This review reveals the importance of integration of sensing and actuation functions into an autonomous system if we make biomimetic design of a set of new autonomous systems which can sense and actuate under a number of different stimuli and threats.

  1. The Electrostatic Actuated Next Generation Microshutter Arrays

    Data.gov (United States)

    National Aeronautics and Space Administration — The field of view required for future missions is much larger than James Webb Space Telescope (JWST). We need to use electrostatic actuation to replace magnetic...

  2. Electrochemically induced actuation of liquid metal marbles.

    Science.gov (United States)

    Tang, Shi-Yang; Sivan, Vijay; Khoshmanesh, Khashayar; O'Mullane, Anthony P; Tang, Xinke; Gol, Berrak; Eshtiaghi, Nicky; Lieder, Felix; Petersen, Phred; Mitchell, Arnan; Kalantar-zadeh, Kourosh

    2013-07-07

    Controlled actuation of soft objects with functional surfaces in aqueous environments presents opportunities for liquid phase electronics, novel assembled super-structures and unusual mechanical properties. We show the extraordinary electrochemically induced actuation of liquid metal droplets coated with nanoparticles, so-called "liquid metal marbles". We demonstrate that nanoparticle coatings of these marbles offer an extra dimension for affecting the bipolar electrochemically induced actuation. The nanoparticles can readily migrate along the surface of liquid metals, upon the application of electric fields, altering the capacitive behaviour and surface tension in a highly asymmetric fashion. Surprising actuation behaviours are observed illustrating that nanoparticle coatings can have a strong effect on the movement of these marbles. This significant novel phenomenon, combined with unique properties of liquid metal marbles, represents an exciting platform for enabling diverse applications that cannot be achieved using rigid metal beads.

  3. ANS&A Equip-13 Dynamic Actuator

    National Research Council Canada - National Science Library

    Steedman, R

    1996-01-01

    The dynamic actuator is based on the principles of the stored angular momentum system for use in earthquake centrifuge modeling and is compatible with the Equivalent Shear Beam model container design...

  4. Light-actuated microrobots for biomedical science

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Villangca, Mark Jayson; Palima, Darwin Z.

    2017-01-01

    Light can be used to fabricate, handle, power, and actuate microrobotics functionalities, such as the loading and unloading of micro-cargo, showing promise for drug delivery and biological-testing applications....

  5. Synchronization of linear systems via relative actuation

    OpenAIRE

    Tuna, S. Emre

    2016-01-01

    Synchronization in networks of discrete-time linear time-invariant systems is considered under relative actuation. Neither input nor output matrices are assumed to be commensurable. A distributed algorithm that ensures synchronization via dynamic relative output feedback is presented.

  6. Considerations for Contractile Electroactive Materials and Actuators

    Energy Technology Data Exchange (ETDEWEB)

    Lenore Rasmussen, David Schramm, Paul Rasmussen, Kevin Mullaly, Ras Labs, LLC, Intelligent Materials for Prosthetics & Automation, Lewis D. Meixler, Daniel Pearlman and Alice Kirk

    2011-05-23

    Ras Labs produces contractile electroactive polymer (EAP) based materials and actuators that bend, swell, ripple, and contract (new development) with low electric input. In addition, Ras Labs produces EAP materials that quickly contract and expand, repeatedly, by reversing the polarity of the electric input, which can be cycled. This phenomenon was explored using molecular modeling, followed by experimentation. Applied voltage step functions were also investigated. High voltage steps followed by low voltage steps produced a larger contraction followed by a smaller contraction. Actuator control by simply adjusting the electric input is extremely useful for biomimetic applications. Muscles are able to partially contract. If muscles could only completely contract, nobody could hold an egg, for example, without breaking it. A combination of high and low voltage step functions could produce gross motor function and fine manipulation within the same actuator unit. Plasma treated electrodes with various geometries were investigated as a means of providing for more durable actuation.

  7. MEMS Sensors and Actuators Laboratory (MSAL)

    Data.gov (United States)

    Federal Laboratory Consortium — The MEMS Sensors and Actuators Laboratory (MSAL) in the A.J. Clark School of Engineering at the University of Maryland (UMD) was established in January 2000. Our lab...

  8. Laser soldering of piezoelectric actuator with minimal thermal impact

    OpenAIRE

    Seigneur, Frank; Fournier, Yannick; Maeder, Thomas; Jacot, Jacques

    2007-01-01

    Mechanical and electrical connecting of piezoelectric actuator is often done using conductive glue. Its advantage is not to heat the piezoelectric actuator during connection. But there are many disadvantages to gluing; the main one is curing time. Welding is another alternative, but when done in an oven, the temperature needed for this operation might destroy the heat sensitive actuator. The method described in this paper is laser soldering of piezoelectric actuator. The piezo actuator is mec...

  9. Propagation Modeling and Defending of a Mobile Sensor Worm in Wireless Sensor and Actuator Networks.

    Science.gov (United States)

    Wang, Tian; Wu, Qun; Wen, Sheng; Cai, Yiqiao; Tian, Hui; Chen, Yonghong; Wang, Baowei

    2017-01-13

    WSANs (Wireless Sensor and Actuator Networks) are derived from traditional wireless sensor networks by introducing mobile actuator elements. Previous studies indicated that mobile actuators can improve network performance in terms of data collection, energy supplementation, etc. However, according to our experimental simulations, the actuator's mobility also causes the sensor worm to spread faster if an attacker launches worm attacks on an actuator and compromises it successfully. Traditional worm propagation models and defense strategies did not consider the diffusion with a mobile worm carrier. To address this new problem, we first propose a microscopic mathematical model to describe the propagation dynamics of the sensor worm. Then, a two-step local defending strategy (LDS) with a mobile patcher (a mobile element which can distribute patches) is designed to recover the network. In LDS, all recovering operations are only taken in a restricted region to minimize the cost. Extensive experimental results demonstrate that our model estimations are rather accurate and consistent with the actual spreading scenario of the mobile sensor worm. Moreover, on average, the LDS outperforms other algorithms by approximately 50% in terms of the cost.

  10. Effects of plasticization of a soft silicone for dielectric elastomer actuation

    Science.gov (United States)

    Galantini, Fabia; Carpi, Federico; Gallone, Giuseppe

    2013-10-01

    Dielectric elastomer (DE) actuators exploit electrically induced deformations of insulating rubbery materials, as a means to transduce electrical energy into mechanical work. To enable large deformations, recent studies have demonstrated the advantage of either using elastomers that suppress pull-in electromechanical instability or driving the actuator at the verge of instability while still preventing it. Whenever these strategies are not applicable, softening the material remains the mechanical approach of choice to enable large deformations at relatively low electric fields. As the most common approach to lower the elastic modulus of an elastomer is the use of plasticizers, understanding their effects also on other properties of the elastomer is important, especially to actuator designers. Aimed at gaining insights in this respect, this paper presents an extensive chemical-physical, dielectric, mechanical and electromechanical characterization, for different amounts of a plasticizer, of one of the softest commercial silicones demonstrated for DE actuation (elastic modulus of the order of 100 kPa). The results showed the interplaying effects of a variable addition of the plasticizer, elucidating key features that could thus serve as a guide to the design of actuators for specific needs.

  11. Giant recurrent infantile myofi bromatosis of the leg in a 3 year-old ...

    African Journals Online (AJOL)

    Infantile myofi bromatosis is a rare mesenchymal disorder of infancy and childhood characterised by the formation of tumours in the soft tissues, muscles, bones and viscera. Only 61 cases have been reported in the literature. This paper describes the management of a 3 year-old boy with extensive IMF of the right leg.

  12. Linear peristaltic pump based on electromagnetic actuators

    Directory of Open Access Journals (Sweden)

    Maddoui Lotfi

    2014-01-01

    Full Text Available In this paper a study and design of a linear peristaltic pump are presented. A set of electromagnetic (solenoid actuators is used as the active tools to drag the liquid by crushing an elastic tube. The pump consists of six serially-connected electromagnetic actuators controlled via an electronic board. This may be considered as a simulated peristalsis action of intestines. The dynamic performances of the pump are investigated analytically and experimentally.

  13. 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...

  14. Electrostatically actuated torsional resonant sensors and switches

    KAUST Repository

    Younis, Mohammad I.

    2016-12-29

    Embodiments in accordance of a torsional resonant sensor disclosure is configured to actuate a beam structure using electrostatic actuation with an AC harmonic load (e.g., AC and DC voltage sources) that is activated upon detecting a particular agent having a mass above a predefined level. In various embodiments, the beam structure may be different types of resonant structures that is at least partially coated or layered with a selective material.

  15. LEAD-FREE BNKT PIEZOELECTRIC ACTUATOR

    Directory of Open Access Journals (Sweden)

    A. Moosavi

    2016-03-01

    Full Text Available An actuator is a device that converts input energy into mechanical energy. According to various types of input energy, various actuators have been advanced. Displacement in the electromagnetic, hydraulic and pneumatic actuators achieve by moving a piston via electromagnetic force or pressure, however the piezoelectric actuator (piezoceramic plates displace directly. Therefore, accuracy and speed in the piezoelectric device are higher than other types of actuators. In the present work, the high-field electromechanical response of high-quality (1−x(Bi 0.5Na0.5TiO3–x(Bi0.5K0.5TiO3 samples abbreviated to BNKTx with x = 0.18, 0.20, 0.22 and 0.24 ceramic materials across its MPB was investigated. The piezoelectrics and actuation characteristics were characterized. Ourresults indicate that x = 0.20, indeed, constitutes the best choice for the MPB composition in the system. Maximum of remanent polarization (37.5 μC cm−2 was obtained for x=0.20. High-field electromechanical responses were also obtained for BNKT0.20 samples. This material exhibited giant field induced strains of 0.13% under 1 kV mm -1 at room temperature.

  16. High-displacement spiral piezoelectric actuators

    Science.gov (United States)

    Mohammadi, F.; Kholkin, A. L.; Jadidian, B.; Safari, A.

    1999-10-01

    A high-displacement piezoelectric actuator, employing spiral geometry of a curved piezoelectric strip is described. The monolithic actuators are fabricated using a layered manufacturing technique, fused deposition of ceramics, which is capable of prototyping electroceramic components with complex shapes. The spiral actuators (2-3 cm in diameter) consisted of 4-5 turns of a lead zirconate titanate ceramic strip with an effective length up to 28 cm. The width was varied from 0.9 to 1.75 mm with a height of 3 mm. When driven by the electric field applied across the width of the spiral wall, the tip of the actuator was found to displace in both radial and tangential directions. The tangential displacement of the tip was about 210 μm under the field of 5 kV/cm. Both the displacement and resonant frequency of the spirals could be tailored by changing the effective length and wall width. The blocking force of the actuator in tangential direction was about 1 N under the field of 5 kV/cm. These properties are advantageous for high-displacement low-force applications where bimorph or monomorph actuators are currently employed.

  17. Severe Pelvic Obliquity Affects Femoral Offset in Patients with Total Hip Arthroplasty but Not Leg-Length Inequality

    OpenAIRE

    Zhou, Xiaoxiao; Wang, Qi; Zhang, Xianlong; Chen, Yunsu; Peng, Xiaochun; Mao, Yuanqing; Yang, Yang; Fu, Beigang; Wang, Xiuhui; Tang, Tingting

    2015-01-01

    Leg-length inequality is an extensively studied complication of total hip arthroplasty in normal patients. However, few studies have focused on the pelvic obliquity of coronal pelvic malrotation. We hypothesized that pelvic obliquity with a fixed abduction/adduction contracture deformity of the hip may intraoperatively affect the release of soft tissues, ultimately resulting in a leg-length inequality. This study also investigated whether the femoral and vertical offsets of total hip arthropl...

  18. Hot Leg Piping Materials Issues

    International Nuclear Information System (INIS)

    V. Munne

    2006-01-01

    With Naval Reactors (NR) approval of the Naval Reactors Prime Contractor Team (NRPCT) recommendation to develop a gas cooled reactor directly coupled to a Brayton power conversion system as the space nuclear power plant (SNPP) for Project Prometheus (References a and b) the reactor outlet piping was recognized to require a design that utilizes internal insulation (Reference c). The initial pipe design suggested ceramic fiber blanket as the insulation material based on requirements associated with service temperature capability within the expected range, very low thermal conductivity, and low density. Nevertheless, it was not considered to be well suited for internal insulation use because its very high surface area and proclivity for holding adsorbed gases, especially water, would make outgassing a source of contaminant gases in the He-Xe working fluid. Additionally, ceramic fiber blanket insulating materials become very friable after relatively short service periods at working temperatures and small pieces of fiber could be dislodged and contaminate the system. Consequently, alternative insulation materials were sought that would have comparable thermal properties and density but superior structural integrity and greatly reduced outgassing. This letter provides technical information regarding insulation and materials issues for the Hot Leg Piping preconceptual design developed for the Project Prometheus space nuclear power plant (SNPP)

  19. Recession in a linear stepper motor based on piezoelectric actuator and electrorheological clampers

    International Nuclear Information System (INIS)

    Li, Cuihong; Meng, Yonggang; Tian, Yu

    2012-01-01

    A linear inchworm-type stepper motor based on piezoelectric actuator and comb shape electrorheological (ER) clampers was developed and tested. A recession phenomenon in the movement of the motor was found and was significantly affected by the driving voltage of the piezoelectric actuator and ER fluids. A dynamic model to analyze the mechanism of the recession was established. The force ratio of the viscoelastic clamping force (applied high electric field) to the viscous damping force (zero field) of ER fluids is the critical factor which determines the recession. The ratio is also affected by the extension or contraction rate of the actuator during movement, which is affected by the charging and discharging processes. With a relatively large distance between the clamper electrodes and a small displacement activated by the extension of the piezoelectric actuator, the instantaneous shear rate might not be sufficiently high, preventing ER fluids from attaining a shear-thickened and high-strength state. The ratio of yield strength to the viscous strength of ER fluids during movement should be as large as possible to reduce the recession displacement. (paper)

  20. Lifetime of piezoceramic multilayer actuators : interplay of material properties and actuator design

    NARCIS (Netherlands)

    Ende, D.A. van den; Bos, B.; Groen, W.A.; Dortmans, L.M.J.G.

    2009-01-01

    We report an investigation into factors limiting the functional lifetime of multilayer piezoceramic actuators. The study consists of a combination of lifetime experiments by means of an accelerated lifetime test, inspection of the actuator microstructure at different stages of the accelerated

  1. Overall life cycle comprehensive assessment of pneumatic and electric actuator

    Science.gov (United States)

    Zhang, Yeming; Cai, Maolin

    2014-05-01

    Pneumatic actuators and electric actuators have almost been applied to all manufacturing industries. The two kinds of actuators can replace each other in most fields, such as the point to point transmission occasion and some rotating occasions. However, there are very few research results about the advantages and disadvantages of two kinds of actuators under the same working conditions so far. In this paper, a novel comprehensive assessment method, named as overall life cycle comprehensive assessment (OLCCA), is proposed for comparison and assessment of pneumatic and electric actuators. OLCCA contains mechanical properties evaluation (MPE), life cycle cost analysis based on users (LCCABOU) and life cycle environmental impact analysis (LCEIA) algorithm in order to solve three difficult problems: mechanical properties assessment, cost analysis and environmental impact assessment about actuators. The mechanical properties evaluation of actuators is a multi-objective optimization problem. The fuzzy data quantification and information entropy methods are combined to establish MPE algorithm of actuators. Two kinds of pneumatic actuators and electric actuators with similar bearing capacity and similar work stroke were taken for example to verify the correctness of MPE algorithm. The case study of MPE algorithm for actuators verified its correctness. LCCABOU for actuators is also set up. Considering cost complex structure of pneumatic actuators, public device cost even method (PDCEM) is firstly presented to solve cost division of public devices such as compressors, aftercooler, receivers, etc. LCCABOU method is also effective and verified by the three groups of pneumatic actuators and electric actuators. Finally, LCEIA model of actuators is established for the environmental impact assessment of actuators. LCEIA data collection method and model establishment procedure for actuators are also put forward. With Simapro 7, LCEIA comparison results of six actuators can be

  2. Position Sensor Integral with a Linear Actuator

    Science.gov (United States)

    Howard, David E.; Alhorn, Dean C.

    2004-01-01

    A noncontact position sensor has been designed for use with a specific two-dimensional linear electromagnetic actuator. To minimize the bulk and weight added by the sensor, the sensor has been made an integral part of the actuator: that is to say, parts of the actuator structure and circuitry are used for sensing as well as for varying position. The actuator (see Figure 1) includes a C-shaped permanent magnet and an armature that is approximately centered in the magnet gap. The intended function of the actuator is to cause the permanent magnet to translate to, and/or remain at, commanded x and y coordinates, relative to the armature. In addition, some incidental relative motion along the z axis is tolerated but not controlled. The sensor is required to measure the x and y displacements from a nominal central position and to be relatively insensitive to z displacement. The armature contains two sets of electromagnet windings oriented perpendicularly to each other and electrically excited in such a manner as to generate forces in the x,y plane to produce the required motion. Small sensor excitation coils are mounted on the pole tips of the permanent magnet. These coils are excited with a sine wave at a frequency of 20 kHz. This excitation is transformer-coupled to the armature windings. The geometric arrangement of the excitation coils and armature windings is such that the amplitudes of the 20-kHz voltages induced in the armature windings vary nearly linearly with x and y displacements and do not vary significantly with small z displacements. Because the frequency of 20 kHz is much greater than the maximum frequency characteristic of the actuation signals applied to the armature windings, there is no appreciable interference between actuator and sensor functions of the armature windings.

  3. Dynamic actuation of a novel laser-processed NiTi linear actuator

    International Nuclear Information System (INIS)

    Pequegnat, A; Daly, M; Wang, J; Zhou, Y; Khan, M I

    2012-01-01

    A novel laser processing technique, capable of locally modifying the shape memory effect, was applied to enhance the functionality of a NiTi linear actuator. By altering local transformation temperatures, an additional memory was imparted into a monolithic NiTi wire to enable dynamic actuation via controlled resistive heating. Characterizations of the actuator load, displacement and cyclic properties were conducted using a custom-built spring-biased test set-up. Monotonic tensile testing was also implemented to characterize the deformation behaviour of the martensite phase. Observed differences in the deformation behaviour of laser-processed material were found to affect the magnitude of the active strain. Furthermore, residual strain during cyclic actuation testing was found to stabilize after 150 cycles while the recoverable strain remained constant. This laser-processed actuator will allow for the realization of new applications and improved control methods for shape memory alloys. (paper)

  4. Leg pain (Osgood-Schlatter) (image)

    Science.gov (United States)

    Leg pain in older children or young adolescents can occur for many reasons. An Osgood-Schlatter lesion results from continued trauma to the anterior tibial bone and causes a visible lump below the knee.

  5. Support Leg Loading in Punt Kicking

    Science.gov (United States)

    Kermond, John; Konz, Stephen

    1978-01-01

    Maximum distance in football punt kicking is associated with a maximum force transfer to the ball rather than a maximum force transfer through the ground via the support leg. For maximum distance, tred lightly. (Author)

  6. Sturge-Weber syndrome - legs (image)

    Science.gov (United States)

    ... nervous system (neurocutaneous) and is associated with Port Wine Stain, red vascular markings on the face and other parts of the body (shown here on the legs). This is an unusual case, due to the large size of the lesion ( ...

  7. Leg or foot amputation - dressing change

    Science.gov (United States)

    ... patientinstructions/000018.htm Leg or foot amputation - dressing change To use the sharing features on this page, please enable JavaScript. You will need to change the dressing on your limb. This will help ...

  8. Conjoined legs: Sirenomelia or caudal regression syndrome?

    OpenAIRE

    Das, Sakti Prasad; Ojha, Niranjan; Ganesh, G Shankar; Mohanty, Ram Narayan

    2013-01-01

    Presence of single umbilical persistent vitelline artery distinguishes sirenomelia from caudal regression syndrome. We report a case of a12-year-old boy who had bilateral umbilical arteries presented with fusion of both legs in the lower one third of leg. Both feet were rudimentary. The right foot had a valgus rocker-bottom deformity. All toes were present but rudimentary. The left foot showed absence of all toes. Physical examination showed left tibia vara. The chest evaluation in sitting re...

  9. Efficiency and Speed in Legged Robots

    Science.gov (United States)

    2011-03-22

    which we substitute into (4.42) : ( -mv s J O=-km+ mvc -k __ c __ V v 2 c c 46 (4.43) (4.44) (4.45) (4.46) to fInd the switching curve m 3 s...Legged Mechanisms. IVSS. Traverse City, MI Muench, P., Alexander, J., Quinn, R., & Aschenbeck, K. (2005) Pneumatic Spring for Legged Walker. SPIE

  10. Flexural characteristics of a stack leg

    International Nuclear Information System (INIS)

    Cook, J.

    1979-06-01

    A 30 MV tandem Van de Graaff accelerator is at present under construction at Daresbury Laboratory. The insulating stack of the machine is of modular construction, each module being 860 mm in length. Each live section stack module contains 8 insulating legs mounted between bulkhead rings. The design, fabrication (from glass discs bonded to stainless steel discs using an epoxy film adhesive) and testing of the stack legs is described. (U.K.)

  11. Three cross leg flaps for lower leg reconstruction of Gustilo type III C open fracture

    Directory of Open Access Journals (Sweden)

    Kazufumi Sano

    2016-01-01

    Full Text Available A 60 year old male had Gustilo type III C open fracture of the right lower leg. After radical debridement, the large open defect including certain loss of the bone tissue was successfully augmented and covered, by consecutive three cross-leg flaps, which consisted of the free rectus abdominis musculocutaneous flap, the fibula osteocutaneous flap and the conventional sural flap. Although indication for amputation or preservation is decided with multiple factors in each case, a strategic combination of cross-leg flap, free flap, external fixation and vascular delay could increase the potential of preservation of the lower leg with even disastrous Gustilo type III C.

  12. Elastomeric contractile actuators for hand rehabilitation splints

    Science.gov (United States)

    Carpi, Federico; Mannini, Andrea; De Rossi, Danilo

    2008-03-01

    The significant electromechanical performances typically shown by dielectric elastomer actuators make this polymer technology particularly attractive for possible active orthoses for rehabilitation. Folded contractile actuators made of dielectric elastomers were recently described as a simple configuration, suitable to easily implement linear contractile devices. This paper describes an application of folded actuators for so-called hand splints: they consist of orthotic systems for hand rehabilitation. The dynamic versions of the state-of-the-art splints typically include elastic bands, which exert a passive elastic resistance to voluntary elongations of one or more fingers. In order to provide such splints with the possibility of electrically modulating the compliance of the resistive elements, the substitution of the passive elastic bands with the contractile actuators is here described. The electrical activation of the actuators is used to vary the compliance of the system; this enables modulations of the force that acts as an antagonist to voluntary finger movements, according to programmable rehabilitation exercises. The paper reports results obtained from the first prototype implementations of such a type of system.

  13. Investigation of electrochemical actuation by polyaniline nanofibers

    Science.gov (United States)

    Mehraeen, Shayan; Alkan Gürsel, Selmiye; Papila, Melih; Çakmak Cebeci, Fevzi

    2017-09-01

    Polyaniline nanofibers have shown promising electrical and electrochemical properties which make them prominent candidates in the development of smart systems employing sensors and actuators. Their electrochemical actuation potential is demonstrated in this study. A trilayer composite actuator based on polyaniline nanofibers was designed and fabricated. Cross-linked polyvinyl alcohol was sandwiched between two polyaniline nanofibrous electrodes as ion-containing electrolyte gel. First, electrochemical behavior of a single electrode was studied, showing reversible redox peak pairs in 1 M HCl using a cyclic voltammetry technique. High aspect ratio polyaniline nanofibers create a porous network which facilitates ion diffusion and thus accelerates redox reactions. Bending displacement of the prepared trilayer actuator was then tested and reported under an AC potential stimulation as low as 0.5 V in a variety of frequencies from 50 to 1000 mHz, both inside 1 M HCl solution and in air. Decay of performance of the composite actuator in air is investigated and it is reported that tip displacement in a solution was stable and repeatable for 1000 s in all selected frequencies.

  14. A wireless actuating drug delivery system

    International Nuclear Information System (INIS)

    Jo, Won-Jun; Baek, Seung-Ki; Park, Jung-Hwan

    2015-01-01

    A wireless actuating drug delivery system was devised. The system is based on induction heating for drug delivery. In this study, thermally generated nitrogen gas produced by induction heating of azobisisobutyronitrile (AIBN) was utilized for pressure-driven release of the drug. The delivery device consists of an actuator chamber, a drug reservoir, and a microchannel. A semicircular copper disc (5 and 6 mm in diameter and 100 µm thick), and thermal conductive tape were integrated as the heating element in the actuator chamber. The final device was 2.7 mm thick. 28 µl of drug solution were placed in the reservoir and the device released the drug quickly at the rate of 6 µl s −1 by induction heating at 160 µT of magnetic intensity. The entire drug solution was released and dispersed after subcutaneous implantation under identical experimental condition. This study demonstrates that the device was simply prepared and drug delivery could be achieved by wireless actuation of a thin, pressure-driven actuator. (paper)

  15. A magnetorheological actuation system: test and model

    International Nuclear Information System (INIS)

    John, Shaju; Chaudhuri, Anirban; Wereley, Norman M

    2008-01-01

    Self-contained actuation systems, based on frequency rectification of the high frequency motion of an active material, can produce high force and stroke output. Magnetorheological (MR) fluids are active fluids whose rheological properties can be altered by the application of a magnetic field. By using MR fluids as the energy transmission medium in such hybrid devices, a valving system with no moving parts can be implemented and used to control the motion of an output cylinder shaft. The MR fluid based valves are configured in the form of an H-bridge to produce bi-directional motion in an output cylinder by alternately applying magnetic fields in the two opposite arms of the bridge. The rheological properties of the MR fluid are modeled using both Bingham plastic and bi-viscous models. In this study, the primary actuation is performed using a compact terfenol-D rod driven pump and frequency rectification of the rod motion is done using passive reed valves. The pump and reed valve configuration along with MR fluidic valves form a compact hydraulic actuation system. Actuator design, analysis and experimental results are presented in this paper. A time domain model of the actuator is developed and validated using experimental data

  16. Levitating Micro-Actuators: A Review

    Directory of Open Access Journals (Sweden)

    Kirill V. Poletkin

    2018-04-01

    Full Text Available Through remote forces, levitating micro-actuators completely eliminate mechanical attachment between the stationary and moving parts of a micro-actuator, thus providing a fundamental solution to overcoming the domination of friction over inertial forces at the micro-scale. Eliminating the usual mechanical constraints promises micro-actuators with increased operational capabilities and low dissipation energy. Further reduction of friction and hence dissipation by means of vacuum leads to dramatic increases of performance when compared to mechanically tethered counterparts. In order to efficiently employ the benefits provided by levitation, micro-actuators are classified according to their physical principles as well as by their combinations. Different operating principles, structures, materials and fabrication methods are considered. A detailed analysis of the significant achievements in the technology of micro-optics, micro-magnets and micro-coil fabrication, along with the development of new magnetic materials during recent decades, which has driven the creation of new application domains for levitating micro-actuators is performed.

  17. Interfacing dielectric elastomer actuators with liquids

    Science.gov (United States)

    Poulin, Alexandre; Maffli, Luc; Rosset, Samuel; Shea, Herbert

    2015-04-01

    Methods and materials for liquid encapsulation in thin (19 μm) silicone membranes are presented in this work. A set of 12 liquids including solvents, oils, silicone pre-polymers and one ionic liquid are experimentally tested. We show that all selected liquids are chemically inert to silicone and that vapor pressure is the key parameter for stable encapsulation. It is demonstrated that encapsulated volume of silicone pre-polymers and ionic liquids can stay stable for more than 1 month. The actuation of dielectric elastomer actuators (DEAs) in conductive liquids is also investigated. An analysis of the equivalent electrical circuits of immersed DEAs shows that non-overlapping regions of the electrodes should be minimized. It also provides guidelines to determine when the electrodes should be passivated. The effects of immersion in a conductive liquid are assessed by measuring the actuation strain and capacitance over periodic actuation. The experimental results show no sign of liquid-induced degradation over more than 45k actuation cycles.

  18. Waggle: A Framework for Intelligent Attentive Sensing and Actuation

    Science.gov (United States)

    Sankaran, R.; Jacob, R. L.; Beckman, P. H.; Catlett, C. E.; Keahey, K.

    2014-12-01

    Advances in sensor-driven computation and computationally steered sensing will greatly enable future research in fields including environmental and atmospheric sciences. We will present "Waggle," an open-source hardware and software infrastructure developed with two goals: (1) reducing the separation and latency between sensing and computing and (2) improving the reliability and longevity of sensing-actuation platforms in challenging and costly deployments. Inspired by "deep-space probe" systems, the Waggle platform design includes features that can support longitudinal studies, deployments with varying communication links, and remote management capabilities. Waggle lowers the barrier for scientists to incorporate real-time data from their sensors into their computations and to manipulate the sensors or provide feedback through actuators. A standardized software and hardware design allows quick addition of new sensors/actuators and associated software in the nodes and enables them to be coupled with computational codes both insitu and on external compute infrastructure. The Waggle framework currently drives the deployment of two observational systems - a portable and self-sufficient weather platform for study of small-scale effects in Chicago's urban core and an open-ended distributed instrument in Chicago that aims to support several research pursuits across a broad range of disciplines including urban planning, microbiology and computer science. Built around open-source software, hardware, and Linux OS, the Waggle system comprises two components - the Waggle field-node and Waggle cloud-computing infrastructure. Waggle field-node affords a modular, scalable, fault-tolerant, secure, and extensible platform for hosting sensors and actuators in the field. It supports insitu computation and data storage, and integration with cloud-computing infrastructure. The Waggle cloud infrastructure is designed with the goal of scaling to several hundreds of thousands of Waggle

  19. Actuation mechanisms of carbon nanotube-based architectures

    Science.gov (United States)

    Geier, Sebastian; Mahrholz, Thorsten; Wierach, Peter; Sinapius, Michael

    2016-04-01

    State of the art smart materials such as piezo ceramics or electroactive polymers cannot feature both, mechanical stiffness and high active strain. Moreover, properties like low density, high mechanical stiffness and high strain at the same time driven by low energy play an increasingly important role for their future application. Carbon nanotubes (CNT), show this behavior. Their active behavior was observed 1999 the first time using paper-like mats made of CNT. Therefore the CNT-papers are electrical charged within an electrolyte thus forming a double- layer. The measured deflection of CNT material is based on the interaction between the charged high surface area formed by carbon nanotubes and ions provided by the electrolyte. Although CNT-papers have been extensively analyzed as well at the macro-scale as nano-scale there is still no generally accepted theory for the actuation mechanism. This paper focuses on investigations of the actuation mechanisms of CNT-papers in comparison to vertically aligned CNT-arrays. One reason of divergent results found in literature might be attributed to different types of CNT samples. While CNT-papers represent architectures of short CNTs which need to bridge each other to form the dimensions of the sample, the continuous CNTs of the array feature a length of almost 3 mm, along which the experiments are carried out. Both sample types are tested within an actuated tensile test set-up under different conditions. While the CNT-papers are tested in water-based electrolytes with comparably small redox-windows the hydrophobic CNT-arrays are tested in ionic liquids with comparatively larger redox-ranges. Furthermore an in-situ micro tensile test within an SEM is carried out to prove the optimized orientation of the MWCNTs as result of external load. It was found that the performance of CNT-papers strongly depends on the test conditions. However, the CNT-arrays are almost unaffected by the conditions showing active response at negative

  20. Modeling and Simulation of Control Actuation System with Fuzzy-PID Logic Controlled Brushless Motor Drives for Missiles Glider Applications

    Directory of Open Access Journals (Sweden)

    Murali Muniraj

    2015-01-01

    Full Text Available A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system.

  1. Modeling and Simulation of Control Actuation System with Fuzzy-PID Logic Controlled Brushless Motor Drives for Missiles Glider Applications

    Science.gov (United States)

    Muniraj, Murali; Arulmozhiyal, Ramaswamy

    2015-01-01

    A control actuation system has been used extensively in automotive, aerospace, and defense applications. The major challenges in modeling control actuation system are rise time, maximum peak to peak overshoot, and response to nonlinear system with percentage error. This paper addresses the challenges in modeling and real time implementation of control actuation system for missiles glider applications. As an alternative fuzzy-PID controller is proposed in BLDC motor drive followed by linkage mechanism to actuate fins in missiles and gliders. The proposed system will realize better rise time and less overshoot while operating in extreme nonlinear dynamic system conditions. A mathematical model of BLDC motor is derived in state space form. The complete control actuation system is modeled in MATLAB/Simulink environment and verified by performing simulation studies. A real time prototype of the control actuation is developed with dSPACE-1104 hardware controller and a detailed analysis is carried out to confirm the viability of the proposed system. PMID:26613102

  2. Flexible dielectric elastomer actuators for wearable human-machine interfaces

    Science.gov (United States)

    Bolzmacher, Christian; Biggs, James; Srinivasan, Mandayam

    2006-03-01

    Wearable dielectric elastomer actuators have the potential to enable new technologies, such as tactile feedback gloves for virtual reality, and to improve existing devices, such as automatic blood pressure cuffs. They are potentially lighter, quieter, thinner, simpler, and cheaper than pneumatic and hydraulic systems now used to make compliant, actuated interfaces with the human body. Achieving good performance without using a rigid frame to prestrain the actuator is a fundamental challenge in using these actuators on body. To answer this challenge, a new type of fiber-prestrained composite actuator was developed. Equations that facilitate design of the actuator are presented, along with FE analysis, material tests, and experimental results from prototypes. Bending stiffness of the actuator material was found to be comparable to textiles used in clothing, confirming wearability. Two roll-to-roll machines are also presented that permit manufacture of this material in bulk as a modular, compact, prestressed composite that can be cut, stacked, and staggered, in order to build up actuators for a range of desired forces and displacements. The electromechanical properties of single- layered actuators manufactured by this method were measured (N=5). At non-damaging voltages, blocking force ranged from 3,7-5,0 gram per centimeter of actuator width, with linear strains of 20,0-30%. Driving the actuators to breakdown produced maximum force of 8,3-10 gram/cm, and actuation strain in excess 30%. Using this actuator, a prototype tactile display was constructed and demonstrated.

  3. Biomimetic actuator and sensor for robot hand

    International Nuclear Information System (INIS)

    Kim, Baekchul; Chung, Jinah; Cho, Hanjoung; Shin, Seunghoon; Lee, Hyoungsuk; Moon, Hyungpil; Choi, Hyouk Ryeol; Koo, Jachoon

    2012-01-01

    To manufacture a robot hand that essentially mimics the functions of a human hand, it is necessary to develop flexible actuators and sensors. In this study, we propose the design, manufacture, and performance verification of flexible actuators and sensors based on Electro Active Polymer (EAP). EAP is fabricated as a type of film, and it moves with changes in the voltage because of contraction and expansion in the polymer film. Furthermore, if a force is applied to an EAP film, its thickness and effective area change, and therefore, the capacitance also changes. By using this mechanism, we produce capacitive actuators and sensors. In this study, we propose an EAP based capacitive sensor and evaluate its use as a robot hand sensor

  4. 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.

  5. Biomimetic actuator and sensor for robot hand

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Baekchul; Chung, Jinah; Cho, Hanjoung; Shin, Seunghoon; Lee, Hyoungsuk; Moon, Hyungpil; Choi, Hyouk Ryeol; Koo, Jachoon [Sungkyunkwan Univ., Seoul (Korea, Republic of)

    2012-12-15

    To manufacture a robot hand that essentially mimics the functions of a human hand, it is necessary to develop flexible actuators and sensors. In this study, we propose the design, manufacture, and performance verification of flexible actuators and sensors based on Electro Active Polymer (EAP). EAP is fabricated as a type of film, and it moves with changes in the voltage because of contraction and expansion in the polymer film. Furthermore, if a force is applied to an EAP film, its thickness and effective area change, and therefore, the capacitance also changes. By using this mechanism, we produce capacitive actuators and sensors. In this study, we propose an EAP based capacitive sensor and evaluate its use as a robot hand sensor.

  6. Hand-actuated spring clip insertion tool

    International Nuclear Information System (INIS)

    Cuba, G.W.

    1993-01-01

    A hand-actuated insertion tool includes a handle assembly, an elongated hollow tubular outer support tube, an elongated inner pull rod, and a coupling arrangement. The handle assembly has a first handle member and a second handle member pivoted to a member for movement between unactuated and actuated positions. The tube is attached in a fixed relation to a handle member. The rod is mounted within the tube for sliding movement relative thereto between home and retracted positions. The coupling arrangement pivotally connects the rod to the second handle member such that the rod will undergo sliding movement from the home position to the retracted positions relative to the tube as the second handle member is moved from the unactuated position to the actuated position adjacent to the first handle member. (author)

  7. Air Muscle Actuated Low Cost Humanoid Hand

    Directory of Open Access Journals (Sweden)

    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.

  8. Processing and characterization of oval piezoelectric actuators

    Science.gov (United States)

    Jadidian, B.; Allahverdi, M.; Mohammadi, F.; Safari, A.

    2002-03-01

    The processing and characterization of piezoelectric actuators with oval geometry are presented. The monolithic actuators were fabricated using the fused deposition of ceramic process. The minor diameter of the ovals varied between 2 and 14 mm and their major diameter, wall thickness, and width were 20, 0.85, and 7 mm, respectively. When driven under electric field, the actuators expanded along their minor diameter. The static and dynamic displacements of ˜7 and ˜5.6 μm were observed at 850 V(dc) and 100 V(ac). The static displacement of the ovals varied almost linearly with voltage and did not change under the application of external load in the range of 1-15 N. However, both dynamic displacement and resonant frequency of the ovals varied, with a maximum of 42 μm and 38 Hz, respectively, under 13 N load.

  9. Electrothermally Actuated Microbeams With Varying Stiffness

    KAUST Repository

    Tella, Sherif Adekunle

    2017-11-03

    We present axially loaded clamped-guided microbeams that can be used as resonators and actuators of variable stiffness, actuation, and anchor conditions. The applied axial load is implemented by U-shaped electrothermal actuators stacked at one of the beams edges. These can be configured and wired in various ways, which serve as mechanical stiffness elements that control the operating resonance frequency of the structures and their static displacement. The experimental results have shown considerable increase in the resonance frequency and mid-point deflection of the microbeam upon changing the end conditions of the beam. These results can be promising for applications requiring large deflection and high frequency tunability, such as filters, memory devices, and switches. The experimental results are compared to multi-physics finite-element simulations showing good agreement among them.

  10. PZT crack detection in suspension-based dual stage actuator [for HDDs

    CERN Document Server

    Yung Ping Yeh; Ku, C

    2000-01-01

    An impedance method is proposed to detect cracks of PZT bars in suspension based dual stage-actuators. The frequency response amplitude of impedance at the resonance of 1.95 MHz, the PZT bar width extension mode, was very sensitive to the cracks in PZT material. As cracks in the PZT bars propagated from invisible micro cracks to visible macro cracks, the impedance gain at 1.95 MHz dropped suddenly. (3 refs).

  11. Recent developments on SMA actuators: predicting the actuation fatigue life for variable loading schemes

    Science.gov (United States)

    Wheeler, Robert W.; Lagoudas, Dimitris C.

    2017-04-01

    Shape memory alloys (SMAs), due to their ability to repeatably recover substantial deformations under applied mechanical loading, have the potential to impact the aerospace, automotive, biomedical, and energy industries as weight and volume saving replacements for conventional actuators. While numerous applications of SMA actuators have been flight tested and can be found in industrial applications, these actuators are generally limited to non-critical components, are not widely implemented and frequently one-off designs, and are generally overdesigned due to a lack of understanding of the effect of the loading path on the fatigue life and the lack of an accurate method for predicting actuator lifetimes. In recent years, multiple research efforts have increased our understanding of the actuation fatigue process of SMAs. These advances can be utilized to predict the fatigue lives and failure loads in SMA actuators. Additionally, these prediction methods can be implemented in order to intelligently design actuators in accordance with their fatigue and failure limits. In the following paper, both simple and complex thermomechanical loading paths have been considered. Experimental data was utilized from two material systems: equiatomic Nickel-Titanium and Nickelrich Nickel-Titanium.

  12. A rotary pneumatic actuator for the actuation of the exoskeleton knee joint

    Directory of Open Access Journals (Sweden)

    Jobin Varghese

    2017-07-01

    Full Text Available Rotary pneumatic actuators that are made out of linear one are always best suited for exoskeleton joint actuation due to its inherent power to weight ratio. This work is a modified version of knee actuation system that has already been developed and major modifications are made in order to make it more suitable for human wearing and also to reduce its bulkiness and complexity. The considered actuator system is a rotary actuator where a pulley converts the linear motion of the standard pneumatic piston into the rotary motion. To prove the capability of the actuator, its performance characteristics such as torque and power produced are compared to the required torque and power at the knee joint of the exoskeleton in swing phase and are found to be excellent. The two-way analysis of variance (ANOVA is performed to find the effect of the throat area valve on knee angle. The ANOVA shows the significant effect of the throat area variation on the knee angle flexion made by the proposed actuator. A relationship between the throat area of flow control valve, that is connected to the exit port of the direction control valve, and angular displacement of the knee joint has been formulated. This relationship can be used to design a control system to regulate the mass flow rate of air at the exit and hence the angular velocity of the knee joint can be controlled. Keywords: Driven pulley, Flow control valve, Rotary, Pneumatic cylinder

  13. Active vibration isolation through a Stewart platform with piezoelectric actuators

    Science.gov (United States)

    Wang, Chaoxin; Xie, Xiling; Chen, Yanhao; Zhang, Zhiyi

    2016-09-01

    A Stewart platform with piezoelectric actuators is presented for micro-vibration isolation. The Jacobian matrix of the Stewart platform, which reveals the relationship between the position/pointing of the payload and the extensions of the struts, is derived by the kinematic analysis and modified according to measured FRFs(frequency response function). The dynamic model of the Stewart platform is established by the FRF synthesis method to accommodate flexible modes of the platform. In active isolation, the LMS-based adaptive method is adopted and combined with the Jacobian matrix to suppress pure vibrations of the payload. Numerical simulations and experiments were conducted to prove vibration isolation performance of the Stewart platform subjected to periodical disturbances, and the results have demonstrated that considerable attenuations can be achieved.

  14. Experimental performance and feasibility of a miniature single-degree-of-freedom rotary joint with integrated IPMC actuator

    Science.gov (United States)

    Manley, Sean; McDaid, Andrew; Aw, Kean; Xie, Shane; Haemmerle, Enrico

    2009-03-01

    Ionic Polymer Metal Composite (IPMC) materials are bending actuators that can achieve large tip displacements at voltages less than 10V, but with low force output. Their advantages over traditional actuators include very low mass and size; flexibility; direct conversion of electricity to mechanical energy; biocompatibility; and the potential to build integrated sensing/actuation devices, using their inherent sensing properties. It therefore makes sense to pursue them as a replacement to traditional actuators where the lack of force is less significant, such as micro-robotics; bio-mimetics; medical robotics; and non-contact applications such as positioning of sensors. However, little research has been carried out on using them to drive mechanisms such as the rotary joints. This research explores the potential for applying IPMC to driving a single degree-of-freedom rotary mechanism, for a small-force robotic manipulator or positioning system. Practical issues such as adequate force output and friction are identified and tackled in the development of the mechanical apparatus, to study the feasibility of the actuator once attached to the mechanism. Rigid extensions are then applied to the tip of the IPMC, as well as doubling- and tripling the actuators in a stack to increase force output. Finally, feasibility of the entire concept is considered by comparing the maximum achievable forces and combining the actuator with the mechanism. It is concluded that while the actuator is capable of moving the mechanism, it is non-repeatable and does not achieve a level that allows feedback control to be applied.

  15. Optical nano and micro actuator technology

    CERN Document Server

    Knopf, George K

    2012-01-01

    In Optical Nano and Micro Actuator Technology, leading engineers, material scientists, chemists, physicists, laser scientists, and manufacturing specialists offer an in-depth, wide-ranging look at the fundamental and unique characteristics of light-driven optical actuators. They discuss how light can initiate physical movement and control a variety of mechanisms that perform mechanical work at the micro- and nanoscale. The book begins with the scientific background necessary for understanding light-driven systems, discussing the nature of light and the interaction between light and NEMS/MEMS d

  16. A dynamic linearization concept for piezoelectric actuators.

    Science.gov (United States)

    Biancuzzi, Giovanni; Haller, Daniel; Lemke, Thomas; Wischke, Martin; Goldschmidtboeing, Frank; Woias, Peter

    2011-04-01

    We present a linearization circuit based on a capacitive Wheatstone bridge that is able to set a desired polarization in a piezoactuator. The system is meant to be used for dynamic actuation in a broad frequency range. A general nonlinear model for piezoactuators is presented in which two nonlinear sub-systems are cascaded: the electric-field-to-polarization (E-P) and the polarization-to-strain (P-x) blocks. The inversion of the latter sub-system in combination with the linearization bridge results in a reduction of up to 19 dB of the harmonic distortion of the actuator's mechanical displacement. © 2011 IEEE

  17. Design optimization of a linear actuator

    DEFF Research Database (Denmark)

    Rechenbach, B.; Willatzen, Morten; Preisler, K. Lorenzen

    2013-01-01

    properties of a polymeric interlayer between the elastomer and the rods, gluing all materials together, so as to optimize the mechanical durability of the system. Finite element analysis is employed for the theoretical study which is linked up to experimental results performed by Danfoss PolyPower A/S.......The mechanical contacting of a dielectric elastomer actuator is investigated. The actuator is constructed by coiling the dielectric elastomer around two parallel metal rods, similar to a rubber band stretched by two index fingers. The goal of this paper is to design the geometry and the mechanical...

  18. Actuator assembly including a single axis of rotation locking member

    Science.gov (United States)

    Quitmeyer, James N.; Benson, Dwayne M.; Geck, Kellan P.

    2009-12-08

    An actuator assembly including an actuator housing assembly and a single axis of rotation locking member fixedly attached to a portion of the actuator housing assembly and an external mounting structure. The single axis of rotation locking member restricting rotational movement of the actuator housing assembly about at least one axis. The single axis of rotation locking member is coupled at a first end to the actuator housing assembly about a Y axis and at a 90.degree. angle to an X and Z axis providing rotation of the actuator housing assembly about the Y axis. The single axis of rotation locking member is coupled at a second end to a mounting structure, and more particularly a mounting pin, about an X axis and at a 90.degree. angle to a Y and Z axis providing rotation of the actuator housing assembly about the X axis. The actuator assembly is thereby restricted from rotation about the Z axis.

  19. Prognostic Health-Management System Development for Electromechanical Actuators

    Data.gov (United States)

    National Aeronautics and Space Administration — Electro-mechanical actuators (EMAs) have been gaining increased acceptance as safety-critical actuation devices in the next generation of aircraft and spacecraft....

  20. Genetic parameters for claw and leg health, foot and leg conformation, and locomotion in Danish Holsteins

    DEFF Research Database (Denmark)

    Laursen, M. V.; Boelling, D.; Mark, Thomas

    2009-01-01

    The purpose of this study was to estimate the genetic correlations among claw and leg health and potential indicator traits. Claw health was defined as absence of heel horn erosion, interdigital dermatitis, interdigital phlegmon, interdigital hyperplasia, laminitis, and sole ulcer. Leg health...

  1. Mathematical modeling of a V-stack piezoelectric aileron actuation

    Directory of Open Access Journals (Sweden)

    Ioan URSU

    2016-12-01

    Full Text Available The article presents a mathematical modeling of aileron actuation that uses piezo V-shaped stacks. The aim of the actuation is the increasing of flutter speed in the context of a control law, in order to widen the flight envelope. In this way the main advantage of such a piezo actuator, the bandwidth is exploited. The mathematical model is obtained based on free body diagrams, and the numerical simulations allow a preliminary sizing of the actuator.

  2. Investigations on Actuator Dynamics through Theoretical and Finite Element Approach

    OpenAIRE

    Somashekhar S. Hiremath; M. Singaperumal

    2010-01-01

    This paper gives a new approach for modeling the fluid-structure interaction of servovalve component-actuator. The analyzed valve is a precision flow control valve-jet pipe electrohydraulic servovalve. The positioning of an actuator depends upon the flow rate from control ports, in turn depends on the spool position. Theoretical investigation is made for No-load condition and Load condition for an actuator. These are used in finite element modeling of an actuator. The fluid-structure-interact...

  3. REVIEW ON MODELING AND CONTROLLER DESIGN OF HYDRAULIC ACTUATOR SYSTEMS

    OpenAIRE

    Salleh, S.; Rahmat, M. F.; Othman, S. M.; Danapalasingam, K. A.

    2015-01-01

    The purpose of this paper is to review the literature on modeling and previous control strategies of the hydraulic actuator system proposed by most of the researchers around the world. Before comes to the main discussion, some background information related to hydraulic actuator will be presented. This review includes a short summary and conclusion for hydraulic actuator system. The repercussion of this review is for future inventions of a better and robust hydraulic actuator system.

  4. Analysis of risk management practices among extension workers in ...

    African Journals Online (AJOL)

    The extension workers were exposed to hazards / risks such as accident on the farm, car/motor/bicycle accident, injury to the leg/hand, encounter with ... practices among workers in government establishment include: lack of safety training, absence of risk management policy and non-provision of safety gargets. Keywords: ...

  5. Chemical composition of chicken meat produced in extensive indoor ...

    African Journals Online (AJOL)

    Cooled carcasses were dissected into primal cuts. Breast and leg muscle (thigh and drumstick) samples were used for chemical analyses. The obtained results suggested that free range rearing system was more favourable than extensive indoor system, as it resulted in a significantly higher protein content and a lower fat ...

  6. One-legged endurance training: leg blood flow and oxygen extraction during cycling exercise

    DEFF Research Database (Denmark)

    Rud, B; Foss, O; Krustrup, Peter

    2012-01-01

    Aim: As a consequence of enhanced local vascular conductance, perfusion of muscles increases with exercise intensity to suffice the oxygen demand. However, when maximal oxygen uptake (VO(2) max) and cardiac output are approached, the increase in conductance is blunted. Endurance training increases...... muscle metabolic capacity, but to what extent that affects the regulation of muscle vascular conductance during exercise is unknown. Methods: Seven weeks of one-legged endurance training was carried out by twelve subjects. Pulmonary VO(2) during cycling and one-legged cycling was tested before and after...... training, while VO(2) of the trained leg (TL) and control leg (CL) during cycling was determined after training. Results: VO(2) max for cycling was unaffected by training, although one-legged VO(2) max became 6.7 (2.3)% (mean ± SE) larger with TL than with CL. Also TL citrate synthase activity was higher...

  7. The kinematic differences between off-spin and leg-spin bowling in cricket.

    Science.gov (United States)

    Beach, Aaron J; Ferdinands, René E D; Sinclair, Peter J

    2016-09-01

    Spin bowling is generally coached using a standard technical framework, but this practice has not been based upon a comparative biomechanical analysis of leg-spin and off-spin bowling. This study analysed the three-dimensional (3D) kinematics of 23 off-spin and 20 leg-spin bowlers using a Cortex motion analysis system to identify how aspects of the respective techniques differed. A multivariate ANOVA found that certain data tended to validate some of the stated differences in the coaching literature. Off-spin bowlers had a significantly shorter stride length (p = 0.006) and spin rate (p = 0.001), but a greater release height than leg-spinners (p = 0.007). In addition, a number of other kinematic differences were identified that were not previously documented in coaching literature. These included a larger rear knee flexion (p = 0.007), faster approach speed (p < 0.001), and flexing elbow action during the arm acceleration compared with an extension action used by most of the off-spin bowlers. Off-spin and leg-spin bowlers also deviated from the standard coaching model for the shoulder alignment, front knee angle at release, and forearm mechanics. This study suggests that off-spin and leg-spin are distinct bowling techniques, supporting the development of two different coaching models in spin bowling.

  8. High-throughput genotyping of Anopheles mosquitoes using intact legs by Agena Biosciences iPLEX.

    Science.gov (United States)

    Fabrigar, Danica Joy; Hubbart, Christina; Miles, Alistair; Rockett, Kirk

    2016-03-01

    Recent developments in genotyping technologies coupled with the growing desire to characterize genome variation in Anopheles populations open the opportunity to develop more effective genotyping strategies for high-throughput screening. A major bottleneck of this goal is nucleic acid extraction. Here, we examined the feasibility of using intact portions of a mosquito's leg as sources of template DNA for whole-genome amplification (WGA) by primer-extension preamplification. We used the Agena Biosciences MassARRAY(®) platform (formerly Sequenom) to genotype 78 SNPs for 265 WGA leg samples. We performed nucleic acid extraction on 36 mosquito carcasses and compared the genotype call concordance with their corresponding legs and observed full concordance. Using three legs instead of one improved genotyping success rates (96% vs. 89%, respectively), although this difference was not significant. We provide a proof of concept that WGA reactions can be performed directly on mosquito legs, thereby eliminating the need to extract nucleic acid. This approach is straightforward and sensitive and allows both species determination and genotyping of Anopheles mosquitoes to be performed in a high-throughput manner. Our protocol also leaves the mosquito body intact facilitating other experimental analysis to be undertaken on the same sample. Based on our findings, this method would also be suitable for use with other insect species. © 2015 John Wiley & Sons Ltd.

  9. Association between Thigh Muscle Volume and Leg Muscle Power in Older Women.

    Directory of Open Access Journals (Sweden)

    Ulrich Lindemann

    Full Text Available The construct of sarcopenia is still discussed with regard to best appropriate measures of muscle volume and muscle function. The aim of this post-hoc analysis of a cross-sectional experimental study was to investigate and describe the hierarchy of the association between thigh muscle volume and measurements of functional performance in older women. Thigh muscle volume of 68 independently living older women (mean age 77.6 years was measured via magnetic resonance imaging. Isometric strength was assessed for leg extension in a movement laboratory in sitting position with the knee flexed at 90° and for hand grip. Maximum and habitual gait speed was measured on an electronic walk way. Leg muscle power was measured during single leg push and during sit-to-stand performance. Thigh muscle volume was associated with sit-to-stand performance power (r = 0.628, leg push power (r = 0.550, isometric quadriceps strength (r = 0.442, hand grip strength (r = 0.367, fast gait speed (r = 0.291, habitual gait speed (r = 0.256, body mass index (r = 0.411 and age (r = -0.392. Muscle power showed the highest association with thigh muscle volume in healthy older women. Sit-to-stand performance power showed an even higher association with thigh muscle volume compared to single leg push power.

  10. Hop performance and leg muscle power in athletes: Reliability of a test battery.

    Science.gov (United States)

    Kockum, Britta; Heijne, Annette I-L M

    2015-08-01

    To measure the absolute and relative reliability and the smallest real difference (SRD) in three commonly used hop tests, two leg-power tests and the single-leg squat jump. Methodological study. Clinical setting. Fourteen healthy athletes (seven women and seven men) were evaluated in a standardized test-retest design. The Intra-class correlation coefficient (ICC2.1), Standard Error of Measurement (SEM) and SRD were calculated for the vertical jump, one-leg hop for distance, side-hop, single-leg squat jump and knee-flexion and knee-extension power tests. All tests showed good to excellent ICC (0.84-0.98). The SEM (%) ranged between 3.4 and 11.1 for the four hop tests and between 8.1 and 12.4 for the leg-power tests. The SRD (%) for the hop tests ranged between 9.3 and 30.7 and for the three power tests between 22.4 and 34.3. The absolute reliability of this test protocol showed good to excellent ICC values and measurement errors of approximately 10%. This instrument can be recommended for determining function in terms of power in healthy athletes or late in the rehabilitation process. The tests' methodological errors must be considered and caution should be taken regarding the standardization procedure during testing. Copyright © 2014 Elsevier Ltd. All rights reserved.

  11. A three-degree-of-freedom thin-film PZT-actuated microactuator with large out-of-plane displacement

    Science.gov (United States)

    Choi, Jongsoo; Qiu, Zhen; Rhee, Choong-Ho; Wang, Thomas; Oldham, Kenn

    2014-07-01

    A novel three degree-of-freedom microactuator based on thin-film lead-zirconate-titanate (PZT) is described with its detailed structural model. Its central rectangular-shaped mirror platform, also referred to as the stage, is actuated by four symmetric PZT bending legs such that each leg provides vertical translation for one corner of the stage. It has been developed to support real-time in vivo vertical cross-sectional imaging with a dual axes confocal endomicroscope for early cancer detection, having large displacements in three axes (z, θx, θy) and a relatively high bandwidth in the z-axis direction. Prototype microactuators closely meet the performance requirements for this application; in the out-of-plane (z-axis) direction, it has shown more than 177 μm of displacement and about 84 Hz of structural natural frequency, when two diagonal legs are actuated at 14V. With all four legs, another prototype of the same design with lighter stage mass has achieved more than 430 μm of out-of-plane displacement at 15V and about 200 Hz of bandwidth. The former design has shown approximately 6.4° and 2.9° of stage tilting about the x-axis and y-axis, respectively, at 14V. This paper also presents a modeling technique that uses experimental data to account for the effects of fabrication uncertainties in residual stress and structural dimensions. The presented model predicts the static motion of the stage within an average absolute error of 14.6 μm, which approaches the desired imaging resolution, 5 μm, and also reasonably anticipates the structural dynamic behavior of the stage. The refined model will support development of a future trajectory tracking controller for the system.

  12. Steering Micro-Robotic Swarm by Dynamic Actuating Fields

    NARCIS (Netherlands)

    Chao, Q.; Yu, J; Dai, C.; Xu, T; Zhang, L.; Wang, C.C.; Jin, X.

    2016-01-01

    We present a general solution for steering microrobotic
    swarm by dynamic actuating fields. In our approach, the
    motion of micro-robots is controlled by changing the actuating
    direction of a field applied to them. The time-series sequence
    of actuating field’s directions can be

  13. Evaluation of pneumatic cylinder actuators for hand prostheses

    NARCIS (Netherlands)

    Peerdeman, B.; Smit, Gerwin; Stramigioli, Stefano; Plettenburg, Dick; Misra, Sarthak

    2012-01-01

    DC motors are currently the preferred actuation method for externally powered hand prostheses. However, they are often heavy and large, which limits the number of actuators that can be integrated into the prosthesis. Alternative actuation methods are being researched, but have not yet found wide

  14. Preisach model of hysteresis for the Piezoelectric Actuator Drive

    DEFF Research Database (Denmark)

    Zsurzsan, Tiberiu-Gabriel; Andersen, Michael A. E.; Zhang, Zhe

    2015-01-01

    The Piezoelectric Actuator Drive (PAD) is a precise piezoelectric motor generating high-torque rotary motion, which employs piezoelectric stack actuators in a wobblestyle actuation to generate rotation. The piezoelectric stacked ceramics used as the basis for motion in the motor suffer from...

  15. A Review of High Voltage Drive Amplifiers for Capacitive Actuators

    DEFF Research Database (Denmark)

    Huang, Lina; Zhang, Zhe; Andersen, Michael A. E.

    2012-01-01

    This paper gives an overview of the high voltage amplifiers, which are used to drive capacitive actuators. The amplifiers for both piezoelectric and DEAP (dielectric electroactive polymer) actuator are discussed. The suitable topologies for driving capacitive actuators are illustrated in detail...

  16. An H-module linear actuator for medical equipment applications

    DEFF Research Database (Denmark)

    Liu, Xiao; Wu, Keyuan; ye, yunyue

    2012-01-01

    An H-module linear actuator (HMLA) is proposed in this paper for medical equipment applications. Compared to the existing linear actuators used in medical equipment, the proposed H-module linear actuator has much lower normal force, which makes use of an additional air-suspension system unnecessary...

  17. A series elastic- and Bowden-cable-based actuation system for use as torque actuator in exoskeleton-type robots

    NARCIS (Netherlands)

    Veneman, J.F.; Ekkelenkamp, R.; Kruidhof, R.; van der Helm, F.C.T.; van der Kooij, Herman

    2006-01-01

    Within the context of impedance controlled exoskeletons, common actuators have important drawbacks. Either the actuators are heavy, have a complex structure or are poor torque sources, due to gearing or heavy nonlinearity. Considering our application, an impedance controlled gait rehabilitation

  18. Analysis of the body mass index and leg profiles of Asian women after total leg sculpture.

    Science.gov (United States)

    Tsai, Feng-Chou; Chen, Chien-Hao; Lin, Chan-Yi; Ho, Li-Yung

    2009-08-01

    In addition to the conventional methods used to improve leg contours, total leg sculpture, including liposuction, selective neurectomy, and transilluminated powered phlebectomy, provides a one-time solution of leg contour problems, which is a major aesthetic concern among Asian women. The authors present the postoperative results of total leg sculpture and determine any significance and correlation between the leg variables and body mass index by statistical analysis. Thirty female patients who underwent total leg sculpture between 2005 and 2008 were included in the study, and prospective analysis of the patients' data was performed during a follow-up period of 1 year. Local measurement variables and body mass index were recorded, and the correlation between them was determined by Pearson's correlation and regression analysis. A paired t test was used to compare the postoperative outcomes. Subjectively, all patient results were satisfactory. There were significant differences between preoperative and postoperative measurements for all variables for total leg sculpture. Body mass index was strongly correlated with all leg indexes, and there was a significant positive correlation between the index and variables related to the buttocks and upper thigh. The satisfactory postoperative leg variables were buttocks circumference (87.85 cm), thigh circumference (T60, 44.20 cm), maximal calf circumference (32.24 cm), and calf ratio (0.78). Each preoperative body mass index increment represents a 0.3 percent circumference improvement around the buttocks after surgery. No obvious morbidities or long-term hospital stays were noted. Total leg sculpture provides a combined aesthetic solution for improving limb contours with minimal morbidity. Patients with larger body mass index values exhibit better aesthetic improvement than those with smaller values.

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

    Science.gov (United States)

    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.

  20. Progress Toward Accurate Measurements of Power Consumptions of DBD Plasma Actuators

    Science.gov (United States)

    Ashpis, David E.; Laun, Matthew C.; Griebeler, Elmer L.

    2012-01-01

    The accurate measurement of power consumption by Dielectric Barrier Discharge (DBD) plasma actuators is a challenge due to the characteristics of the actuator current signal. Micro-discharges generate high-amplitude, high-frequency current spike transients superimposed on a low-amplitude, low-frequency current. We have used a high-speed digital oscilloscope to measure the actuator power consumption using the Shunt Resistor method and the Monitor Capacitor method. The measurements were performed simultaneously and compared to each other in a time-accurate manner. It was found that low signal-to-noise ratios of the oscilloscopes used, in combination with the high dynamic range of the current spikes, make the Shunt Resistor method inaccurate. An innovative, nonlinear signal compression circuit was applied to the actuator current signal and yielded excellent agreement between the two methods. The paper describes the issues and challenges associated with performing accurate power measurements. It provides insights into the two methods including new insight into the Lissajous curve of the Monitor Capacitor method. Extension to a broad range of parameters and further development of the compression hardware will be performed in future work.

  1. ARMin III – Arm Therapy Exoskeleton with an Ergonomic Shoulder Actuation

    Directory of Open Access Journals (Sweden)

    Tobias Nef

    2009-01-01

    Full Text Available Rehabilitation robots have become important tools in stroke rehabilitation. Compared to manual arm training, robot-supported training can be more intensive, of longer duration and more repetitive. Therefore, robots have the potential to improve the rehabilitation process in stroke patients. Whereas a majority of previous work in upper limb rehabilitation robotics has focused on end-effector-based robots, a shift towards exoskeleton robots is taking place because they offer a better guidance of the human arm, especially for movements with a large range of motion. However, the implementation of an exoskeleton device introduces the challenge of reproducing the motion of the human shoulder, which is one of the most complex joints of the body. Thus, this paper starts with describing a simplified model of the human shoulder. On the basis of that model, a new ergonomic shoulder actuation principle that provides motion of the humerus head is proposed, and its implementation in the ARMin III arm therapy robot is described. The focus lies on the mechanics and actuation principle. The ARMin III robot provides three actuated degrees of freedom for the shoulder and one for the elbow joint. An additional module provides actuated lower arm pro/supination and wrist flexion/extension. Five ARMin III devices have been manufactured and they are currently undergoing clinical evaluation in hospitals in Switzerland and in the United States.

  2. Bio-inspired Miniature Suction Cups Actuated by Shape Memory Alloy

    Directory of Open Access Journals (Sweden)

    Hu Bing-Shan

    2009-09-01

    Full Text Available Wall climbing robots using negative pressure suction always employ air pumps which have great noise and large volume. Two prototypes of bio-inspired miniature suction cup actuated by shape memory alloy (SMA are designed based on studying characteristics of biologic suction apparatuses, and the suction cups in this paper can be used as adhesion mechanisms for miniature wall climbing robots without air pumps. The first prototype with a two-way shape memory effect (TWSME extension TiNi spring imitates the piston structure of the stalked sucker; the second one actuated by a one way SMA actuator with a bias has a basic structure of stiff margin, guiding element, leader and elastic element. Analytical model of the second prototype is founded considering the constitutive model of the SMA actuator, the deflection of the thin elastic plate under compound load and the thermo-dynamic model of the sealed air cavity. Experiments are done to test their suction characteristics, and the analytical model of the second prototype is simulated on Matlab/simulink platform and validated by experiments.

  3. Novel Highly Efficient Compact Rotary-Hammering Planetary Sampler Actuated by a Single Piezoelectric Actuator Project

    Data.gov (United States)

    National Aeronautics and Space Administration — We had two objectives in this task: 1. Develop effective single low-mass, low-power piezoelectric drive that can actuate rotary-hammer samplers through walls. 2....

  4. Numerical simulation of mechatronic sensors and actuators

    CERN Document Server

    Kaltenbacher, Manfred

    2007-01-01

    Focuses on the physical modeling of mechatronic sensors and actuators and their precise numerical simulation using the Finite Element Method (FEM). This book discusses the physical modeling as well as numerical computation. It also gives a comprehensive introduction to finite elements, including their computer implementation.

  5. Plant-based torsional actuator with memory

    Science.gov (United States)

    Nayomi Plaza; Samuel L. Zelinka; Don S. Stone; Joseph E. Jakes

    2013-01-01

    A bundle of a few loblolly pine (Pinus taeda) cells are moisture-activated torsional actuators that twist multiple revolutions per cm length in direct proportion to moisture content. The bundles generate 10 N m kg􀀀1 specific torque during both twisting and untwisting, which is higher than an electric motor. Additionally, the bundles exhibit a moisture-...

  6. The Overtone Fiddle: an Actuated Acoustic Instrument

    DEFF Research Database (Denmark)

    Overholt, Daniel

    2011-01-01

    The Overtone Fiddle is a new violin-family instrument that incorporates electronic sensors, integrated DSP, and physical actuation of the acoustic body. An embedded tactile sound transducer creates extra vibrations in the body of the Overtone Fiddle, allowing performer control and sensation via...

  7. Nanopositioner actuator energy cost and performance

    NARCIS (Netherlands)

    Engelen, Johannes Bernardus Charles; Khatib, M.G.; Abelmann, Leon; Elwenspoek, Michael Curt

    2013-01-01

    We investigate the energy consumption and seek-time performance of different actuator types for nanopositioners, with emphasis on their use in a parallel-probe-based data-storage system. Analytical models are derived to calculate the energy consumption and performance of electrodynamic (coil and

  8. Math Machines: Using Actuators in Physics Classes

    Science.gov (United States)

    Thomas, Frederick J.; Chaney, Robert A.; Gruesbeck, Marta

    2018-01-01

    Probeware (sensors combined with data-analysis software) is a well-established part of physics education. In engineering and technology, sensors are frequently paired with actuators--motors, heaters, buzzers, valves, color displays, medical dosing systems, and other devices that are activated by electrical signals to produce intentional physical…

  9. Shape memory polymer actuator and catheter

    Science.gov (United States)

    Maitland, Duncan J.; Lee, Abraham P.; Schumann, Daniel L.; Matthews, Dennis L.; Decker, Derek E.; Jungreis, Charles A.

    2004-05-25

    An actuator system is provided for acting upon a material in a vessel. The system includes an optical fiber and a shape memory polymer material operatively connected to the optical fiber. The shape memory polymer material is adapted to move from a first shape for moving through said vessel to a second shape where it can act upon said material.

  10. Shape memory polymer actuator and catheter

    Energy Technology Data Exchange (ETDEWEB)

    Maitland, Duncan J. (Pleasant Hill, CA); Lee, Abraham P. (Walnut Creek, CA); Schumann, Daniel L. (Concord, CA); Matthews, Dennis L. (Moss Beach, CA); Decker, Derek E. (Byron, CA); Jungreis, Charles A. (Pittsburgh, PA)

    2007-11-06

    An actuator system is provided for acting upon a material in a vessel. The system includes an optical fiber and a shape memory polymer material operatively connected to the optical fiber. The shape memory polymer material is adapted to move from a first shape for moving through said vessel to a second shape where it can act upon said material.

  11. Tip Clearance Control Using Plasma Actuators

    Science.gov (United States)

    2007-03-01

    control the spatial electric field. The body force represen- tation is also a convenient form to incorporate the effect of the actuators in Navier ...for close investigation of the flow physics. Shim stock spacers permitted gap sizes from 0.5 to 5.0% axial chord. For passive flow control measurements

  12. Actuation response of polyacrylate dielectric elastomers

    DEFF Research Database (Denmark)

    Kofod, G.; Kornbluh, R.; Pelrine, R.

    2001-01-01

    Polyacrylate dielectric elastomers have yielded extremely large strain and elastic energy density suggesting that they are useful for many actuator applications. A thorough understanding of the physics underlying the mechanism of the observed response to an electric field can help develop improve...

  13. A breath actuated dry powder inhaler

    NARCIS (Netherlands)

    de Boer, Anne; Frijlink, Henderik W.; Hagedoorn, Paul

    2015-01-01

    A breath actuated dry powder inhaler with a single air circulation chamber for de-agglomeration of entrained powdered medicament using the energy of the inspiratory air stream. The chamber has a substantially polygonal sidewall, a plurality of air supply channels entering the chamber substantially

  14. Synthetic jet actuation for load control

    NARCIS (Netherlands)

    de Vries, Hein; van der Weide, Edwin Theodorus Antonius; Hoeijmakers, Hendrik Willem Marie

    2014-01-01

    The reduction of wind turbine blade loads is an important issue in the reduction of the costs of energy production. Reduction of the loads of a non-cyclic nature requires so-called smart rotor control, which involves the application of distributed actuators and sensors to provide fast and local

  15. Therapeutic advances in restless legs syndrome (RLS).

    Science.gov (United States)

    Högl, Birgit; Comella, Cynthia

    2015-09-15

    Levodopa and dopamine agonists have been the main treatment for restless legs syndrome during the past decades. Although their efficacy has been well documented over the short term, long-term dopaminergic treatment is often complicated by augmentation, loss of efficacy, and other side effects. Recent large randomized controlled trials provide new evidence for the efficacy of high-potency opioids and α2δ ligands, and several post hoc analyses, meta-analyses, algorithms, and guidelines have been published, often with a specific focus, for example, on augmentation, or on management of restless legs syndrome during pregnancy. Several new contributions to understanding the pathophysiology of restless legs syndrome have been published, but at this time, whether they will have an impact on treatment possibilities in the future cannot be estimated. © 2015 International Parkinson and Movement Disorder Society.

  16. Conjoined legs: Sirenomelia or caudal regression syndrome?

    Directory of Open Access Journals (Sweden)

    Sakti Prasad Das

    2013-01-01

    Full Text Available Presence of single umbilical persistent vitelline artery distinguishes sirenomelia from caudal regression syndrome. We report a case of a12-year-old boy who had bilateral umbilical arteries presented with fusion of both legs in the lower one third of leg. Both feet were rudimentary. The right foot had a valgus rocker-bottom deformity. All toes were present but rudimentary. The left foot showed absence of all toes. Physical examination showed left tibia vara. The chest evaluation in sitting revealed pigeon chest and elevated right shoulder. Posterior examination of the trunk showed thoracic scoliosis with convexity to right. The patient was operated and at 1 year followup the boy had two separate legs with a good aesthetic and functional results.

  17. Active joint mechanism driven by multiple actuators made of flexible bags: a proposal of dual structural actuator.

    Science.gov (United States)

    Kimura, Hitoshi; Matsuzaki, Takuya; Kataoka, Mokutaro; Inou, Norio

    2013-01-01

    An actuator is required to change its speed and force depending on the situation. Using multiple actuators for one driving axis is one of the possible solutions; however, there is an associated problem of output power matching. This study proposes a new active joint mechanism using multiple actuators. Because the actuator is made of a flexible bag, it does not interfere with other actuators when it is depressurized. The proposed joint achieved coordinated motion of multiple actuators. This report also discusses a new actuator which has dual cylindrical structure. The cylinders are composed of flexible bags with different diameters. The joint torque is estimated based on the following factors: empirical formula for the flexible actuator torque, geometric relationship between the joint and the actuator, and the principle of virtual work. The prototype joint mechanism achieves coordinated motion of multiple actuators for one axis. With this motion, small inner actuator contributes high speed motion, whereas large outer actuator generates high torque. The performance of the prototype joint is examined by speed and torque measurements. The joint showed about 30% efficiency at 2.0 Nm load torque under 0.15 MPa air input.

  18. Leg Spasticity and Ambulation in Multiple Sclerosis

    Directory of Open Access Journals (Sweden)

    Swathi Balantrapu

    2014-01-01

    Full Text Available Background. Spasticity of the legs is common in multiple sclerosis (MS, but there has been limited research examining its association with ambulatory outcomes. Objective. This study examined spasticity of the legs and its association with multiple measures of ambulation in persons with MS. Methods. The sample included 84 patients with MS. Spasticity of the legs was measured using a 5-point rating scale ranging between 0 (normal and 4 (contracted. Patients completed the 6-minute walk (6 MW, timed 25 foot walk (T25FW, and timed up-and-go (TUG, and O2 cost of walking was measured during the 6 MW. The patients undertook two walking trials on a GAITRite (CIR systems, Inc. for measuring spatial and temporal parameters of gait. The patients completed the Multiple Sclerosis Walking Scale-12 (MSWS-12 and wore an accelerometer over a seven-day period. Results. 52% (n=44 of the sample presented with spasticity of the legs. Those with leg spasticity had significantly worse ambulation as measured by 6 MW (P=0.0001, d=-0.86, T25FW (P=0.003,d=0.72, TUG (P=0.001, d=0.84, MSWS-12 (P=0.0001,d=1.09, O2 cost of walking (P=0.001, d=0.75, average steps/day (P<0.05, d=-0.45, and walking velocity (P<0.05, d=-0.53 and cadence (P<0.05, d=-0.46. Conclusion. Leg spasticity was associated with impairments in ambulation, including alterations in spatiotemporal parameters and free-living walking.

  19. The Molecular Genetics of Restless Legs Syndrome.

    Science.gov (United States)

    Rye, David B

    2015-09-01

    Restless legs syndrome (RLS) is a common sensorimotor trait defined by symptoms that interfere with sleep onset and maintenance in a clinically meaningful way. Nonvolitional myoclonus while awake and asleep is a sign of the disorder and an informative endophenotype. The genetic contributions to RLS/periodic leg movements are substantial, are among the most robust defined to date for a common disease, and account for much of the variance in disease expressivity. The disorder is polygenic, as revealed by recent genome-wide association studies. Experimental studies are revealing mechanistic details of how these common variants might influence RLS expressivity. Copyright © 2015 Elsevier Inc. All rights reserved.

  20. Nocturnal leg cramps in older people

    Science.gov (United States)

    Butler, J; Mulkerrin, E; O'Keeffe, S

    2002-01-01

    Nocturnal leg cramps are common in older people. Such cramps are associated with many common diseases and medications. Physiological methods may be useful for preventing cramps in some people, but there have been no controlled trials of these approaches. Quinine is moderately effective in preventing nocturnal leg cramps. However, there are concerns about the risk/benefit ratio with this drug. In patients with severe symptoms, a trial of 4–6 weeks' treatment with quinine is probably still justified, but the efficacy of treatment should be monitored, for example using a sleep and cramp diary. PMID:12415081

  1. Symptom Severity of Restless Legs Syndrome Predicts Its Clinical Course.

    Science.gov (United States)

    Lee, Chung Suk; Kim, Tae; Lee, Sumin; Jeon, Hong Jun; Bang, Young Rong; Yoon, In-Young

    2016-04-01

    This study examines the clinical course of restless legs syndrome according to its severity and factors associated with the remission of restless legs syndrome symptoms. The remission or persistence of restless legs syndrome symptoms was investigated by considering patients with restless legs syndrome at the sleep clinic of Seoul National University Bundang Hospital. All subjects were observed for at least 18 months, and an incidence of remission was defined as having no restless legs syndrome symptoms for at least 1 year. Restless legs syndrome severity was evaluated by the International Restless Legs Syndrome Study Group Rating Scale. A total of 306 patients participated in this study. Over the observation periods of 4.1 ± 1.6 years, the cumulative incidence of remission is 32.5% (95% confidence interval [CI], 27.0-38.0) and decreased with baseline restless legs syndrome severity (P restless legs syndrome cases, respectively. Most cases of remission (82/96) were observed within 1 year, and the remission occurred sooner for mild restless legs syndrome. The hazard ratios of remission by Cox proportional hazards model were lower for moderate (0.556; 95% CI, 0.340-0.909) and severe to very severe (0.193; 95% CI, 0.108-0.343) restless legs syndrome than for mild restless legs syndrome. The remission incidence was lower for those patients who had a family history of restless legs syndrome and were older at restless legs syndrome diagnosis. Mild restless legs syndrome severity, no family history, and young age at restless legs syndrome diagnosis were significant predictors of restless legs syndrome remission. More than 80% of patients with severe restless legs syndrome showed a chronic clinical course. Copyright © 2016 Elsevier Inc. All rights reserved.

  2. Tip loss correction for actuator / Navier Stokes computations

    DEFF Research Database (Denmark)

    Shen, Wen Zhong; Sørensen, Jens Nørkær; Mikkelsen, Robert Flemming

    2004-01-01

    The new tip loss correction, initially developed for ID BEM computations [1], is now extended to 2D Actuator Disc / Navier-Stokes (AD/NS) computations and 3D Actuator Line / Navier-Stokes (AL/NS) computations. As shown in the paper, the tip loss correction is an important and necessary step...... for actuator / Navier-Stokes models. Comparisons of the present results with those obtained from a EM code with new tip correction and experimental data show that the tip loss correction is correctly implemented in the actuator / Navier-Stokes models. The results demonstrate also that difference between......, Actuator Line, Navier-Stokes equations, Tip loss correction....

  3. Review of periodic limb movement and restless leg syndrome

    Directory of Open Access Journals (Sweden)

    Natarajan R

    2010-01-01

    Full Text Available Periodic limb movement (PLM and Restless leg syndrome (RLS are types of sleep disorders that are not very well recognized in clinical practice. While RLS is a clinical diagnosis, the diagnosis of PLM is made by polysomnography. They share the same pathophysiology and often respond to the same treatment. To date all the epidemiological studies have reported the prevalence between 2% and 15%. It has recently become known that mild obstructive sleep apnea and upper airway resistance syndrome (UARS can masquerade as PLM syndrome. New discoveries have been made with regard to genetics and PLM and RLS. Detailed review on this subject should improve the awareness of these disorders, both among general physicians and specialists. Extensive review of journals in the past 20 years was made using Medline search.

  4. THE EFFECTS OF SINGLE LEG HOP PROGRESSION AND DOUBLE LEGS HOP PROGRESSION EXERCISE TO INCREASE SPEED AND EXPLOSIVE POWER OF LEG MUSCLE

    Directory of Open Access Journals (Sweden)

    Nining W. Kusnanik

    2015-05-01

    Full Text Available The main purpose of this study was to determine the effect of single leg hop progression and double legs hop progression exercise to increase speed and explosive power of leg muscles. Plyometric is one of the training methods that can increase explosive power. There are many models of plyometric training including single leg hop progression and double leg hop progression. This research was experimental using match subject design techniques. The subjects of this study were 39 students who joined basketball school club. There were 3 groups in this study: Group 1 were 13 students who given sin¬gle leg hop progression exercise, Group 2 were 13 students who given double legs hop progression exercise, Group 3 were 13 students who given conventional exercise. The data was collected during pre test and post test by testing 30m speed running and vertical jump. The data was analyzed using Analysis of Varians (Anova. It was found that there were significantly increased on speed and explosive power of leg muscles of Group 1 and Group 2. It can be stated that single leg hop progression exercise was more effective than double leg hop progression exercise. The recent findings supported the hypothesis that single leg hop progression and double legs hop progression exercise can increase speed and explosive power of leg muscles. These finding were supported by some previous studies (Singh, et al, 2011; Shallaby, H.K., 2010. The single leg hop progression is more effective than double legs hop progression. This finding was consistent with some previous evidences (McCurdy, et al, 2005; Makaruk et al, 2011.

  5. Clinical characteristics of leg restlessness in Parkinson's disease compared with idiopathic Restless Legs Syndrome.

    Science.gov (United States)

    Zhu, Xiao-Ying; Liu, Ye; Zhang, Xiao-Jin; Yang, Wen-Hao; Feng, Ya; Ondo, William G; Tan, Eng-King; Wu, Yun-Cheng

    2015-10-15

    There is limited data on motor restlessness in Parkinson's disease (PD). Here we evaluate for clinical differences between cohorts of idiopathic Restless Legs Syndrome (iRLS), PD patients with leg restlessness, and PD with RLS. We examined 276 consecutive PD patients for leg restlessness symptoms, we compared clinical features of PD patients with RLS, PD patients with leg restlessness but not meeting RLS criteria, PD patient without RLS and iRLS. A total of 262 PD patients who satisfied the inclusion criteria were analyzed. After excluding 23 possible secondary RLS or mimics, 28 were diagnosed with RLS and 18 with leg motor restlessness (LMR). Compared with iRLS patients, PD patients with RLS or LMR had older age of RLS/LMR onset, shorter duration of leg restlessness, less positive family history, different seasonal trends and more unilaterality of leg restlessness symptom (Pleg restlessness. PD with LMR had less severe Parkinsonism (Pleg restlessness (P<0.01) symptoms than PD with RLS. Clinical characteristics of PD patients with RLS and LMR were different from iRLS, differentiating these various subtypes can facilitate optimal treatment. Copyright © 2015 Elsevier B.V. All rights reserved.

  6. Task driven optimal leg trajectories in insect-scale legged microrobots

    Science.gov (United States)

    Doshi, Neel; Goldberg, Benjamin; Jayaram, Kaushik; Wood, Robert

    Origami inspired layered manufacturing techniques and 3D-printing have enabled the development of highly articulated legged robots at the insect-scale, including the 1.43g Harvard Ambulatory MicroRobot (HAMR). Research on these platforms has expanded its focus from manufacturing aspects to include design optimization and control for application-driven tasks. Consequently, the choice of gait selection, body morphology, leg trajectory, foot design, etc. have become areas of active research. HAMR has two controlled degrees-of-freedom per leg, making it an ideal candidate for exploring leg trajectory. We will discuss our work towards optimizing HAMR's leg trajectories for two different tasks: climbing using electroadhesives and level ground running (5-10 BL/s). These tasks demonstrate the ability of single platform to adapt to vastly different locomotive scenarios: quasi-static climbing with controlled ground contact, and dynamic running with un-controlled ground contact. We will utilize trajectory optimization methods informed by existing models and experimental studies to determine leg trajectories for each task. We also plan to discuss how task specifications and choice of objective function have contributed to the shape of these optimal leg trajectories.

  7. The Reactive Leg Drop: a Simple and Novel Sensory-Motor Assessment to Predict Fall Risk in Older Individuals.

    Science.gov (United States)

    Magrini, Mitchel A; Thiele, Ryan M; Colquhoun, Ryan J; Barrera Curiel, Alejandra; Blackstock, Taryn S; DeFreitas, Jason M

    2018-01-10

    There is need for a functional ability test that appropriately assesses the rapid integration of the sensory and motor systems required for older adults to recover from a slip. The purpose of this study was to assess the efficacy and reliability of a novel test, the reactive leg drop, for assessing sensory-motor function in older adults. Fourteen young (YW; mean age = 20yrs) and 11 older women (OW; mean age = 76yrs) participated in this study. For each drop, the leg was passively moved to full extension and then released. The subjects had to recognize their leg was free-falling and reactively kick up as quickly as possible during varying sensory conditions. To assess the leg drop's reliance on proprioception, other proprioceptive tests (e.g. patellar tendon reflexes and balance) were separately performed. Leg drops performed with the eyes closed (p=0.011) and with a blocked view of their leg (p=0.033) showed significant differences in drop angle between the YW and OW. Significant relationships between leg drop conditions and balance were observed in the OW that were not present within YW. When collapsed across groups, reflex latency was correlated with drop angle when the eyes were closed. The reactive leg drop was age sensitive, reliable, and likely reliant on proprioception, as shown by relationships to other sensory-motor assessments, such as balance and the patellar reflex. Although more research is needed, we propose that the reactive leg drop is an effective tool to assess sensory-motor integration in a manner that may mimic fall recovery.

  8. Radioprotection by WR-151327 against the late normal tissue damage in mouse hind legs from gamma ray radiation

    International Nuclear Information System (INIS)

    Matsushita, Satoru; Ando, Koichi; Koike, Sachiko

    1994-01-01

    To evaluate the protective effect of WR-151327 on late radiation-induced damaged to normal tissues in mice, the right hind legs of mice with or without WR-151327 administration (400 mg/kg) were irradiated with 137 Cs gamma rays. Leg contracture and skin shrinkage assays were performed at 380 days after irradiation. The mice were killed on day 400 postirradiation and histological sections of the legs were made. The thickness of the dermis, epidermis, and skin (dermis plus epidermis) was measured. The muscular area of the legs and the posterior knee angle between the femur and tibia were also measured. The left hind legs were similarly assessed as nonirradiated controls. Group means and standard deviations were calculated and dose-response curves were drawn for every endpoint. Then, the dose modifying factor (DMF) for each endpoint and the correlations among endpoints were determined. Latae damage assayed by leg contracture and skin shrinkage progressed with increasing radiation dose. However, it was reduced by drug treatment. The significant effect was indicated for skin shrinkage by a DMF of 1.8 at 35%. The DMF for leg contracture was 1.3 at 6 mm. In the irradiated legs, epidermal hyperplasia and dermal fibrosis in the skin, muscular atrophy, and extension disturbance of the knee joint were observed. These changes progressed with increasing radiation dose. Skin damage assayed by the present endpoints was also reduced by drug treatment by DMFs of 1.4 to 1.7. However, DMFs for damage to the muscle and knee were not determined because no isoeffect was observed. There were good correlations between leg contracture or skin shrinkage and the other endpoints in both untreated and drug-treated mice. WR-151327 has the potential to protect against radiation-induced late normal tissue damage. 17 refs., 6 figs., 2 tabs

  9. Another lesson from plants: the forward osmosis-based actuator.

    Science.gov (United States)

    Sinibaldi, Edoardo; Argiolas, Alfredo; Puleo, Gian Luigi; Mazzolai, Barbara

    2014-01-01

    Osmotic actuation is a ubiquitous plant-inspired actuation strategy that has a very low power consumption but is capable of generating effective movements in a wide variety of environmental conditions. In light of these features, we aimed to develop a novel, low-power-consumption actuator that is capable of generating suitable forces during a characteristic actuation time on the order of a few minutes. Based on the analysis of plant movements and on osmotic actuation modeling, we designed and fabricated a forward osmosis-based actuator with a typical size of 10 mm and a characteristic time of 2-5 minutes. To the best of our knowledge, this is the fastest osmotic actuator developed so far. Moreover, the achieved timescale can be compared to that of a typical plant cell, thanks to the integrated strategy that we pursued by concurrently addressing and solving design and material issues, as paradigmatically explained by the bioinspired approach. Our osmotic actuator produces forces above 20 N, while containing the power consumption (on the order of 1 mW). Furthermore, based on the agreement between model predictions and experimental observations, we also discuss the actuator performance (including power consumption, maximum force, energy density and thermodynamic efficiency) in relation to existing actuation technologies. In light of the achievements of the present study, the proposed osmotic actuator holds potential for effective exploitation in bioinspired robotics systems.

  10. Another lesson from plants: the forward osmosis-based actuator.

    Directory of Open Access Journals (Sweden)

    Edoardo Sinibaldi

    Full Text Available Osmotic actuation is a ubiquitous plant-inspired actuation strategy that has a very low power consumption but is capable of generating effective movements in a wide variety of environmental conditions. In light of these features, we aimed to develop a novel, low-power-consumption actuator that is capable of generating suitable forces during a characteristic actuation time on the order of a few minutes. Based on the analysis of plant movements and on osmotic actuation modeling, we designed and fabricated a forward osmosis-based actuator with a typical size of 10 mm and a characteristic time of 2-5 minutes. To the best of our knowledge, this is the fastest osmotic actuator developed so far. Moreover, the achieved timescale can be compared to that of a typical plant cell, thanks to the integrated strategy that we pursued by concurrently addressing and solving design and material issues, as paradigmatically explained by the bioinspired approach. Our osmotic actuator produces forces above 20 N, while containing the power consumption (on the order of 1 mW. Furthermore, based on the agreement between model predictions and experimental observations, we also discuss the actuator performance (including power consumption, maximum force, energy density and thermodynamic efficiency in relation to existing actuation technologies. In light of the achievements of the present study, the proposed osmotic actuator holds potential for effective exploitation in bioinspired robotics systems.

  11. Another Lesson from Plants: The Forward Osmosis-Based Actuator

    Science.gov (United States)

    Sinibaldi, Edoardo; Argiolas, Alfredo; Puleo, Gian Luigi; Mazzolai, Barbara

    2014-01-01

    Osmotic actuation is a ubiquitous plant-inspired actuation strategy that has a very low power consumption but is capable of generating effective movements in a wide variety of environmental conditions. In light of these features, we aimed to develop a novel, low-power-consumption actuator that is capable of generating suitable forces during a characteristic actuation time on the order of a few minutes. Based on the analysis of plant movements and on osmotic actuation modeling, we designed and fabricated a forward osmosis-based actuator with a typical size of 10 mm and a characteristic time of 2–5 minutes. To the best of our knowledge, this is the fastest osmotic actuator developed so far. Moreover, the achieved timescale can be compared to that of a typical plant cell, thanks to the integrated strategy that we pursued by concurrently addressing and solving design and material issues, as paradigmatically explained by the bioinspired approach. Our osmotic actuator produces forces above 20 N, while containing the power consumption (on the order of 1 mW). Furthermore, based on the agreement between model predictions and experimental observations, we also discuss the actuator performance (including power consumption, maximum force, energy density and thermodynamic efficiency) in relation to existing actuation technologies. In light of the achievements of the present study, the proposed osmotic actuator holds potential for effective exploitation in bioinspired robotics systems. PMID:25020043

  12. Mechatronics and Bioinspiration in Actuator Design and Control

    Directory of Open Access Journals (Sweden)

    J. L. Pons

    2008-01-01

    Full Text Available Actuators are components of motion control systems in which mechatronics plays a crucial role. They can be regarded as a paradigmatic case in which this mechatronic approach is required. Furthermore, actuator technologies can get new sources of inspiration from nature (bioinspiration. Biological systems are the result of an evolutionary process and show excellent levels of performance. In this paper, we analyse the actuator as a bioinspired mechatronic system through analogies between mechatronics and biological actuating mechanisms that include hierarchical control of actuators, switched control of power flow and some transduction principles. Firstly, some biological models are introduced as a source of inspiration for setting up both actuation principles and control technologies. Secondly, a particular actuator technology, the travelling wave ultrasonic motor, is taken to illustrate this approach. Eventually, the last section draws some conclusions and points out future directions.

  13. Human Leg Model Predicts Muscle Forces, States, and Energetics during Walking.

    Science.gov (United States)

    Markowitz, Jared; Herr, Hugh

    2016-05-01

    Humans employ a high degree of redundancy in joint actuation, with different combinations of muscle and tendon action providing the same net joint torque. Both the resolution of these redundancies and the energetics of such systems depend on the dynamic properties of muscles and tendons, particularly their force-length relations. Current walking models that use stock parameters when simulating muscle-tendon dynamics tend to significantly overestimate metabolic consumption, perhaps because they do not adequately consider the role of elasticity. As an alternative, we posit that the muscle-tendon morphology of the human leg has evolved to maximize the metabolic efficiency of walking at self-selected speed. We use a data-driven approach to evaluate this hypothesis, utilizing kinematic, kinetic, electromyographic (EMG), and metabolic data taken from five participants walking at self-selected speed. The kinematic and kinetic data are used to estimate muscle-tendon lengths, muscle moment arms, and joint moments while the EMG data are used to estimate muscle activations. For each subject we perform an optimization using prescribed skeletal kinematics, varying the parameters that govern the force-length curve of each tendon as well as the strength and optimal fiber length of each muscle while seeking to simultaneously minimize metabolic cost and maximize agreement with the estimated joint moments. We find that the metabolic cost of transport (MCOT) values of our participants may be correctly matched (on average 0.36±0.02 predicted, 0.35±0.02 measured) with acceptable joint torque fidelity through application of a single constraint to the muscle metabolic budget. The associated optimal muscle-tendon parameter sets allow us to estimate the forces and states of individual muscles, resolving redundancies in joint actuation and lending insight into the potential roles and control objectives of the muscles of the leg throughout the gait cycle.

  14. [The influence of the leg load and the support mobility under leg on the anticipatory postural adjustment].

    Science.gov (United States)

    Kazennikov, O V; Kireeva, T B; Shlykov, V Iu

    2015-01-01

    Anticipatory postural adjustment is an essential part of equilibrium maintainance during standing in human. So changes in stance condition could affect both control of equilibrium and anticipatory adjustment. Anticipatory changes in the stabilogram of each leg were studied in standing subject during the early stage of quick right arm lifting while legs were on two separated supports. The center of pressure (CP) movement was analyzed in three variants of experiment: both legs on immovable support, with only right leg on the movable support and with only left leg on the moveable support. In each standing condition subject stood with symmetrical load on two legs or with the load voluntary transferred to one leg. The anticipatory CP shift depended on the mobility of the support under the leg and on loading of the leg. While standing on unmovable supports with symmetrical load on the legs before lifting of the right arm CP of right leg shifted backward and CP of left leg--forward. While standing with one leg on movable support the anticipatory CP shift of this leg was small and did not depend on the load on the leg. However the shift of CP of the leg that was placed on the unmovable support depended on the load in the same way as in the case when both legs were on unmovable supports. Results suggested that since on movable support the support and proprioceptive afferent flow from distal part of the leg that was did not supply unambiguous information about body position, the role of distal joints in posture control is reduced.

  15. An automatic hinge system for leg orthoses

    NARCIS (Netherlands)

    Rietman, J. S.; Goudsmit, J.; Meulemans, D.; Halbertsma, J. P. K.; Geertzen, J. H. B.

    2004-01-01

    This paper describes a new automatic hinge system for leg orthoses, which provides knee stability in stance, and allows knee-flexion during swing. Indications for the hinge system are a paresis or paralysis of the quadriceps muscles. Instrumented gait analysis was performed in three patients, fitted

  16. An automatic hinge system for leg orthoses

    NARCIS (Netherlands)

    Rietman, J.S.; Goudsmit, J.; Meulemans, D.; Halbertsma, J.P.K.; Geertzen, J.H.B.

    This paper describes a new, automatic hinge system for leg orthoses, which provides knee stability in stance, and allows knee-flexion during swing. Indications for the hinge system are a paresis or paralysis of the quadriceps muscles. Instrumented gait analysis was performed in three patients,

  17. Chronic leg ulcer caused by Mycobacterium immunogenum

    NARCIS (Netherlands)

    Loots, Miriam A. M.; de Jong, Menno D.; van Soolingen, Dick; Wetsteyn, José C. F. M.; Faber, William R.

    2005-01-01

    Rare tropical skin diseases are seen more frequently in Western countries because of the increased popularity of visiting tropical regions. A 55-year-old white man developed a painless leg ulcer after traveling in Guatemala and Belize. A mycobacterium was cultured from a biopsy specimen and was

  18. X-Ray Exam: Femur (Upper Leg)

    Science.gov (United States)

    ... Staying Safe Videos for Educators Search English Español X-Ray Exam: Femur (Upper Leg) KidsHealth / For Parents / X- ... Muscles, and Joints Broken Bones Getting an X-ray (Video) X-Ray (Video) View more Partner Message About Us ...

  19. The restless legs syndrome (Ekbom's syndrome)

    African Journals Online (AJOL)

    1983-04-30

    Apr 30, 1983 ... same distribution as the paraesthesiae; and (v) anxiety, tension or mild depression. Paraesthesiae or creeping sensations are usually confined to the calves. They are extremely unpleasant and deep-seated in muscles or bones rather than in the skin, mostly affecting the legs between the knee and ankle.

  20. Leg og læring

    DEFF Research Database (Denmark)

    Pedersen, Annette

    2008-01-01

    Leg synes at have et potentiale som metode til at fremme læring. Men hvordan? Legen har en vis grad af parallelitet med den virkelige verden i dens interaktive og relationelle strukturer. Det bliver muligt at finde nye meninger i interaktioner, som refererer til vante interaktionsformer, men...

  1. Functional scoliosis caused by leg length discrepancy

    Science.gov (United States)

    Daniszewska, Barbara; Zolynski, Krystian

    2010-01-01

    Introduction Leg length discrepancy (LLD) causes pelvic obliquity in the frontal plane and lumbar scoliosis with convexity towards the shorter extremity. Leg length discrepancy is observed in 3-15% of the population. Unequalized lower limb length discrepancy leads to posture deformation, gait asymmetry, low back pain and discopathy. Material and methods In the years 1998-2006, 369 children, aged 5 to 17 years (209 girls, 160 boys) with LLD-related functional scoliosis were treated. An external or internal shoe lift was applied. Results Among 369 children the discrepancy of 0.5 cm was observed in 27, 1 cm in 329, 1.5 cm in 9 and 2 cm in 4 children. During the first follow-up examination, within 2 weeks, the adjustment of the spine to new static conditions was noted and correction of the curve in 316 examined children (83.7%). In 53 children (14.7%) the correction was observed later and was accompanied by slight low back pain. The time needed for real equalization of limbs was 3 to 24 months. The time needed for real equalization of the discrepancy was 11.3 months. Conclusions Leg length discrepancy equalization results in elimination of scoliosis. Leg length discrepancy < 2 cm is a static disorder; that is why measurements should be performed in a standing position using blocks of adequate thickness and the position of the posterior superior iliac spine should be estimated. PMID:22371777

  2. Omnidirectional Wheel-Legged Hybrid Mobile Robot

    Directory of Open Access Journals (Sweden)

    István Vilikó

    2015-06-01

    Full Text Available The purpose of developing hybrid locomotion systems is to merge the advantages and to eliminate the disadvantages of different type of locomotion. The proposed solution combines wheeled and legged locomotion methods. This paper presents the mechatronic design approach and the development stages of the prototype.

  3. Parallel kinematics robot with five legs

    NARCIS (Netherlands)

    Lambert, P.

    2011-01-01

    Robot with multiple degrees of freedom comprising five legs (2) linked at a first of their ends to a base ( 3), and at a second of their ends opposite to the first ends to a mobile platform (4), which platform carries at least one tool (5, 6, 121, 12 "), and wherein the robot further comprises an

  4. Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power.

    Science.gov (United States)

    Galle, Samuel; Malcolm, Philippe; Collins, Steven Hartley; De Clercq, Dirk

    2017-04-27

    Powered ankle-foot exoskeletons can reduce the metabolic cost of human walking to below normal levels, but optimal assistance properties remain unclear. The purpose of this study was to test the effects of different assistance timing and power characteristics in an experiment with a tethered ankle-foot exoskeleton. Ten healthy female subjects walked on a treadmill with bilateral ankle-foot exoskeletons in 10 different assistance conditions. Artificial pneumatic muscles assisted plantarflexion during ankle push-off using one of four actuation onset timings (36, 42, 48 and 54% of the stride) and three power levels (average positive exoskeleton power over a stride, summed for both legs, of 0.2, 0.4 and 0.5 W∙kg -1 ). We compared metabolic rate, kinematics and electromyography (EMG) between conditions. Optimal assistance was achieved with an onset of 42% stride and average power of 0.4 W∙kg -1 , leading to 21% reduction in metabolic cost compared to walking with the exoskeleton deactivated and 12% reduction compared to normal walking without the exoskeleton. With suboptimal timing or power, the exoskeleton still reduced metabolic cost, but substantially less so. The relationship between timing, power and metabolic rate was well-characterized by a two-dimensional quadratic function. The assistive mechanisms leading to these improvements included reducing muscular activity in the ankle plantarflexors and assisting leg swing initiation. These results emphasize the importance of optimizing exoskeleton actuation properties when assisting or augmenting human locomotion. Our optimal assistance onset timing and average power levels could be used for other exoskeletons to improve assistance and resulting benefits.

  5. Biomimetic jellyfish-inspired underwater vehicle actuated by ionic polymer metal composite actuators

    Science.gov (United States)

    Najem, Joseph; Sarles, Stephen A.; Akle, Barbar; Leo, Donald J.

    2012-09-01

    This paper presents the design, fabrication, and characterization of a biomimetic jellyfish robot that uses ionic polymer metal composites (IPMCs) as flexible actuators for propulsion. The shape and swimming style of this underwater vehicle are based on the Aequorea victoria jellyfish, which has an average swimming speed of 20 mm s-1 and which is known for its high swimming efficiency. The Aequorea victoria is chosen as a model system because both its bell morphology and kinematic properties match the mechanical properties of IPMC actuators. This medusa is characterized by its low swimming frequency, small bell deformation during the contraction phase, and high Froude efficiency. The critical components of the robot include the flexible bell that provides the overall shape and dimensions of the jellyfish, a central hub and a stage used to provide electrical connections and mechanical support to the actuators, eight distinct spars meant to keep the upper part of the bell stationary, and flexible IPMC actuators that extend radially from the central stage. The bell is fabricated from a commercially available heat-shrinkable polymer film to provide increased shape-holding ability and reduced weight. The IPMC actuators constructed for this study demonstrated peak-to-peak strains of ˜0.7% in water across a frequency range of 0.1-1.0 Hz. By tailoring the applied voltage waveform and the flexibility of the bell, the completed robotic jellyfish with four actuators swam at an average speed 0.77 mm s-1 and consumed 0.7 W. When eight actuators were used the average speed increased to 1.5 mm s-1 with a power consumption of 1.14 W.

  6. Biomimetic jellyfish-inspired underwater vehicle actuated by ionic polymer metal composite actuators

    International Nuclear Information System (INIS)

    Najem, Joseph; Leo, Donald J; Sarles, Stephen A; Akle, Barbar

    2012-01-01

    This paper presents the design, fabrication, and characterization of a biomimetic jellyfish robot that uses ionic polymer metal composites (IPMCs) as flexible actuators for propulsion. The shape and swimming style of this underwater vehicle are based on the Aequorea victoria jellyfish, which has an average swimming speed of 20 mm s −1 and which is known for its high swimming efficiency. The Aequorea victoria is chosen as a model system because both its bell morphology and kinematic properties match the mechanical properties of IPMC actuators. This medusa is characterized by its low swimming frequency, small bell deformation during the contraction phase, and high Froude efficiency. The critical components of the robot include the flexible bell that provides the overall shape and dimensions of the jellyfish, a central hub and a stage used to provide electrical connections and mechanical support to the actuators, eight distinct spars meant to keep the upper part of the bell stationary, and flexible IPMC actuators that extend radially from the central stage. The bell is fabricated from a commercially available heat-shrinkable polymer film to provide increased shape-holding ability and reduced weight. The IPMC actuators constructed for this study demonstrated peak-to-peak strains of ∼0.7% in water across a frequency range of 0.1–1.0 Hz. By tailoring the applied voltage waveform and the flexibility of the bell, the completed robotic jellyfish with four actuators swam at an average speed 0.77 mm s −1 and consumed 0.7 W. When eight actuators were used the average speed increased to 1.5 mm s −1 with a power consumption of 1.14 W. (paper)

  7. Sociologists in Extension

    Science.gov (United States)

    Christenson, James A.; And Others

    1977-01-01

    The article describes the work activities of the extension sociologist, the relative advantage and disadvantage of extension roles in relation to teaching/research roles, and the relevance of sociological training and research for extension work. (NQ)

  8. SRB/SLEEC (Solid Rocket Booster/Shingle Lap Extendible Exit Cone) feasibility study, volume 2. Appendix A: Design study for a SLEEC actuation system

    Science.gov (United States)

    Thompson, D. S.

    1986-01-01

    The results are presented of a design feasibility study of a self-contained (powered) actuation system for a Shingle Lap Extendible Exit Cone (SLEEC) for Transportation System (STS). The evolution of the SLEEC actuation system design is reviewed, the final design concept is summarized, and the results of the detailed study of the final concept of the actuation system are treated. A conservative design using proven mechanical components was established as a major program priority. The final mechanical design has a very low development risk since the components, which consist of ballscrews, gearing, flexible shaft drives, and aircraft cables, have extensive aerospace applications and a history of proven reliability. The mathematical model studies have shown that little or no power is required to deploy the SLEEC actuation system because acceleration forces and internal pressure from the rocket plume provide the required energies. A speed control brake is incorporated in the design in order to control the rate of deployment.

  9. Bucky gel actuator displacement: experiment and model

    International Nuclear Information System (INIS)

    Ghamsari, A K; Zegeye, E; Woldesenbet, E; Jin, Y

    2013-01-01

    Bucky gel actuator (BGA) is a dry electroactive nanocomposite which is driven with a few volts. BGA’s remarkable features make this tri-layered actuator a potential candidate for morphing applications. However, most of these applications would require a better understanding of the effective parameters that influence the BGA displacement. In this study, various sets of experiments were designed to investigate the effect of several parameters on the maximum lateral displacement of BGA. Two input parameters, voltage and frequency, and three material/design parameters, carbon nanotube type, thickness, and weight fraction of constituents were selected. A new thickness ratio term was also introduced to study the role of individual layers on BGA displacement. A model was established to predict BGA maximum displacement based on the effect of these parameters. This model showed good agreement with reported results from the literature. In addition, an important factor in the design of BGA-based devices, lifetime, was investigated. (paper)

  10. 2D Electrostatic Actuation of Microshutter Arrays

    Science.gov (United States)

    Burns, Devin E.; Oh, Lance H.; Li, Mary J.; Jones, Justin S.; Kelly, Daniel P.; Zheng, Yun; Kutyrev, Alexander S.; Moseley, Samuel H.

    2015-01-01

    An electrostatically actuated microshutter array consisting of rotational microshutters (shutters that rotate about a torsion bar) were designed and fabricated through the use of models and experiments. Design iterations focused on minimizing the torsional stiffness of the microshutters, while maintaining their structural integrity. Mechanical and electromechanical test systems were constructed to measure the static and dynamic behavior of the microshutters. The torsional stiffness was reduced by a factor of four over initial designs without sacrificing durability. Analysis of the resonant behavior of the microshutter arrays demonstrates that the first resonant mode is a torsional mode occurring around 3000 Hz. At low vacuum pressures, this resonant mode can be used to significantly reduce the drive voltage necessary for actuation requiring as little as 25V. 2D electrostatic latching and addressing was demonstrated using both a resonant and pulsed addressing scheme.

  11. Plant-based torsional actuator with memory

    Science.gov (United States)

    Plaza, Nayomi; Zelinka, Samuel L.; Stone, Don S.; Jakes, Joseph E.

    2013-07-01

    A bundle of a few loblolly pine (Pinus taeda) cells are moisture-activated torsional actuators that twist multiple revolutions per cm length in direct proportion to moisture content. The bundles generate 10 N m kg-1 specific torque during both twisting and untwisting, which is higher than an electric motor. Additionally, the bundles exhibit a moisture-activated, shape memory twist effect. Over 70% of the twist in a wetted bundle can be locked-in by drying under constraint and then released by rewetting the bundle. Our results indicate that hemicelluloses dominate the shape fixity mechanism and lignin is primarily responsible for remembering the bundle’s original form. The bundles demonstrate proof of a high specific torque actuator with large angles of rotation and shape memory twist capabilities that can be used in microactuators, sensors, and energy harvesters.

  12. On the electrical safety of dielectric elastomer actuators in proximity to the human body

    Science.gov (United States)

    Pourazadi, S.; Shagerdmootaab, A.; Chan, H.; Moallem, M.; Menon, C.

    2017-11-01

    Novel devices based on the use of dielectric elastomer actuators (DEA) have been proposed for a large variety of different applications. In many of these applications, DEAs are envisioned to be in direct or close proximity to the human body. Since DEAs usually require high voltage for their actuation, the safety of individuals operating or using these devices should be ensured. In this paper, safety standards based on safe limits for electrical discharge are investigated. Flat and cylindrical DEA configurations, which are generally considered as the building blocks for the design of DEA-based systems, are investigated in detail. Relevant elements and factors that affect the electrical discharge of DEA devices are analyzed and guidelines to design DEA-based devices that are not of harm for humans are provided. The performed analyses are experimentally validated using flat DEA samples. The safety requirements that should be considered when wrapping DEAs around the body (specifically the legs) are also briefly investigated to provide a practical example of interest for the biomedical community.

  13. Fatigue study on the actuation performance of macro fiber composite (MFC): theoretical and experimental approach

    Science.gov (United States)

    Pandey, Akash; Arockiarajan, A.

    2017-03-01

    Macro fiber composite (MFC) is extensively used in vibration control and actuation applications due to its high flexibility and enhanced coupling coefficients. During these applications, MFCs are subjected to the continuous cyclic electrical loading, which may lead to the degradation in its actuation performance. In order to predict the life cycle of MFCs, an experimental setup has been devised and experiments are performed under cyclic loading condition. Efforts involved in the experiments are huge in terms of time and cost. Hence, an attempt has been made to develop a theoretical model to predict the fatigue behavior of MFCs. A nonlinear finite element method has been formulated based on Kirchhoff plate theory wherein the fatigue failure criterion based on strain energy is embedded. Simulated results based on the proposed model is compared with experimental observation and are in good agreement with each other. Variation in the life cycle of MFCs are also studied for different operating temperatures as well as structural/geometric configurations.

  14. Interventions for leg cramps in pregnancy.

    Science.gov (United States)

    Zhou, Kunyan; West, Helen M; Zhang, Jing; Xu, Liangzhi; Li, Wenjuan

    2015-08-11

    Leg cramps are a common problem in pregnancy. Various interventions have been used to treat them, including drug, electrolyte and vitamin therapies, and non-drug therapies. To assess the effectiveness and safety of different interventions for treating leg cramps in pregnancy. We searched the Cochrane Pregnancy and Childbirth Group's Register (31 March 2015) and reference lists of retrieved studies. Randomised controlled trials (RCTs) of any intervention (drug, electrolyte, vitamin or non-drug therapies) for treatment of leg cramps in pregnancy compared with placebo, no treatment or other treatment. Quinine was excluded for its known adverse effects (teratogenicity). Cluster-RCTS were considered for inclusion. Quasi-RCTs and cross-over studies were excluded. Two review authors independently assessed trials for inclusion and risk of bias, extracted data and checked them for accuracy. We included six studies (390 women). Four trials compared oral magnesium with placebo/no treatment, two compared oral calcium with no treatment, one compared oral vitamin B versus no treatment, and one compared oral calcium with oral vitamin C. Two of the trials were well-conducted and reported, the other four had design limitations. The process of random allocation was sub-optimal in three studies, and blinding was not attempted in two. Outcomes were reported in different ways, precluding the use of meta-analysis and limiting the strength of our conclusions.The 'no treatment' group in one four-arm trial has been used as the comparison group for the composite outcome (intensity and frequency of leg cramps) in magnesium, calcium, and vitamin B versus no treatment. This gives it disproportionate weight in the overall analysis, thus interpretation of these results should be cautious. Oral magnesium versus placebo/no treatmentMagnesium (taken orally for two to four weeks) did not consistently reduce the frequency of leg cramps compared with placebo or no treatment. Outcomes that showed

  15. Microwave power for smart material actuators

    Science.gov (United States)

    Choi, Sang H.; Song, Kyo D.; Golembiewskii, Walter; Chu, Sang-Hyon; King, Glen C.

    2004-02-01

    The concept of microwave-driven smart material actuators was envisioned and developed as the best option to alleviate the complexity and weight associated with a hard-wire-networked power and control system for smart actuator arrays. The patch rectenna array was initially designed for high current output, but has undergone further development for high voltage output devices used in shape control applications. Test results show that more than 200 V of output were obtained from a 6 × 6 array at a far-field exposure (1.8 m away) with an X-band input power of 18 W. The 6 × 6 array patch rectenna was designed to theoretically generate voltages up to 540 V, but practically it has generated voltages in the range between 200 and 300 V. Testing was also performed with a thin layer composite unimorph ferroelectric driver and sensor and electro-active paper as smart actuators attached to the 6 × 6 array. Flexible dipole rectenna arrays built on thin-film-based flexible membranes are most applicable for NASA's various missions, such as microwave-driven shape controls for aircraft morphing and large, ultra-lightweight space structures. An array of dipole rectennas was designed for high voltage output by densely populating Schottky barrier diodes to drive piezoelectric or electrostrictive actuators. The dipole rectenna array will eventually be integrated with a power allocation and distribution logic circuit and microbatteries for storage of excessive power. The roadmap for the development of wireless power drivers based on the rectenna array for shape control requires the development of new membrane materials with proper dielectric constants that are suitable for dipole rectenna arrays.

  16. Stabilization of Neutral Systems with Saturating Actuators

    Directory of Open Access Journals (Sweden)

    F. El Haoussi

    2012-01-01

    to determine stabilizing state-feedback controllers with large domain of attraction, expressed as linear matrix inequalities, readily implementable using available numerical tools and with tuning parameters that make possible to select the most adequate solution. These conditions are derived by using a Lyapunov-Krasovskii functional on the vertices of the polytopic description of the actuator saturations. Numerical examples demonstrate the effectiveness of the proposed technique.

  17. Radiation pressure actuation of test masses

    International Nuclear Information System (INIS)

    Garoi, F; Ju, L; Zhao, C; Blair, D G

    2004-01-01

    In this paper, we investigate the use of radiation pressure force as test mass actuation for laser interferometer gravitational wave detectors. It is shown that it is viable to provide radiation pressure control on test masses for frequencies above ∼0.2 Hz in high performance vibration isolation systems. A very low mass, low frequency resonator has been used to verify that radiation pressure force is not corrupted by other forces such as due to radiometer effects

  18. Dynamic Electromechanical Coupling of Piezoelectric Bending Actuators

    Directory of Open Access Journals (Sweden)

    Mostafa R. A. Nabawy

    2016-01-01

    Full Text Available Electromechanical coupling defines the ratio of electrical and mechanical energy exchanged during a flexure cycle of a piezoelectric actuator. This paper presents an analysis of the dynamic electromechanical coupling factor (dynamic EMCF for cantilever based piezoelectric actuators and provides for the first time explicit expressions for calculation of dynamic EMCF based on arrangement of passive and active layers, layer geometry, and active and passive materials selection. Three main cantilever layer configurations are considered: unimorph, dual layer bimorph and triple layer bimorph. The actuator is modeled using standard constitutive dynamic equations that relate deflection and charge to force and voltage. A mode shape formulation is used for the cantilever dynamics that allows the generalized mass to be the actual mass at the first resonant frequency, removing the need for numerical integration in the design process. Results are presented in the form of physical insight from the model structure and also numerical evaluations of the model to provide trends in dynamic EMCF with actuator design parameters. For given material properties of the active and passive layers and given system overall damping ratio, the triple layer bimorph topology is the best in terms of theoretically achievable dynamic EMCF, followed by the dual layer bimorph. For a damping ratio of 0.035, the dynamic EMCF for an example dual layer bimorph configuration is 9% better than for a unimorph configuration. For configurations with a passive layer, the ratio of thicknesses for the passive and active layers is the primary geometric design variable. Choice of passive layer stiffness (Young’s modulus relative to the stiffness of the material in the active layer is an important materials related design choice. For unimorph configurations, it is beneficial to use the highest stiffness possible passive material, whereas for triple layer bimorph configurations, the passive

  19. Bistable (latching) solenoid actuated propellant isolation valve

    Science.gov (United States)

    Wichmann, H.; Deboi, H. H.

    1979-01-01

    The design, fabrication, assembly and test of a development configuration bistable (latching) solenoid actuated propellant isolation valve suitable for the control hydrazine and liquid fluorine to an 800 pound thrust rocket engine is described. The valve features a balanced poppet, utilizing metal bellows, a hard poppet/seat interface and a flexure support system for the internal moving components. This support system eliminates sliding surfaces, thereby rendering the valve free of self generated particles.

  20. Induction thermoelastic actuator with controllable operation regime

    Czech Academy of Sciences Publication Activity Database

    Doležel, Ivo; Kotlan, V.; Krónerová, E.; Ulrych, B.

    2010-01-01

    Roč. 29, č. 4 (2010), s. 1004-1014 ISSN 0332-1649 R&D Projects: GA ČR GA102/09/1305 Institutional research plan: CEZ:AV0Z20570509 Keywords : control of position * thermoelastic actuator * electromagnetic field Subject RIV: JA - Electronics ; Optoelectronics, Electrical Engineering Impact factor: 0.386, year: 2010 www.emeraldinsight.com/compel.htm

  1. Physical Analysis and Scaling of a Jet and Vortex Actuator

    Science.gov (United States)

    Lachowicz, Jason T.; Yao, Chung-Sheng; Joslin, Ronald D.

    2004-01-01

    Our previous studies have shown that the Jet and Vortex Actuator generates free-jet, wall-jet, and near- wall vortex flow fields. That is, the actuator can be operated in different modes by simply varying the driving frequency and/or amplitude. For this study, variations are made in the actuator plate and wide-slot widths and sine/asymmetrical actuator plate input forcing (drivers) to further study the actuator induced flow fields. Laser sheet flow visualization, particle- image velocimetry, and laser velocimetry are used to measure and characterize the actuator induced flow fields. Laser velocimetry measurements indicate that the vortex strength increases with the driver repetition rate for a fixed actuator geometry (wide slot and plate width). For a given driver repetition rate, the vortex strength increases as the plate width decreases provided the wide-slot to plate-width ratio is fixed. Using an asymmetric plate driver, a stronger vortex is generated for the same actuator geometry and a given driver repetition rate. The nondimensional scaling provides the approximate ranges for operating the actuator in the free jet, wall jet, or vortex flow regimes. Finally, phase-locked velocity measurements from particle image velocimetry indicate that the vortex structure is stationary, confirming previous computations. Both the computations and the particle image velocimetry measurements (expectantly) show unsteadiness near the wide-slot opening, which is indicative of mass ejection from the actuator.

  2. Power characterization of THUNDER actuators as underwater propulsors

    Science.gov (United States)

    Niezrecki, Christopher; Balakrishnan, Sivakumar

    2001-08-01

    Piezoelectric actuators have been used for active vibration control, noise suppression, health monitoring, etc. The large appeal in using smart material actuators stems from their high mechanical energy density. A relatively new actuator (THUNDER) has overcome the displacement hurdles that have plagued traditional piezoelectric based actuators. It is capable of providing a displacement on order of 0.5 cm. This allows the actuator to be used in some underwater applications, such as propulsion. To date the electrical power consumption and electromechanical efficiency of these actuators has not been quantified; specifically, applied as underwater propulsors. Some of the challenges in obtaining this information stems from the actuator's non traditional actuating architecture, high voltage requirements, and its electrical non-linearity. The work presented experimentally determines the electrical power consumption and mechanical displacement of THUNDER actuators used as underwater propulsors. It is found that the electrical power consumption of the clamshell actuator investigated is significantly less than that consumed by other autonomous under water vehicles. The potential thrust generated by such a device remains to be quantified.

  3. Electrowetting Actuation of Polydisperse Nanofluid Droplets

    Directory of Open Access Journals (Sweden)

    Crismar Patacsil

    2017-01-01

    Full Text Available We present results of electrowetting experiments employing droplets formed from aqueous suspensions of Au nanoparticles. A planar electrowetting system, consisting of a Pt wire electrode and a bottom Cu electrode with an insulating silicone layer, is used to observe changes in droplet contact angle when an external electric field is applied. The equilibrium contact angle at 0 V decreases with increasing nanoparticle concentration, dropping from 100.4° for pure deionized water to 94.7° for a 0.5 μM nanofluid. Increasing the nanoparticle content also lowers the required voltage for effective actuation. With actuation at 15 V, contact angle decreases by 9% and 35% for droplets formed from pure water and a 0.5 μM nanoparticle suspension, respectively. Contact angle saturation is observed with nanofluid droplets, with the threshold voltage decreasing as nanoparticle concentration rises. Maximum droplet actuation before contact angle saturation is achieved at only 10 V for a concentration of 0.5 μM. A proposed mechanism for the enhanced electrowetting response of a nanofluid droplet involves a reduction in surface tension of the droplet as nanoparticles accumulate at the liquid-vapor interface.

  4. Fpga-based control of piezoelectric actuators

    Directory of Open Access Journals (Sweden)

    Juhász László

    2011-01-01

    Full Text Available In many industrial applications like semiconductor production and optical inspection systems, the availability of positioning systems capable to follow trajectory paths in the range of several centimetres, featuring at the same time a nanometre-range precision, is demanding. Pure piezoelectric stages and standard positioning systems with motor and spindle are not able to meet such requirements, because of the small operation range and inadequacies like backlash and friction. One concept for overcoming these problems consists of a hybrid positioning system built through the integration of a DC-drive in series with a piezoelectric actuator. The wide range of potential applications enables a considerable market potential for such an actuator, but due to the high variety of possible positioned objects and dynamic requirements, the required control complexity may be significant. In this paper, a real-time capable state-space control concept for the piezoelectric actuators, embedded in such a hybrid micropositioning system, is presented. The implementation of the controller together with a real-time capable hysteresis compensation measure is performed using a low-budget FPGA-board, whereas the superimposed integrated controller is realized with a dSPACE RCP-system. The advantages of the designed control over a traditional proportional-integral control structure are proven through experimental results using a commercially available hybrid micropositioning system. Positioning results by different dynamic requirements featuring positioning velocities from 1 μm/s up to 5 cm/s are given.

  5. Microfabricated actuators and their application to optics

    Energy Technology Data Exchange (ETDEWEB)

    Sniegowski, J.J.; Garcia, E.J.

    1994-12-31

    Several authors have given overviews of microelectromechanical systems, including microactuators. In our presentation we will review some of these results, and provide a brief description of the basic principles of operation, fabrication, and application, of a few selected microactuators (electrostatic and surface tension driven). We present a description of a three-level mechanical polysilicon surface-micromachining technology with a discussion of the advantages of this level of process complexity. This technology, is capable of forming complex, batch-fabricated, interconnected, and interactive, microactuated micromechanisms which include optical elements. The inclusion of a third deposited layer of mechanical polysilicon greatly extends the degree of complexity available for micromechanism design. Two examples of microactuators fabricated using this process are provided to illustrate the capabilities and usefulness of the technology. The first actuator is an example of a novel actuation mechanism based on the effect of surface tension at these micro-scale dimensions and of a microstructure within a microstructure. The second is a comb-drive-based microengine which has direct application as a drive and power source for micro optical elements, specifically, micro mirrors and micro shutters. This design converts linear oscillatory motion from electrostatic comb drive actuators into rotational motion via a direct linkage connection. The microengine provides output in the form of a continuously rotating output gear that is capable of delivering drive torque to a micromechanism.

  6. Orthopaedic Rehabilitation Device Actuated with Pneumatic Muscles

    Directory of Open Access Journals (Sweden)

    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.

  7. Fabrication of a New Electrostatic Linear Actuator

    Science.gov (United States)

    Matsunaga, Takashi; Kondoh, Kazuya; Kumagae, Michihiro; Kawata, Hiroaki; Yasuda, Masaaki; Murata, Kenji; Yoshitake, Masaaki

    2000-12-01

    We propose a new electrostatic linear actuator with a large stroke and a new process for fabricating the actuator. A moving slider with many teeth on both sides is suspended above lower electrodes on a substrate by two bearings. A photoresist is used as a sacrificial layer. Both the slider and the bearings are fabricated by Ni electroplating. The bearings are fabricated by the self-alignment technique. Bearings with 0.6 μm clearance can be easily fabricated. All processes are performed at low temperatures up to 110°C. It is confirmed that the slider can be moved mechanically, and also can be moved by about 10 μm when a voltage pulse of 50 V is applied between the slider and the lower electrodes when the slider is upside down. However, the slider cannot move continuously because of friction. We also calculate the electrostatic force acting on one slider tooth. The simulation result shows that the reduction of the electrostatic force to the vertical direction is very important for mechanical movement of the actuator.

  8. Macro Fiber Piezocomposite Actuator Poling Study

    Science.gov (United States)

    Werlink, Rudy J.; Bryant, Robert G.; Manos, Dennis

    2002-01-01

    The performance and advantages of Piezocomposite Actuators are to provide a low cost, in-situ actuator/sensor that is flexible, low profile and high strain per volt performance in the same plane of poled voltage. This paper extends reported data for the performance of these Macrofiber Composite (MFC) Actuators to include 4 progressively narrower Intedigitized electrode configurations with several line widths and spacing ratios. Data is reported for max free strain, average strain per applied volt, poling (alignment of the electric dipoles of the PZT ceramic) voltage vs. strain and capacitance, time to poling voltage 95% saturation. The output strain per volt progressively increases as electrode spacing decreases, with saturation occurring at lower poling voltages. The narrowest spacing ratio becomes prone to voltage breakdown or short circuits limiting the spacing width with current fabrication methods. The capacitance generally increases with increasing poling voltage level but has high sensitivity to factors such as temperature, moisture and time from poling which limit its usefulness as a simple indicator. The total time of applied poling voltage to saturate or fully line up the dipoles in the piezoceramic was generally on the order of 5-20 seconds. Less sensitivity to poling due to the applied rate of voltage increase over a 25 to 500 volt/second rate range was observed.

  9. Highly Tunable Electrothermally and Electrostatically Actuated Resonators

    KAUST Repository

    Hajjaj, Amal Z.

    2016-03-30

    This paper demonstrates experimentally, theoretically, and numerically for the first time, a wide-range tunability of an in-plane clamped-clamped microbeam, bridge, and resonator actuated electrothermally and electrostatically. Using both actuation methods, we demonstrate that a single resonator can be operated at a wide range of frequencies. The microbeam is actuated electrothermally by passing a dc current through it, and electrostatically by applying a dc polarization voltage between the microbeam and the stationary electrode. We show that when increasing the electrothermal voltage, the compressive stress inside the microbeam increases, which leads eventually to its buckling. Before buckling, the fundamental frequency decreases until it drops to very low values, almost to zero. After buckling, the fundamental frequency increases, which is shown to be as high as twice the original resonance frequency. Adding a dc bias changes the qualitative nature of the tunability both before and after buckling, which adds another independent way of tuning. This reduces the dip before buckling, and can eliminate it if desired, and further increases the fundamental frequency after buckling. Analytical results based on the Galerkin discretization of the Euler Bernoulli beam theory are generated and compared with the experimental data and simulation results of a multi-physics finite-element model. A good agreement is found among all the results. [2015-0341

  10. Bending fluidic actuator for smart structures

    Science.gov (United States)

    Che-Ming Chang, Benjamin; Berring, John; Venkataram, Manu; Menon, Carlo; Parameswaran, M.

    2011-03-01

    This paper presents a novel silicone-based, millimeter-scale, bending fluidic actuator (BFA). Its unique parallel micro-channel design enables, for the first time, operation at low working pressure while at the same time having a very limited thickness expansion during pressurization. It also enables the actuator to have the highest ratios of angular displacement over length and torque over volume among previously proposed BFAs. In this work, this parallel micro-channel design is implemented by embedding the BFA with an innovative single winding conduit, which yields a simple, single-component configuration suitable for low-cost production and reliable performance. The BFA design can be easily scaled down to smaller dimensions and can be adapted to applications in restricted space, particularly minimally invasive surgery. In this work, the actuator is manufactured in TC-silicone through poly(methyl methacrylate) molds obtained by using laser cutting technology. Repeated angular displacement measurements on multiple prototypes having different stiffness are carried out. The experimental results are compared with an analytical model, which accurately predicts the performance of the device.

  11. Piezoelectrically Actuated Shutter for High Vacuum

    Science.gov (United States)

    Thompson, Robert; Klose, Gerhard

    2003-01-01

    A piezoelectrically actuated shutter is undergoing development for use in experiments on laser cooling of atoms. The shutter is required to be compatible with ultrahigh vacuum [pressure of 10(exp -9) torr (.1.3 x 10(exp -7) Pa) or less] and to be capable of performing reliably in the vacuum for at least one year. In operation, the shutter would enable the collection and launch of successive samples of cold atoms and would enable the interrogation of the immediately preceding sample while preventing disturbance of the atoms of that sample by light from the collection region. A major constraint is imposed on the design and operation of the shutter by a requirement that it not generate a magnetic field large enough to perturb an atomic clock. An electromagnetically actuated shutter could satisfy all requirements except this one. Hence, it was decided to use piezoelectric instead of electromagnetic actuation. The shutter (see figure) includes two commercial piezoelectrically driven flexure stages that produce a travel of 0.5 mm. Levers mechanically amplify the travel to the required level of 1 cm. Problems that remained to be addressed at the time of reporting the information for this article included lifetime testing and correction of a tendency for shutter blades to bounce open.

  12. Novel compliant actuator for wearable robotics applications.

    Science.gov (United States)

    Claros, M; Soto, R; Rodríguez, J J; Cantú, C; Contreras-Vidal, José L

    2013-01-01

    In the growing fields of wearable robotics, rehabilitation robotics, prosthetics, and walking robots, variable impedance and force actuators are being designed and implemented because of their ability to dynamically modulate the intrinsic viscoelastic properties such as stiffness and damping. This modulation is crucial to achieve an efficient and safe human-robot interaction that could lead to electronically generate useful emergent dynamical behaviors. In this work we propose a novel actuation system in which is implemented a control scheme based on equilibrium forces for an active joint capable to provide assistance/resistance as needed and also achieve minimal mechanical impedance when tracking the movement of the user limbs. The actuation system comprises a DC motor with a built in speed reducer, two force-sensing resistors (FSR), a mechanism which transmits to the FSRs the torque developed in the joint and a controller which regulate the amount of energy that is delivered to the DC motor. The proposed system showed more impedance reduction, by the effect of the controlled contact forces, compared with the ones in the reviewed literature.

  13. Considerations for Contractile Electroactive Materials and Actuators

    Energy Technology Data Exchange (ETDEWEB)

    Rasmussen, Lenore; Erickson, Carl J.; Meixler, Lewis D.; Ascione, George; Gentile, Charles A.; Tilson, Carl; Bernasek, Stephen L.; Abelev, Esta

    2010-02-19

    Ras Labs produces electroactive polymer (EAP) based materials and actuators that bend, swell, ripple and now contract (new development) with low electric input. This is an important attribute because of the ability of contraction to produce life-like motion. The mechanism of contraction is not well understood. Radionuclide-labeled experiments were conducted to follow the movement of electrolytes and water in these EAPs when activated. Extreme temperature experiments were performed on the contractile EAPs with very favorable results. One of the biggest challenges in developing these actuators, however, is the electrode-EAP interface because of the pronounced movement of the EAP. Plasma treatments of metallic electrodes were investigated in order to improve the attachment of the embedded electrodes to the EAP material. Surface analysis, adhesive testing, and mechanical testing were conducted to test metal surfaces and metal-polymer interfaces. The nitrogen plasma treatment of titanium produced a strong metal-polymer interface; however, oxygen plasma treatment of both stainless steel and titanium produced even stronger metal-polymer interfaces. Plasma treatment of the electrodes allows for the embedded electrodes and the EAP material of the actuator to work and move as a unit, with no detachment, by significantly improving the metal-polymer interface.

  14. Considerations for Electroactive Polymeric Materials and Actuators

    International Nuclear Information System (INIS)

    Rasmussen, Lenore; Erickson, Carl J.; Meixler, Lewis D.; Ascione, George; Gentile, Charles A.; Tilson, Carl; Bernasek, Stephen L.; Abelev, Esta

    2010-01-01

    Ras Labs produces electroactive polymer (EAP) based materials and actuators that bend, swell, ripple and now contract (new development) with low electric input. This is an important attribute because of the ability of contraction to produce life-like motion. The mechanism of contraction is not well understood. Radionuclide-labeled experiments were conducted to follow the movement of electrolytes and water in these EAPs when activated. Extreme temperature experiments were performed on the contractile EAPs with very favorable results. One of the biggest challenges in developing these actuators, however, is the electrode-EAP interface because of the pronounced movement of the EAP. Plasma treatments of metallic electrodes were investigated in order to improve the attachment of the embedded electrodes to the EAP material. Surface analysis, adhesive testing, and mechanical testing were conducted to test metal surfaces and metal-polymer interfaces. The nitrogen plasma treatment of titanium produced a strong metal-polymer interface; however, oxygen plasma treatment of both stainless steel and titanium produced even stronger metal-polymer interfaces. Plasma treatment of the electrodes allows for the embedded electrodes and the EAP material of the actuator to work and move as a unit, with no detachment, by significantly improving the metal-polymer interface.

  15. Leg power among malaysian netball players | Geok | African Journal ...

    African Journals Online (AJOL)

    The purpose of the study was to compare the leg power among Malaysian national netball players according to their age and playing position. The Vertical Jump Test was chosen to measure the leg power by using “Digital Indication Jump Meter” device. The results of the Vertical Jump Test were used to compare the leg ...

  16. Protection against high intravascular pressure in giraffe legs

    DEFF Research Database (Denmark)

    Petersen, Karin K; Hørlyck, Arne; Østergaard, Kristine Hovkjær

    2013-01-01

    The high blood pressure in giraffe leg arteries renders giraffes vulnerable to edema. We investigated in 11 giraffes whether large and small arteries in the legs and the tight fascia protect leg capillaries. Ultrasound imaging of foreleg arteries in anesthetized giraffes and ex vivo examination...

  17. Predicting muscle forces during the propulsion phase of single leg triple hop test.

    Science.gov (United States)

    Alvim, Felipe Costa; Lucareli, Paulo Roberto Garcia; Menegaldo, Luciano Luporini

    2018-01-01

    Functional biomechanical tests allow the assessment of musculoskeletal system impairments in a simple way. Muscle force synergies associated with movement can provide additional information for diagnosis. However, such forces cannot be directly measured noninvasively. This study aims to estimate muscle activations and forces exerted during the preparation phase of the single leg triple hop test. Two different approaches were tested: static optimization (SO) and computed muscle control (CMC). As an indirect validation, model-estimated muscle activations were compared with surface electromyography (EMG) of selected hip and thigh muscles. Ten physically healthy active women performed a series of jumps, and ground reaction forces, kinematics and EMG data were recorded. An existing OpenSim model with 92 musculotendon actuators was used to estimate muscle forces. Reflective markers data were processed using the OpenSim Inverse Kinematics tool. Residual Reduction Algorithm (RRA) was applied recursively before running the SO and CMC. For both, the same adjusted kinematics were used as inputs. Both approaches presented similar residuals amplitudes. SO showed a closer agreement between the estimated activations and the EMGs of some muscles. Due to inherent EMG methodological limitations, the superiority of SO in relation to CMC can be only hypothesized. It should be confirmed by conducting further studies comparing joint contact forces. The workflow presented in this study can be used to estimate muscle forces during the preparation phase of the single leg triple hop test and allows investigating muscle activation and coordination. Copyright © 2017 Elsevier B.V. All rights reserved.

  18. Protection by S-2-(3-aminopropylamino)ethylphosphorothioic acid against radiation-induced leg contractures in mice

    International Nuclear Information System (INIS)

    Hunter, N.; Milas, L.

    1983-01-01

    S-2-(3-Aminopropylamino)ethylphosphorothioic acid (WR-2721) was shown to provide marked protection against development of radiation-induced leg contractures in C3Hf/Kam mice whose legs were exposed to single doses of gamma-radiation. The radiation doses ranged from 3300 to 6200 rads delivered to the right hind thighs from two parallelly opposed 137Cs sources. WR-2721 was given i.p. 30 min before irradiation. The severity of radiation-induced leg contractures in untreated and WR-2721-treated mice was followed for 342 days after irradiation. The degree of leg contractures in both control and WR-2721-treated mice increased up to 100 days after radiation, when the change stabilized, remaining more or less at the same level to the end of the observation period. During this entire period, the severity of contractures was less in WR-2721-treated mice. The dose-modifying factor for the level of 5 mm reduction in leg extension was 1.5 at 182 days after irradiation. Since WR-2721 did not prevent the radiocurability of 8-mm fibrosarcomas growing in the same legs, these data imply that WR-2721 has a high potential for increasing therapeutic gain when combined with irradiation in the treatment of tumors of an appreciable size

  19. Electromechanical actuation for thrust vector control applications

    Science.gov (United States)

    Roth, Mary Ellen

    1990-01-01

    At present, actuation systems for the Thrust Vector Control (TVC) for launch vehicles are hydraulic systems. The Advanced Launch System (ALS), a joint initiative between NASA and the Air Force, is a launch vehicle that is designed to be cost effective, highly reliable and operationally efficient with a goal of reducing the cost per pound to orbit. As part of this initiative, an electromechanical actuation system is being developed as an attractive alternative to the hydraulic systems used today. NASA-Lewis is developing and demonstrating an Induction Motor Controller Actuation System with a 40 hp peak rating. The controller will integrate 20 kHz resonant link Power Management and Distribution (PMAD) technology and Pulse Population Modulation (PPM) techniques to implement Field Oriented Vector Control (FOVC) of a new advanced induction motor. Through PPM, multiphase variable frequency, variable voltage waveforms can be synthesized from the 20 kHz source. FOVC shows that varying both the voltage and frequency and their ratio (V/F), permits independent control of both torque and speed while operating at maximum efficiency at any point on the torque-speed curve. The driver and the FOVC will be microprocessor controlled. For increased system reliability, a Built-in Test (BITE) capability will be included. This involves introducing testability into the design of a system such that testing is calibrated and exercised during the design, manufacturing, maintenance and prelaunch activities. An actuator will be integrated with the motor controller for performance testing of the EMA TVC system. The design and fabrication of the motor controller is being done by General Dynamics Space Systems Division. The University of Wisconsin-Madison will assist in the design of the advanced induction motor and in the implementation of the FOVC theory. A 75 hp electronically controlled dynamometer will be used to test the motor controller in all four quadrants of operation using flight type

  20. Immediate effects of the trunk stabilizing exercise on static balance parameters in double-leg and one-leg stances

    OpenAIRE

    Kim, Jwa-jun; Park, Se-yeon

    2016-01-01

    [Purpose] The purpose of this study was to evaluate the immediate effect of stabilizing exercise using the PNF technique on standing balance in one-leg and double-leg stances. [Subjects and Methods] The present study recruited 34 healthy participants from a local university. The Participants performed four balance tests (double-leg stance with and without vision, one-leg stance with and without vision), before and after exercise. The exercise consisted of exercises performed using PNF techniq...

  1. Correlation between Changes in Leg Blood Flow and Ankle-Brachial Pressure Index: A Study Using Laser Doppler Flowmeter -The 1st Report-.

    Science.gov (United States)

    Suzuki, Kazuyoshi; Sekiguchi, Miho; Midorikawa, Hirofumi; Sato, Koichi; Akase, Kazuyoshi; Sawada, Renshi; Konno, Shin-Ichi

    2011-01-01

    The objective of this study was to use non-invasive laser Doppler flowmeter to measure changes in blood flow in peripheral vessels in the legs before and after stress induced by leg elevation stress test and investigate correlations with the ankle-brachial pressure index (ABI). Subjects included 28 patients over 20 years of age (mean, 73 years) who reported chiefly of leg symptoms such as intermittent claudication, numbness, chills, or cramps had been examined at the study institution, and agreed to participate in the study. The ABI of both legs was measured, and patients were divided into two groups: low ABI (ABI ≤0.9) and normal ABI (ABI ≥0.9). Blood flow in the big toe was measured using a box-type laser Doppler flowmeter before, during, and after leg-elevation stress. Amplitude of the recorded waveform and changes in blood flow were compared. Average ABI was 1.09 ± 0.10 in the normal ABI group (33 legs) and 0.68 ± 0.17 in the low ABI group (21 legs). Amplitude before and during stress was significantly smaller in the low ABI group than in the normal ABI group (p leg extension and elevation stress, there was a correlation between change in blood flow and amplitude, and ABI during stress. A box-type laser Doppler flowmeter may provide a means of screening for peripheral arterial disease.

  2. Recurrent-neural-network-based identification of a cascade hydraulic actuator for closed-loop automotive power transmission control

    International Nuclear Information System (INIS)

    You, Seung Han; Hahn, Jin Oh

    2012-01-01

    By virtue of its ease of operation compared with its conventional manual counterpart, automatic transmissions are commonly used as automotive power transmission control system in today's passenger cars. In accordance with this trend, research efforts on closed-loop automatic transmission controls have been extensively carried out to improve ride quality and fuel economy. State-of-the-art power transmission control algorithms may have limitations in performance because they rely on the steady-state characteristics of the hydraulic actuator rather than fully exploit its dynamic characteristics. Since the ultimate viability of closed-loop power transmission control is dominated by precise pressure control at the level of hydraulic actuator, closed-loop control can potentially attain superior efficacy in case the hydraulic actuator can be easily incorporated into model-based observer/controller design. In this paper, we propose to use a recurrent neural network (RNN) to establish a nonlinear empirical model of a cascade hydraulic actuator in a passenger car automatic transmission, which has potential to be easily incorporated in designing observers and controllers. Experimental analysis is performed to grasp key system characteristics, based on which a nonlinear system identification procedure is carried out. Extensive experimental validation of the established model suggests that it has superb one-step-ahead prediction capability over appropriate frequency range, making it an attractive approach for model-based observer/controller design applications in automotive systems

  3. Low-Stroke Actuation for a Serial Robot

    Science.gov (United States)

    Gao, Dalong (Inventor); Ihrke, Chris A. (Inventor)

    2014-01-01

    A serial robot includes a base, first and second segments, a proximal joint joining the base to the first segment, and a distal joint. The distal joint that joins the segments is serially arranged and distal with respect to the proximal joint. The robot includes first and second actuators. A first tendon extends from the first actuator to the proximal joint and is selectively moveable via the first actuator. A second tendon extends from the second actuator to the distal joint and is selectively moveable via the second actuator. The robot includes a transmission having at least one gear element which assists rotation of the distal joint when an input force is applied to the proximal and/or distal joints by the first and/or second actuators. A robotic hand having the above robot is also disclosed, as is a robotic system having a torso, arm, and the above-described hand.

  4. Characterization and design of antagonistic shape memory alloy actuators

    International Nuclear Information System (INIS)

    Georges, T; Brailovski, V; Terriault, P

    2012-01-01

    Antagonistic shape memory actuators use opposing shape memory alloy (SMA) elements to create devices capable of producing differential motion paths and two-way mechanical work in a very efficient manner. There is no requirement for additional bias elements to ‘re-arm’ the actuators and allow repetitive actuation. The work generation potential of antagonistic shape memory actuators is determined by specific SMA element characteristics and their assembly conditions. In this study, the selected SMA wires are assembled in antagonistic configuration and characterized using a dedicated test bench to evaluate their stress–strain characteristics as a function of the number of cycles. Using these functional characteristics, a so-called ‘working envelope’ is built to assist in the design of such an actuator. Finally, the test bench is used to simulate a real application of an antagonistic actuator (case study). (paper)

  5. A large-stroke electrostatic micro-actuator

    International Nuclear Information System (INIS)

    Towfighian, S; Seleim, A; Abdel-Rahman, E M; Heppler, G R

    2011-01-01

    Voltage-driven parallel-plate electrostatic actuators suffer from an operation range limit of 30% of the electrostatic gap; this has restrained their application in microelectromechanical systems. In this paper, the travel range of an electrostatic actuator made of a micro-cantilever beam above a fixed electrode is extended quasi-statically to 90% of the capacitor gap by introducing a voltage regulator (controller) circuit designed for low-frequency actuation. The voltage regulator reduces the actuator input voltage, and therefore the electrostatic force, as the beam approaches the fixed electrode so that balance is maintained between the mechanical restoring force and the electrostatic force. The low-frequency actuator also shows evidence of high-order superharmonic resonances that are observed here for the first time in electrostatic actuators

  6. Self-Sensing Ionic Polymer Actuators: A Review

    Directory of Open Access Journals (Sweden)

    Karl Kruusamäe

    2015-03-01

    Full Text Available Ionic electromechanically active polymers (IEAP are laminar composites that can be considered attractive candidates for soft actuators. Their outstanding properties such as low operating voltage, easy miniaturization, and noiseless operation are, however, marred by issues related to the repeatability in the production and operation of these materials. Implementing closed-loop control for IEAP actuators is a viable option for overcoming these issues. Since IEAP laminates also behave as mechanoelectrical sensors, it is advantageous to combine the actuating and sensing functionalities of a single device to create a so-called self-sensing actuator. This review article systematizes the state of the art in producing self-sensing ionic polymer actuators. The IEAPs discussed in this paper are conducting (or conjugated polymers actuators (CPA, ionic polymer-metal composite (IPMC, and carbonaceous polymer laminates.

  7. Iridium oxide as actuator material for the ISFET-based sensor-actuator system

    OpenAIRE

    Olthuis, Wouter; Bomer, Johan G.; Bergveld, Piet; van der Linden, W.E.; Bos, M.; Bos, M.

    1991-01-01

    Acid or base concentrations can be determined by performing an acid-base titration with Coulometrically generated OH- or H+ ions at a noble-metal actuator electrode in close proximity to the pH-sensitive gate of an ISFET. The ISFET is used as the indicator electrode to detect the equivalence point in the titration curve. The potential of the actuator electrode during the generation of the titrant is relatively high for the anodic water electrolysis (or relatively low for the cathodic reaction...

  8. Clinical quality indicators of venous leg ulcers

    DEFF Research Database (Denmark)

    Kjaer, Monica L; Mainz, Jan; Soernsen, Lars T

    2005-01-01

    and reliable evidence-based quality indicators of venous leg ulcer care. A Scandinavian multidisciplinary, cross-sectional panel of wound healing experts developed clinical quality indicators on the basis of scientific evidence from the literature and subsequent group nominal consensus of the panel......; an independent medical doctor tested the feasibility and reliability of these clinical indicators, assessing the quality of medical technical care on 100 consecutive venous leg ulcer patients. Main outcome measures were healing, recurrence, pain, venous disease diagnosis, differential diagnosis and treatment......%) were assessed for venous surgery. Distal arterial pressure was measured following initial examination in 33 of the patients (34%). All patients (100%) were prescribed compression therapy. Of the 98 patients, 11 (11%) had ulcers recur in 3 months and 72 (73%) healed in 12 months, which is in line...

  9. Ulcer pain in patients with venous leg ulcers related to antibiotic treatment and compression therapy.

    Science.gov (United States)

    Akesson, Nina; Oien, Rut Frank; Forssell, Henrik; Fagerström, Cecilia

    2014-09-01

    The aim of this study was to compare venous leg ulcer patients with and without ulcer pain to see whether ulcer pain affected the use of antibiotic treatment and compression therapy throughout healing. A total of 431 patients with venous leg ulcers were included during the study period. Every patient was registered in a national quality registry for patients with hard-to-heal leg, foot, and pressure ulcers. A high incidence of ulcer pain (57%) was found when the patients entered the study. Patients with ulcer pain had been treated more extensively with antibiotics both before and during the study period. Throughout healing there was a significant reduction of antibiotic use among patients in the 'no pain' group, from 44% to 23% (P=0.008). There was no significant difference between the two groups concerning compression therapy (85% vs. 88%), but 12% of patients in the 'pain' group did not get their prescribed compression compared with 6% of patients in the 'no pain' group. The groups did not differ significantly in terms of ulcer duration, ulcer size or healing time. This study shows a high incidence of ulcer pain, confirming that pain has a great impact on patients with venous leg ulcers. Results further suggest that the presence of ulcer pain increases the prescription of antibiotics but does not affect the use of compression therapy. Several advantages were found from using a national quality registry. The registry is a valuable clinical tool showing the importance of accurate diagnosis and effective treatment.

  10. Is preeclampsia associated with restless legs syndrome?

    OpenAIRE

    Ramirez, J O; Cabrera, S A S; Hidalgo, H; Cabrera, S G; Linnebank, M; Bassetti, C L; Kallweit, U

    2013-01-01

    OBJECTIVE: Restless legs syndrome (RLS) is a common neurologic disorder. Secondary RLS includes pregnancy and iron deficiency. Prevalence of RLS in pregnancy ranges from 11% to 27%. We aimed to assess the frequency and characteristics of RLS in pregnancy in a Peruvian population and to evaluate the possible pregnancy or delivery complications due to RLS. METHODS: We assessed 218 consecutive expectant mothers at the inpatient clinic of the Hospital San Bartolome in Lima, Peru. Assessment wa...

  11. Genetic aspects of restless legs syndrome

    OpenAIRE

    Dhawan, V; Ali, M; Chaudhuri, K R

    2006-01-01

    Restless legs syndrome (RLS), also known as Ekbom syndrome, is a common movement disorder with sensorimotor symptoms occurring during sleep and quiet wakefulness. The underlying cause for RLS is unknown but genetic influences play a strong part in the pathogenesis of RLS, particularly when the condition starts at a young age. This review explores the genetic basis of RLS and related phenotypic variations. Recently, three loci showing vulnerability to RLS have been described in French‐Canadian...

  12. Restless legs syndrome and pregnancy: A review

    OpenAIRE

    Srivanitchapoom, Prachaya; Pandey, Sanjay; Hallett, Mark

    2014-01-01

    Restless legs syndrome (RLS) is a common sensorimotor neurological disorder that is diagnosed according to the revised criteria of the International RLS Study Group (IRLSSG). The pathophysiology of RLS is still unknown and its prevalence is influenced by ethnicity, age, and gender. RLS is divided into two types by etiology: primary or idiopathic and secondary. Primary RLS is strongly influenced by a genetic component while secondary RLS is caused by other associated conditions such as end-sta...

  13. Development of electromagnetic and piezoelectric hybrid actuator system

    OpenAIRE

    OKEYA, Ryota; AOYAGI, Manabu; TAKANO, Takehiro; TAMURA, Hideki

    2013-01-01

    An ordinal force-feedback device typically uses an electromagnetic motor (EMM), which provides an excellent expression of elasticity. However, it is not easy to express the sense of hardness and roughness because the response of the current is delayed due to the inductance of the armature winding. On the contrary, a piezoelectric actuator, which has a rapid response, is good at expressing the sense of hardness and roughness. Thus, if different types of actuators are used in the same actuator ...

  14. MRI Compatibility of Robot Actuation Techniques – A Comparative Study

    OpenAIRE

    Fischer, Gregory S.; Krieger, Axel; Iordachita, Iulian; Csoma, Csaba; Whitcomb, Louis L.; Fichtinger, Gabor

    2008-01-01

    This paper reports an experimental evaluation of the following three different MRI-compatible actuators: a Shinsei ultrasonic motor, a Nanomotion ultrasonic motor and a pneumatic cylinder actuator. We report the results of a study comparing the effect of these actuators on the signal to noise ratio (SNR) of MRI images under a variety of experimental conditions. Evaluation was performed with the controller inside and outside the scanner room and with both 1.5T and 3T MRI scanners. Pneumatic cy...

  15. Modeling actuation forces and strains in nastic structures

    Science.gov (United States)

    Matthews, Luke A.; Giurgiutiu, Victor

    2006-03-01

    Nastic structures are capable of three dimensional shape change using biological principles borrowed from plant motion. The plant motor cells increase or decrease in size through a change in osmotic pressure. When nonuniform cell swelling occurs, it causes the plant tissue to warp and change shape, resulting it net movement, known as nastic motion, which is the same phenomena that causes plants to angle their broad leaf and flower surfaces to face light sources. The nastic structures considered in this paper are composed of a bilayer of microactuator arrays with a fluid reservoir in between the two layers. The actuators are housed in a thin plate and expand when water from the fluid reservoir is pumped into the actuation chamber through a phospholipid bilayer with embedded active transport proteins, which move the water from the low pressure fluid reservoir into a high pressure actuation chamber. Increasing water pressure inside the actuator causes lateral expansion and axial bulging, and the non-uniform net volume change of actuators throughout the nastic structure results in twisting or bending shape change. Modifying the actuation displacement allows controlled volume change. This paper presents an analytical model of the driving and blocking forces involved in actuation, as well as stress and strain that occurs due to the pressure changes. Actuation is driven by increasing osmotic pressure, and blocking forces are taken into consideration to plan actuator response so that outside forces do not counteract the displacement of actuation. Nastic structures are designed with use in unmanned aerial vehicles in mind, so blocking forces are modeled to be similar to in-flight conditions. Stress in the system is modeled so that any residual strain or lasting deformation can be determined, as well as a lifespan before failure from repeated actuation. The long-term aim of our work is to determine the power and energy efficiency of nastic structures actuation mechanism.

  16. Design and Control of a Pneumatically Actuated Transtibial Prosthesis

    OpenAIRE

    Zheng, Hao; Shen, Xiangrong

    2015-01-01

    This paper presents the design and control of a pneumatically actuated transtibial prosthesis, which utilizes a pneumatic cylinder-type actuator to power the prosthetic ankle joint to support the user's locomotion. The pneumatic actuator has multiple advantages over the traditional electric motor, such as light weight, low cost, and high power-to-weight ratio. The objective of this work is to develop a compact and lightweight transtibial prosthesis, leveraging the multiple advantages provided...

  17. Sleep board review question: restless legs

    Directory of Open Access Journals (Sweden)

    Omobomi O

    2018-02-01

    Full Text Available No abstract available. Article truncated after 150 words. Ms. Jones (not her real name is a 63-year-old woman who states that she gets very fidgety when sitting in a theater, watching a movie or when flying long distances on a plane. She is unable to find words to describe the sensation but she states that moving her legs make them feel better. Lately, she has been getting this feeling almost every night. She reports no leg discomfort in the daytime. She denies muscle cramps her legs. She had some recent investigations done by her primary care physician because of complaints of fatigue. Which of the following will be helpful in the diagnosis and management in this patient? 1. An overnight polysomnogram showing apnea hypopnea index of 1.6 events per hour and no periodic limb movements (PLMs 2. Ferritin level of 18 ng/ml (normal range 20-200 ng/ml 3. Serum Bicarbonate of 29 mEq/L (normal range 23-29 mEq/L 4. Thyroid …

  18. Restless Legs Syndrome Among the Elderly

    Directory of Open Access Journals (Sweden)

    Pei-Hao Chen

    2009-12-01

    Full Text Available Restless legs syndrome is a sleep and movement disorder that affects 5–15% of the general population, with an increased prevalence among the elderly population. It not only affects quality of life but also increases risk of mortality among older adults. The diagnosis is based on clinical symptoms of the patient by four minimal essential criteria. Restless legs syndrome can be divided into primary or secondary causes. Examination should be performed to rule out potentially treatable illnesses, such as iron deficiency, renal failure or peripheral neuropathy, especially among elderly patients. The initial approach to restless legs syndrome should be nonpharmacologic management, such as good sleep hygiene, regular exercise, cognitive behavioral therapy and avoidance of certain aggravating drugs. An algorithm based on scientific evidence and expert opinion was developed for guidance of treatment. Combination or change of medication can be applied to resistant or difficult cases. Since elderly patients are prone to treatment-related side effects, the best strategy is to start medication cautiously and at the lowest recommended dosage.

  19. Leg position influences early blood loss and functional recovery following total knee arthroplasty: A randomized study.

    Science.gov (United States)

    Yang, Yang; Yong-Ming, Lv; Pei-jian, Ding; Jia, Li; Ying-ze, Zhang

    2015-11-01

    Hidden blood loss is a major factor influencing functional recovery and quality of life in patients undergoing total knee arthroplasty. Special hip and knee flexion positions after have been reported to have promising results with respect to reducing perioperative blood loss. The purpose of this study was to determine the effect of postoperative leg position on blood loss and functional recovery after total knee arthroplasty. We enrolled 46 consecutive patients with degenerative osteoarthritis of the knee in this prospective, randomized study. The patients were randomly allocated to a flexion or an extension group. In the flexion group, the affected leg was elevated by 60° at the hip, and the knee was flexed by 60°, while in the extension group, the affected knee was fully extended postoperatively. Blood loss, hemoglobin level, knee circumference and range of motion (ROM) were recorded to determine the influence of postoperative leg position on clinical outcomes. Although the transfusion rate was similar between the two groups (P > 0.05), other parameters related to blood loss (including calculated blood loss, hidden blood loss and postoperative knee circumference) were significantly lower in the flexion group than in the extension group (P group had gained a better ROM in the affected knee than had patients from the extension group (P = 0.04). At 6 months, however, the ROM of the affected knee was similar in both groups. The hospital stay was 1.9 days shorter in the flexion group than in the extension group. Wound infection rates were similar in both groups, and no proven case of deep vein thrombosis was observed in either group. Elevation of the hip by 60° with 60° knee flexion is an effective and simple method to reduce blood loss after primary unilateral total knee arthroplasty, and contributes to better recovery of the functional ROM in the early postoperative period. Copyright © 2015 IJS Publishing Group Limited. Published by Elsevier Ltd. All rights

  20. Prognostics Enhanced Reconfigurable Control of Electro-Mechanical Actuators

    Data.gov (United States)

    National Aeronautics and Space Administration — Actuator systems are employed widely in aerospace, transportation and industrial processes to provide power to critical loads, such as aircraft control surfaces....

  1. Alleviation of Buffet-Induced Vibration Using Piezoelectric Actuators

    National Research Council Canada - National Science Library

    Morgenstern, Shawn D

    2006-01-01

    .... Piezoelectric actuator patches were designed using the strain characteristics of the FEM and integrated into the model using a thermal analogy which allowed voltage application and the resulting...

  2. Assessing the degradation of compliant electrodes for soft actuators

    Science.gov (United States)

    Rosset, Samuel; de Saint-Aubin, Christine; Poulin, Alexandre; Shea, Herbert R.

    2017-10-01

    We present an automated system to measure the degradation of compliant electrodes used in dielectric elastomer actuators (DEAs) over millions of cycles. Electrodes for DEAs generally experience biaxial linear strains of more than 10%. The decrease in electrode conductivity induced by this repeated fast mechanical deformation impacts the bandwidth of the actuator and its strain homogeneity. Changes in the electrode mechanical properties lead to reduced actuation strain. Rather than using an external actuator to periodically deform the electrodes, our measurement method consists of measuring the properties of an electrode in an expanding circle DEA. A programmable high voltage power supply drives the actuator with a square signal up to 1 kHz, periodically actuating the DEA, and thus stretching the electrodes. The DEA strain is monitored with a universal serial bus camera, while the resistance of the ground electrode is measured with a multimeter. The system can be used for any type of electrode. We validated the test setup by characterising a carbon black/silicone composite that we commonly use as compliant electrode. Although the composite is well-suited for tens of millions of cycles of actuation below 5%, we observe important degradation for higher deformations. When activated at a 20% radial strain, the electrodes suffer from important damage after a few thousand cycles, and an inhomogeneous actuation is observed, with the strain localised in a sub-region of the actuator only.

  3. Reliable Actuator for Cryo Propellant Fluid Control Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Fluid handling applications in cryogenic and extreme environments require reliable actuation technology that can handle extreme temperatures, mechanical bind-up from...

  4. Reliable Actuator for Cryo Propellant Fluid Control, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — Fluid handling applications in cryogenic and extreme environments require reliable actuation technology that can handle extreme temperatures, mechanical bind-up from...

  5. High Reliability Cryogenic Piezoelectric Valve Actuator, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — Cryogenic fluid valves are subject to harsh exposure and actuators to drive these valves require robust performance and high reliability. DSM's piezoelectric...

  6. Micromachined Piezoelectric Actuators for Cryogenic Adaptive Optics, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — TRS Technologies proposes micromachined single crystal piezoelectric actuator arrays to enable ultra-large stroke, high precision shape control for large aperture,...

  7. Energy Efficient Wireless Vehicular-Guided Actuator Network

    KAUST Repository

    Boudellioua, Imene

    2013-06-09

    In this paper, we present an energy-efficient vehicular guided system for environmental disaster management using wireless sensor/actuator networks. Sensor nodes within clusters are controlled by a master node that is dynamically selected. Actuators support mobility for every sensor node in the area of interest. The system maintains energy efficiency using statistical, correlation, and confidence for determining actuator actions and implements an adaptive energy scheme to prolong the system lifespan. Experimental results show that the system is capable of saving up to 2.7Watt for every 28KByte of data exchanged. We also show that actuator actions are correct with a 90% confidence.

  8. Optimization of Moving Coil Actuators for Digital Displacement Machines

    DEFF Research Database (Denmark)

    Nørgård, Christian; Bech, Michael Møller; Roemer, Daniel Beck

    2016-01-01

    This paper focuses on deriving an optimal moving coil actuator design, used as force pro-ducing element in hydraulic on/off valves for Digital Displacement machines. Different moving coil actuator geometry topologies (permanent magnet placement and magnetiza-tion direction) are optimized...... cycle using a single chamber Digital Displacement lumped parameter model. The optimization results shows that efficient operation is achievable using all of the proposed moving coil geometries, however some geometries require more space and actuator power. The most appealing of the optimized actuator...

  9. Micro-mechanics of ionic electroactive polymer actuators

    Science.gov (United States)

    Punning, Andres; Põldsalu, Inga; Kaasik, Friedrich; Vunder, Veiko; Aabloo, Alvo

    2015-04-01

    Commonly, modeling of the bending behavior of the ionic electroactive polymer (IEAP) actuators is based on the classical mechanics of cantilever beam. It is acknowledged, that the actuation of the ionic electroactive polymer (IEAP) actuators is symmetric about the centroid - the convex side of the actuator is expanding and the concave side is contracting for exactly the same amount, while the thickness of the actuator remains invariant. Actuating the IEAP actuators and sensors under scanning electron microscope (SEM), in situ, reveals that for some types of them this approach is incorrect. Comparison of the SEM micrographs using the Digital Image Correction (DIC) method results with the precise strain distribution of the IEAP actuators in two directions: in the axial direction, and in the direction of thickness. This information, in turn, points to the physical processes taking place within the electrodes as well as membrane of the trilayer laminate of sub-millimeter thickness. Comparison of the EAP materials, engaged as an actuator as well as a sensor, reveals considerable differences between the micro-mechanics of the two modes.

  10. Two-stage actuation system using DC motors and piezoelectric actuators for controllable industrial and automotive brakes and clutches

    Science.gov (United States)

    Neelakantan, Vijay A.; Washington, Gregory N.; Bucknor, Norman K.

    2005-05-01

    High bandwidth actuation systems that are capable of simultaneously producing relatively large forces and displacements are required for use in automobiles and other industrial applications. Conventional hydraulic actuation mechanisms used in automotive brakes and clutches are complex, inefficient and have poor control robustness. These lead to reduced fuel economy, controllability issues and other disadvantages. This paper involves the design, development, testing and control of a two-stage hybrid actuation mechanism by combining classical actuators like DC motors and advanced smart material actuators like piezoelectric actuators. The paper also discusses the development of a robust control methodology using the Internal Model Control (IMC) principle and emphasizes the robustness property of this control methodology by comparing and studying simulation and experimental results.

  11. A miniature surface tension-driven robot using spatially elliptical moving legs to mimic a water strider's locomotion.

    Science.gov (United States)

    Yan, J H; Zhang, X B; Zhao, J; Liu, G F; Cai, H G; Pan, Q M

    2015-08-04

    The highly agile and efficient water-surface locomotion of the water strider has stimulated substantial interest in biomimetic research. In this paper, we propose a new miniature surface tension-driven robot inspired by the water strider. A key feature of this robot is that its actuating leg possesses an ellipse-like spatial trajectory similar to that of a water strider by using a cam-link mechanism. Simplified models are presented to discuss the leg-water interactions as well as critical conditions for a leg penetrating the water surface, and simulations are performed on the robot's dynamic properties. The final fabricated robot weighs about 3.9 g, and can freely and stably walk on water at different gaits. The maximum forward and turning speeds of the robot are measured as 16 cm s(-1) and 23°/s, respectively. Furthermore, a similarity analysis with Bond number and Weber number demonstrates that the locomotion of this robot is quite analogous to that of a real water strider: the surface tension force dominates the lifting force and plays a major role in the propulsion force. This miniature surface tension-driven robot might have potential applications in many areas such as water quality monitoring and aquatic search and rescue.

  12. Can't Curb the Urge to Move? Living with Restless Legs Syndrome

    Science.gov (United States)

    ... Sleep? Wise Choices Recognizing Restless Legs Restless legs syndrome brings all 4 of these characteristics: A strong urge to move your legs, often with unpleasant feelings like tingling, burning or throbbing in the legs. Symptoms that get better ... Legs Syndrome Fact Sheet What Is Restless Legs Syndrome? Brain ...

  13. Restless Legs Syndrome and Leg Motor Restlessness in Parkinson’s Disease

    Directory of Open Access Journals (Sweden)

    Keisuke Suzuki

    2015-01-01

    Full Text Available Sleep disturbances are important nonmotor symptoms in Parkinson’s disease (PD that are associated with a negative impact on quality of life. Restless legs syndrome (RLS, which is characterized by an urge to move the legs accompanied by abnormal leg sensations, can coexist with PD, although the pathophysiology of these disorders appears to be different. RLS and PD both respond favorably to dopaminergic treatment, and several investigators have reported a significant relationship between RLS and PD. Sensory symptoms, pain, motor restlessness, akathisia, and the wearing-off phenomenon observed in PD should be differentiated from RLS. RLS in PD may be confounded by chronic dopaminergic treatment; thus, more studies are needed to investigate RLS in drug-naïve patients with PD. Recently, leg motor restlessness (LMR, which is characterized by an urge to move the legs that does not fulfill the diagnostic criteria for RLS, has been reported to be observed more frequently in de novo patients with PD than in age-matched healthy controls, suggesting that LMR may be a part of sensorimotor symptoms intrinsic to PD. In this paper, we provide an overview of RLS, LMR, and PD and of the relationships among these disorders.

  14. Differences in take-off leg kinetics between horizontal and vertical single-leg rebound jumps.

    Science.gov (United States)

    Kariyama, Yasushi; Hobara, Hiroaki; Zushi, Koji

    2017-06-01

    This study aimed to clarify the differences between the horizontal single-leg rebound jump (HJ) and vertical single-leg rebound jump (VJ) in terms of three-dimensional joint kinetics for the take-off leg, while focusing on frontal and transverse plane movements. Eleven male track and field athletes performed HJ and VJ. Kinematic and kinetic data were calculated using data recorded with a motion capture system and force platforms. The hip abduction torque, trunk lateral flexion torque (flexion for the swing-leg side), hip external and internal torque, trunk rotational torque, and the powers associated with these torques were larger when performing HJ because of resistance to the impact ground reaction force and because of pelvic and posture control. Pelvic rotation was noted in HJ, and this was controlled not only by the hip and trunk joint torque from the transverse plane but also by the hip abduction torque. Therefore, hip and trunk joint kinetics in the frontal and transverse plane play an important role in a single-leg jump, regardless of the jumping direction, and may also play a more important role in HJ than in VJ.

  15. A Case of Painless Legs and Moving Toes Syndrome in Parkinson’s Disease Responsive to Dopaminergic Therapy

    Directory of Open Access Journals (Sweden)

    Sumihiro Kawajiri

    2016-01-01

    Full Text Available Painless Legs and Moving Toes Syndrome (PoLMT is a rare movement disorder characterized by flexion, extension, abduction, adduction, and torsion of toes without pain. It is considered a variant of Painful Legs and Moving Toes Syndrome (PLMT, which is characterized by similar movements but with pain. Although neuropathy and several central nervous system (CNS involvements have been reported to be associated with PoLMT, the actual cause and mechanism remain unclear. Here we describe the first case of PoLMT in Parkinson’s Disease (PD, parallel to parkinsonism in severity, who demonstrated a good response to dopaminergic therapy.

  16. Effect of Renal Transplantation in Restless Legs Syndrome.

    Science.gov (United States)

    Kahvecioglu, Serdar; Yildiz, Demet; Buyukkoyuncu, Nilufer; Celik, Huseyin; Tufan, Fatih; Kılıç, Ahmet Kasım; Gul, Bulent; Yildiz, Abdulmecid

    2016-02-01

    Restless legs syndrome is a disorder in which patients have irresistible urge to move legs during rest. Restless legs syndrome seems to be common in end-stage renal disease. After a successful renal transplant, symptoms ameliorate with renal function improvement and restless legs syndrome is seen less in this population. Here, we aimed to investigate restless legs syndrome frequency and associated factors in renal transplant patients. In a cross-sectional study with 193 patients (116 hemodialysis patients, 45 transplant patients, and 32 controls), the presence of restless legs syndrome was assessed using the Restless Legs Syndrome Questionnaire. Medical history, demographic, and laboratory data were collected from the patients' medical records. Patients were questioned about the presence of restless legs syndrome using the Restless Legs Syndrome Questionnaire. Patients were evaluated with Beck Depression Scale for depression and Pittsburgh tests for sleep disturbances. While the rate of restless legs syndrome was similar between transplants and controls, it was significantly greater in hemodialysis patients. Hemodialysis patients and controls had similar depression scores that were higher compared with transplant patients. Pittsburgh score was similar in transplant patients and controls and significantly increased in the hemodialysis patients. The rate of insomnia was significantly higher in the hemodialysis patients compared with the other 2 groups. Logistic regression analysis revealed independent correlates of restless legs syndrome as insomnia, Beck depression score, and being on hemodialysis. Linear regression analysis showed that independent correlates of higher Pittsburgh score were higher depression score, higher age, and presence of restless legs syndrome. The prevalence of restless legs syndrome is significantly lower in transplant patients than it is in patients on maintenance dialysis. In renal transplant patients, restless legs syndrome frequency was

  17. Iridium oxide as actuator material for the ISFET-based sensor-actuator system

    NARCIS (Netherlands)

    Olthuis, Wouter; Bomer, Johan G.; Bergveld, Piet; van der Linden, W.E.; Bos, M.; Bos, M.

    1991-01-01

    Acid or base concentrations can be determined by performing an acid-base titration with Coulometrically generated OH- or H+ ions at a noble-metal actuator electrode in close proximity to the pH-sensitive gate of an ISFET. The ISFET is used as the indicator electrode to detect the equivalence point

  18. Biomimetic photo-actuation: sensing, control and actuation in sun-tracking plants

    International Nuclear Information System (INIS)

    Dicker, M P M; Bond, I P; Weaver, P M; Rossiter, J M

    2014-01-01

    Although the actuation mechanisms that drive plant movement have been investigated from a biomimetic perspective, few studies have looked at the wider sensing and control systems that regulate this motion. This paper examines photo-actuation—actuation induced by, and controlled with light—through a review of the sun-tracking functions of the Cornish Mallow. The sun-tracking movement of the Cornish Mallow leaf results from an extraordinarily complex—yet extremely elegant—process of signal perception, generation, filtering and control. Inspired by this process, a concept for a simplified biomimetic analogue of this leaf is proposed: a multifunctional structure employing chemical sensing, signal transmission, and control of composite hydrogel actuators. We present this multifunctional structure, and show that the success of the concept will require improved selection of materials and structural design. This device has application in the solar-tracking of photovoltaic panels for increased energy yield. More broadly it is envisaged that the concept of chemical sensing and control can be expanded beyond photo-actuation to many other stimuli, resulting in new classes of robust solid-state devices. (paper)

  19. Performance evaluation of an improved fish robot actuated by piezoceramic actuators

    International Nuclear Information System (INIS)

    Nguyen, Q S; Heo, S; Park, H C; Byun, D

    2010-01-01

    This paper presents an improved fish robot actuated by four lightweight piezocomposite actuators. Our newly developed actuation mechanism is simple to fabricate because it works without gears. With the new actuation mechanism, the fish robot has a 30% smaller cross section than our previous model. Performance tests of the fish robot in water were carried out to measure the tail-beat angle, the thrust force, the swimming speed for various tail-beat frequencies from 1 to 5 Hz and the turning radius at the optimal frequency. The maximum swimming speed of the fish robot is 7.7 cm s −1 at a tail-beat frequency of 3.9 Hz. A turning experiment shows that the swimming direction of the fish robot can be controlled by changing the duty ratio of the driving voltage; the fish robot has a turning radius of 0.41 m for a left turn and 0.68 m for a right turn

  20. FLEXIBLE STRUCTURE WITH INTEGRATED SENSOR/ACTUATOR

    DEFF Research Database (Denmark)

    2003-01-01

    A polymer-based flexible structure with integrated sensing/actuator means is presented. Conventionally, silicon has been used as a piezo-resistive material due to its high gauge factor and thereby high sensitivity to strain changes in a sensor. By using the fact that e.g. an SU-8 based polymer...... is much softer than silicon and that e.g. a gold resistor is easily incorporated in SU-8 based polymer structure it has been demonstrated that a SU-8 based cantilever sensor is almost as sensitive to stress changes as the silicon piezo-resistive cantilever....

  1. Temperature actuated automatic safety rod release

    Science.gov (United States)

    Hutter, E.; Pardini, J.A.; Walker, D.E.

    1984-03-13

    A temperature-actuated apparatus is disclosed for releasably supporting a safety rod in a nuclear reactor, comprising a safety rod upper adapter having a retention means, a drive shaft which houses the upper adapter, and a bimetallic means supported within the drive shaft and having at least one ledge which engages a retention means of the safety rod upper adapter. A pre-determined increase in temperature causes the bimetallic means to deform so that the ledge disengages from the retention means, whereby the bimetallic means releases the safety rod into the core of the reactor.

  2. Actuator topology design using the controllability Gramian

    DEFF Research Database (Denmark)

    Alves da Silveira, Otávio Augusto; Ono Fonseca, Jun Sérgio; Santos, Ilmar

    2015-01-01

    in modal space. A topology optimization was formulated to distribute two material phases in the domain: a passive linear elastic material and an active linear piezoelectric material, with a volume constraint in the latter. The objective function is the trace of the controllability Gramian of a LQR control......This work develops a methodology for the optimal design of actuators for the vibration control of flexible structures. The objective is the maximization of a measure of the controllability Gramian. The test case is the embedding of piezoelectric inserts in elastic structures for vibration control...

  3. Engineering aspects of multilayer piezoceramic actuators

    Science.gov (United States)

    Golovnin, V. A.; Kaplunov, I. A.; Ivanova, A. I.; Grechishkin, R. M.

    2013-12-01

    With the increasing demand for multilayer ceramic chip components a full understanding of the co-firing of ceramics with metal electrodes becomes important. In the present work the processing of a piezoelectric monolithic actuator by stacking and cofiring Ag-Pd electroded tape cast layers was studied. The inter-diffusion and microstructure of the co-fired interface of PZT ferroelectrics and Ag-Pd metal electrode were examined by scanning electron microscopy (SEM) and energy-dispersive microanalysis. No strong structural distortions and interdiffusion were observed at the co-fired ceramic-electrode interface.

  4. Considerations for Contractile Electroactive Materials and Actuators

    International Nuclear Information System (INIS)

    Rasmussen, Lenore; Schramm, David; Meixler, Lewis D.; Gentile, Charles A.; Ascione, George; Tilson, Carl; Pagdon, Kelsey

    2010-01-01

    Ras Labs produces electroactive polymer (EAP) based materials and actuators that bend, swell, ripple, and now contract (new development) with low electric input. In addition, Ras Labs produces EAP materials that quickly contract and expand, repeatedly, by reversing the polarity of the electric input. These recent developments are important attributes in the field of electroactivity because of the ability of contraction and contraction-expansion to produce biomimetric motion. The mechanism of contraction is not well understood. Radionuclide-labeled experiments were conducted to determine the mechanisms during contraction of these EAPs.

  5. Considerations for Contractile Electroactive Materials and Actuators

    Energy Technology Data Exchange (ETDEWEB)

    Lenore Rasmussen, David Schramm, Lewis D. Meixler, Charles A. Gentile, George Ascione, Carl Tilson, and Kelsey Pagdon

    2010-02-19

    Ras Labs produces electroactive polymer (EAP) based materials and actuators that bend, swell, ripple, and now contract (new development) with low electric input. In addition, Ras Labs produces EAP materials that quickly contract and expand, repeatedly, by reversing the polarity of the electric input. These recent developments are important attributes in the field of electroactivity because of the ability of contraction and contraction-expansion to produce biomimetric motion. The mechanism of contraction is not well understood. Radionuclide-labeled experiments were conducted to determine the mechanisms during contraction of these EAPs.

  6. Pneumatic Artificial Muscle Actuation and Modeling

    Science.gov (United States)

    Leephakpreeda, Thananchai; Wickramatunge, Kanchana C.

    2009-10-01

    A Pneumatic Artificial Muscle (PAM) yields a natural muscle-like actuator with a high force to weight ratio, a soft and flexible structure, and adaptable compliance for a humanoid robot, rehabilitation and prosthetic appliances to the disabled, etc. To obtain optimum design and usage, the mechanical behavior of the PAM need to be understood. In this study, observations of experimental results reveal an empirical model for relations of physical variables, contraction and air pressure within the PAM, as compared to mechanical characteristics, such as stiffness or/and pulling forces of the PAM available now in market.

  7. Leg movements during wakefulness in restless legs syndrome: time structure and relationships with periodic leg movements during sleep.

    Science.gov (United States)

    Ferri, Raffaele; Manconi, Mauro; Plazzi, Giuseppe; Bruni, Oliviero; Cosentino, Filomena I I; Ferini-Strambi, Luigi; Zucconi, Marco

    2012-05-01

    Approximately one third of patients with restless legs syndrome (RLS) also show periodic leg movements (PLM) during relaxed wake fulness (PLMW). In contrast with the large amount of data published on periodic leg movements during sleep (PLMS), PLMW have received less attention from the scientific community. The objective of this study was to evaluate the correlations/differences of time-structure and response to a dopamine-agonist between PLMW and PLMS in patients with RLS. Ninety idiopathic RLS patients and 28 controls were recruited. Subjects underwent clinical and neurophysiological evaluation, hematological screening, and one or two consecutive full-night polysomnographic studies. A subset of patients received 0.25mg of pramipexole or placebo before the second recording. Polysomnographic recordings were scored and LM activity was analyzed during sleep and during the epochs of wakefulness occurring during the first recording hour. RLS patients had higher LM activity during wakefulness than controls, but with a similar periodicity. Even if correlated, the ability of the PLMW index to predict the PLMS index decreased with increasing LM activity. Intermovement intervals during wakefulness showed one peak only at approximately 4s, gradually decreasing with increasing interval in both patients and controls. The effect of pramipexole was very limited and involved the small periodic portion of LM activity during wakefulness. PLMW index and PLMS index were correlated; however, the magnitude of this correlation was not sufficient to suggest that PLMW can be good predictors of PLMS. Short-interval LM activity during wakefulness and sleep might be linked to the severity of sleep disruption in RLS patients and the differences between their features obtained during wakefulness or sleep might be relevant for the diagnosis of sleep disturbances in RLS. Copyright © 2012 Elsevier B.V. All rights reserved.

  8. Restless legs syndrome and nocturnal leg cramps: a review and guide to diagnosis and treatment.

    Science.gov (United States)

    Tipton, Philip W; Wszołek, Zbigniew K

    2017-12-22

    Restless legs syndrome (RLS) and nocturnal leg cramps (NLCs) are common disorders affecting 7.0% and 24.1% of the population in some European countries, respectively. Patients suffering from RLS experience uncomfortable nocturnal sensations in the legs with the urge to move that dissipates while moving. NLC is characterized by abrupt muscle contraction, most often in the gastrocnemius or foot muscles, which occurs at night and may result in significant sleep disturbances. The diagnosis of these disorders has presented a challenge to health care providers because of symptom overlap with other sensory and motor disturbances with nocturnal predominance. Treatment options and approaches are lacking, partially because of our currently incomplete understanding of the pathophysiological mechanisms underlying these conditions. We reviewed the medical literature to provide a comprehensive assessment of RLS and NLC with a focus on improved diagnostic accuracy and treatment approaches.

  9. Biomimetic finger extension mechanism for soft wearable hand rehabilitation devices.

    Science.gov (United States)

    Kim, Dong Hyun; Heo, Si-Hwan; Park, Hyung-Soon

    2017-07-01

    For the rehabilitation and assistance of the hand functions, wearable devices have been developed, and the interest in tendon driven mechanisms have especially increased since it allows light weight and compact design. The tendon driven hand rehabilitation devices provides grasping force via exo-tendons routed on the dorsal and palmar sides of the hand pulled by remotely located actuators. However, most of the devices were not able to provide natural joint extension sequence of the finger and showed hyperextension of finger joints because the tendons for extension were fixed at the fingertip, concentrating the torque at the distal interphalangeal joint. In this study, a ring-type biomimetic finger extension mechanism was developed, which mimics the origin, structure, and orientation of the extensor tendon. The biomimetic mechanism was evaluated by comparing the motion with voluntary finger extension and the motion made by other conventional tendon driven finger extension mechanisms. The biomimetic extension mechanism provided the same joint extension sequence with voluntary finger extension, and the fully extended posture was most close to the voluntary finger extension among the tendon-driven mechanisms used in the experiments. The joint angle differences between the proposed tendon mechanism and the voluntary finger extension was -1.2 °±3.4 °, -2.9°±2.0°, and -3.1°±8.0° for distal phalangeal, proximal phalangeal, and metacarpo-phalangeal joint, respectively.

  10. Investigation on active vibration isolation of a Stewart platform with piezoelectric actuators

    Science.gov (United States)

    Wang, Chaoxin; Xie, Xiling; Chen, Yanhao; Zhang, Zhiyi

    2016-11-01

    A Stewart platform with piezoelectric actuators is presented for micro-vibration isolation. The Jacobi matrix of the Stewart platform, which reveals the relationship between the position/pointing of the payload and the extensions of the six struts, is derived by kinematic analysis. The dynamic model of the Stewart platform is established by the FRF (frequency response function) synthesis method. In the active control loop, the direct feedback of integrated forces is combined with the FxLMS based adaptive feedback to dampen vibration of inherent modes and suppress transmission of periodic vibrations. Numerical simulations were conducted to prove vibration isolation performance of the Stewart platform under random and periodical disturbances, respectively. In the experiment, the output consistencies of the six piezoelectric actuators were measured at first and the theoretical Jacobi matrix as well as the feedback gain of each piezoelectric actuator was subsequently modified according to the measured consistencies. The direct feedback loop was adjusted to achieve sufficient active damping and the FxLMS based adaptive feedback control was adopted to suppress vibration transmission in the six struts. Experimental results have demonstrated that the Stewart platform can achieve 30 dB attenuation of periodical disturbances and 10-20 dB attenuation of random disturbances in the frequency range of 5-200 Hz.

  11. Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future trends

    Science.gov (United States)

    Xu, Bing; Cheng, Min

    2017-11-01

    This paper presents a survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobile machineries. Hydraulic systems have been extensively used in mobile machineries due to their superior power density and robustness. However, motion control technologies of multi-actuator hydraulic systems have faced increasing challenges due to stringent emission regulations. In this study, an overview of the evolution of existing throttling control technologies is presented, including open-center and load sensing controls. Recent advancements in energy-saving hydraulic technologies, such as individual metering, displacement, and hybrid controls, are briefly summarized. The impact of energy-saving hydraulic technologies on dynamic performance and control solutions are also discussed. Then, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated and haptic controls. Finally, challenges and opportunities of advanced motion control technologies are presented by providing an overall consideration of energy efficiency, controllability, cost, reliability, and other aspects.

  12. Actigraphic assessment of periodic leg movements in patients with restless legs syndrome.

    Science.gov (United States)

    Cippà, Maria A T; Baumann, Christian R; Siccoli, Massimiliano M; Bassetti, Claudio L; Poryazova, Rositsa; Werth, Esther

    2013-10-01

    The diagnosis of restless legs syndrome (RLS) relies upon diagnostic criteria which are based on history only, and dopaminergic treatment is not normally the first choice of treatment for all patients. It would be worthwhile to identify patients non-responsive to dopaminergic treatment beforehand, because they may suffer from a restless legs-like syndrome and may require alternative treatment. We included retrospectively 24 adult patients fulfilling the four essential criteria for restless legs and 12 age-matched healthy controls. They were investigated by ambulatory actigraphy from both legs over three nights, and patients started treatment with dopamine agonists after this diagnostic work-up. We examined 12 responders to dopaminergic treatment and 12 non-responders and studied the association between response to dopaminergic treatment and the periodic limb movement index (PLMI) as assessed with actigraphy. Demographic characteristics, excessive daytime sleepiness and fatigue at baseline were similar in all three groups. Baseline RLS severity was similar between responders and non-responders [International Restless Legs Severity Scale (IRLS): 25 ± 9 and 24 ± 8]. Group comparisons of PLMI before treatment initiation showed significant differences between the three groups. Post-hoc pairwise comparisons revealed that healthy controls had significantly lower PLMI (4.9 ± 4.5) than responders (29.3 ± 22.7) and non-responders (13.3 ± 11.2). Similarly, the PLMI in responders was lower than in non-responders. PLMI day-to-day variability did not differ between responders and non-responders and there was no correlation between treatment effect, as assessed by the decrease of the IRLS and baseline PLMI. Our retrospective study indicates that actigraphy to assess periodic limb movements may contribute to a better diagnosis of dopamine-responsive restless legs syndrome. © 2013 European Sleep Research Society.

  13. Immobilization tests and periodic leg movements in sleep for the diagnosis of restless leg syndrome.

    Science.gov (United States)

    Montplaisir, J; Boucher, S; Nicolas, A; Lesperance, P; Gosselin, A; Rompré, P; Lavigne, G

    1998-03-01

    Patients with restless leg syndrome (RLS) complain of motor restlessness, usually occurring while they rest in the evening. Two immobilization tests have been described to assess leg restlessness in these patients. In the first test, the patient sits in bed with his or her legs outstretched while electromyograms are recorded from right and left anterior tibialis muscles for an hour (Suggested Immobilization Test [SIT]); in the second test, the legs are immobilized in a stretcher (Forced Immobilization Test [FIT]). In the current study, the SIT and the FIT were compared in patients with RLS and normal control subjects matched for age and sex. More leg movements were seen in patients than in controls during immobilization tests, especially the SIT. These movements were periodic, occurring at a frequency of approximately one every 12 seconds. The SIT (index > 40) was found to discriminate between RLS and control subjects better than the FIT (index > 25). Patients were also recorded during two consecutive nights to measure periodic leg movements in sleep (PLMS). A SIT index greater than 40 and a PLMS index greater than 11 (highest PLMS index of 2 consecutive nights) were found to discriminate patients with RLS from control subjects with similar power. With each of these two measures, the clinical diagnosis was correctly predicted in 81% of patients and 81% of the control subjects. The SIT has several advantages over the measure of the PLMS index; it does not require an all-night polygraphic recording and can be administered several times a day to measure circadian fluctuation of motor restlessness.

  14. Profile of altered brain iron acquisition in restless legs syndrome

    Science.gov (United States)

    Ponnuru, Padmavathi; Wang, Xin-Sheng; Patton, Stephanie M.; Allen, Richard P.; Earley, Christopher J.

    2011-01-01

    Restless legs syndrome is a neurological disorder characterized by an urgency to move the legs during periods of rest. Data from a variety of sources provide a compelling argument that the amount of iron in the brain is lower in individuals with restless legs syndrome compared with neurologically normal individuals. Moreover, a significant percentage of patients with restless legs syndrome are responsive to intravenous iron therapy. The mechanism underlying the decreased iron concentrations in restless legs syndrome brains is unknown. We hypothesize that the source of the brain iron deficit is at the blood–brain interface. Thus we analysed the expression of iron management proteins in the epithelial cells of the choroid plexus and the brain microvasculature in post-mortem tissues. The choroid plexus, obtained at autopsy, from 18 neurologically normal controls and 14 individuals who had primary restless legs syndrome was subjected to histochemical staining for iron and immunostaining for iron management proteins. Iron and heavy chain ferritin staining was reduced in the epithelial cells of choroid plexus in restless legs syndrome. Divalent metal transporter, ferroportin, transferrin and its receptor were upregulated in the choroid plexus in restless legs syndrome. Microvessels were isolated from the motor cortex of 11 restless legs syndrome and 14 control brains obtained at autopsy and quantitative immunoblot analyses was performed. Expression of heavy chain ferritin, transferrin and its receptor in the microvessels from restless legs syndrome was significantly decreased compared with the controls but divalent metal protein 1, ferroportin, prohepcidin, mitochondrial ferritin and light-chain ferritin remained unchanged. The presence of an iron regulatory protein was demonstrated in the brain microvasculature and the activity of this protein is decreased in restless legs syndrome; a finding similar to our earlier report in neuromelanin cells from the substantia

  15. Leg movement tracking in automatic video-based one-leg stance evaluation.

    Science.gov (United States)

    Kawa, Jacek; Stępień, Paula; Kapko, Wojciech; Niedziela, Aleksandra; Derejczyk, Jarosław

    2018-04-01

    Falls are a major risk in elder population. Early diagnosis is therefore an important step towards increasing the safety of elders. One of the common diagnostic tests is the Berg Balance Scale (BBS), consisting of 14 exercises arranged from the easiest (sitting-to-standing) to the most demanding (one-leg stance). In this study a novel approach to the automatic assessment of the time in which the patient can remain in the one-leg stance position without loosing balance is introduced. The data is collected using a regular video camera. No markers, special garments, or system calibration are required. Two groups are examined. The first group consists of 16 students: healthy, young adults (12 female, 4 male, avg. 20yrs±1). The second group consists of 50 elders (39 female, 11 male, avg. 78.8yrs±5.9). Data (short, one minute recordings) are collected in a controlled environment using a digital video recorder (50fps, 1920×1080) fixed to a tripod. Data are processed off-line. First, the region of interest is determined. Next, the Kanade-Lucas-Tomasi tracking is performed. Best tracks are selected based on the registered vertical movement and two tracks are obtained corresponding to the left and right leg movements. Tracks are later subjected to the sparse signal baseline estimation, denoising and thresholding to detect the raised leg. Results are compared frame-wise to the ground truth reference obtained in the manual processing procedure. Both legs are evaluated in the elder group (in all cases several attempts featuring both legs were registered), resulting in 89.18%±11.27% DICE, 93.07%±5.43% sensitivity and 96.94%±6.11% specificity values for both legs. The signal of a single leg is evaluated in the student group (in all cases only one attempt was needed to perform the full examination) resulting in 98.96%±1.2% DICE, 98.78%±1.65% sensitivity and 98.73%±2.69% specificity values. This is the first step towards a video-based system enabling the automatic

  16. Relationship between Leg Mass, Leg Composition and Foot Velocity on Kicking Accuracy in Australian Football.

    Science.gov (United States)

    Hart, Nicolas H; Nimphius, Sophia; Spiteri, Tania; Cochrane, Jodie L; Newton, Robert U

    2016-06-01

    Kicking a ball accurately over a desired distance to an intended target is arguably the most important skill to acquire in Australian Football. Therefore, understanding the potential mechanisms which underpin kicking accuracy is warranted. The aim of this study was to examine the relationship between leg mass, leg composition and foot velocity on kicking accuracy in Australian Football. Thirty-one Australian Footballers (n = 31; age: 22.1 ± 2.8 years; height: 1.81 ± 0.07 m; weight: 85.1 ± 13.0 kg; BMI: 25.9 ± 3.2) each performed ten drop punt kicks over twenty metres to a player target. Athletes were separated into accurate (n = 15) and inaccurate (n = 16) kicking groups. Leg mass characteristics were assessed using whole body DXA scans. Foot velocity was determined using a ten-camera optoelectronic, three-dimensional motion capture system. Interactions between leg mass and foot velocity evident within accurate kickers only (r = -0.670 to -0.701). Relative lean mass was positively correlated with kicking accuracy (r = 0.631), while no relationship between foot velocity and kicking accuracy was evident in isolation (r = -0.047 to -0.083). Given the evident importance of lean mass, and its interaction with foot velocity for accurate kickers; future research should explore speed-accuracy, impulse-variability, limb co-ordination and foot-ball interaction constructs in kicking using controlled with-in subject studies to examine the effects of resistance training and skill acquisition programs on the development of kicking accuracy. Key pointsAccurate kickers expressed a very strong inverse relationship between leg mass and foot velocity. Inaccurate kickers were unable to replicate this, with greater volatility in their performance, indicating an ability of accurate kickers to mediate foot velocity to compensate for leg mass in order to deliver the ball over the required distance.Accurate kickers exhibited larger quantities of relative lean mass and lower quantities

  17. Robust and efficient walking with spring-like legs

    International Nuclear Information System (INIS)

    Rummel, J; Blum, Y; Seyfarth, A

    2010-01-01

    The development of bipedal walking robots is inspired by human walking. A way of implementing walking could be performed by mimicking human leg dynamics. A fundamental model, representing human leg dynamics during walking and running, is the bipedal spring-mass model which is the basis for this paper. The aim of this study is the identification of leg parameters leading to a compromise between robustness and energy efficiency in walking. It is found that, compared to asymmetric walking, symmetric walking with flatter angles of attack reveals such a compromise. With increasing leg stiffness, energy efficiency increases continuously. However, robustness is the maximum at moderate leg stiffness and decreases slightly with increasing stiffness. Hence, an adjustable leg compliance would be preferred, which is adaptable to the environment. If the ground is even, a high leg stiffness leads to energy efficient walking. However, if external perturbations are expected, e.g. when the robot walks on uneven terrain, the leg should be softer and the angle of attack flatter. In the case of underactuated robots with constant physical springs, the leg stiffness should be larger than k-tilde = 14 in order to use the most robust gait. Soft legs, however, lack in both robustness and efficiency.

  18. Loading and performance of the support leg in kicking.

    Science.gov (United States)

    Ball, Kevin

    2013-09-01

    The punt kick is important in many football codes and support leg kinematics and ground reaction forces have been implicated in injury and performance in kicking. To evaluate ground reaction forces and support leg kinematics in the punt kick. Cross sectional study. Seven elite Australian football players performed maximal kicks into a net using both the preferred and non-preferred legs. A force plate measured ground reaction forces and an optical motion capture system (200Hz) collected kinematic data during the stance phase of the kick. Preferred and non-preferred legs were compared and performance was evaluated by correlating parameters with foot speed at ball contact. Vertical forces were larger than running at a similar speed but did not reach levels that might be considered an injury risk. Braking forces were directed solely posteriorly, as for soccer kicks, but lateral force patterns varied with some players experiencing greater forces medially and others laterally. A more extended support leg, larger peak vertical and braking force during the stance phase and a shorter stance contact time was associated with larger kick leg foot speed at ball contact. No difference existed between the preferred and non-preferred legs for ground reaction forces or support leg mechanics. To punt kick longer, a straighter support leg, less time on the ground and stronger braking should be encouraged. Conditioning the support leg to provide stronger braking potential is recommended. Copyright © 2012 Sports Medicine Australia. Published by Elsevier Ltd. All rights reserved.

  19. Leg stiffness and sprint ability in amputee sprinters.

    Science.gov (United States)

    Hobara, Hiroaki; Tominaga, Shuichi; Umezawa, Shingo; Iwashita, Koudai; Okino, Atsuo; Saito, Taku; Usui, Fumio; Ogata, Toru

    2012-09-01

    Understanding leg stiffness (K (leg)) in amputee sprinters is important for the evaluation of their sprint ability and development of running-specific prostheses (RSP). To investigate K (leg) during hopping in amputee sprinters. Cross-sectional study. Seven transtibial (TT) and seven transfemoral (TF) amputee sprinters, as well as seven non-active able-bodied subjects, performed one-legged hopping matching metronome beats at 2.2 Hz. Amputees hopped on their sound limb whereas able-bodied (AB) subjects hopped on their dominant limb. Using a spring-mass model, K (leg) was calculated from the subjects' body mass, ground contact and flight times. Both TT and TF sprinters demonstrated significantly higher K (leg) than AB subjects. K (leg) during hopping on the sound leg significantly correlated with personal records attained in a 100-m sprint in both TT (r = -0.757) and TF sprinters (r = -0.855). The results of the present study suggest that amputee sprinters have a greater K (leg) during hopping than inactive non-amputees, and that their sprint ability can be predicted from the K (leg) during hopping at 2.2 Hz on the sound limb.

  20. Association between serum hepcidin level and restless legs syndrome.

    Science.gov (United States)

    Dauvilliers, Yves; Chenini, Sofiene; Vialaret, Jérôme; Delaby, Constance; Guiraud, Lily; Gabelle, Audrey; Lopez, Regis; Hirtz, Christophe; Jaussent, Isabelle; Lehmann, Sylvain

    2018-02-08

    To better understand the role of iron homeostasis dysregulation in restless legs syndrome, we compared serum hepcidin and ferritin levels in drug-free patients with primary restless legs syndrome and healthy controls and studied the relationship between hepcidin level and restless legs syndrome severity. One hundred and eight drug-free patients with primary restless legs syndrome (65 women; median age, 61.5 years) and 45 controls (28 women; median age, 53.9 years) were enrolled. Inclusion criteria were: normal ferritin level (>50 ng/mL) and absence of iron disorders, chronic renal or liver failure, and inflammatory or neurological diseases. Each subject underwent a thorough clinical examination and a polysomnography assessment. Serum hepcidin-25 was quantified using a validated mass spectrometry method. Restless legs syndrome severity was evaluated according to the International Restless Legs Syndrome Study Group. Despite no group difference between normal ferritin levels and demographic features, serum hepcidin level and hepcidin/ferritin ratio were higher in patients than in controls. Hepcidin level and hepcidin/ferritin ratio, but not ferritin level, were positively correlated with periodic leg movements during sleep and wakefulness in the whole sample. Hepcidin level seem to be associated with restless legs syndrome severity in a complex U-shaped relationship, without relationship with age at restless legs syndrome onset, positive family history, sleep and depressive symptoms, genetic background, and polysomnographic measurements. No relationship was found between ferritin level and restless legs syndrome severity. In drug-free patients with primary restless legs syndrome, hepcidin level is higher than in controls and may be associated with restless legs syndrome clinical severity. This result emphasizes the complex peripheral iron metabolism deregulation in restless legs syndrome, opening potential perspectives for a personalized approach with a hepcidin