Foot end trajectory with small oscillation generation method of the adjustable stiffness active flexible joint robot

2016 ◽  
Author(s):  
Yanlei Shi ◽  
Guoshuai Ding ◽  
Minglu Zhang ◽  
Xiaojun Zhang
Keyword(s):  
Small Oscillation ◽  
Flexible Joint

Vibration Suppression for the Flexible Joint with Torque Sensor

ROBOT ◽  
2011 ◽  
Vol 33 (4) ◽  
pp. 449-454 ◽  
Author(s):  
Chuangqiang GUO ◽  
Fenglei NI ◽  
Jingting SUN ◽  
Hong LIU
Keyword(s):  
Vibration Suppression ◽  
Torque Sensor ◽  
Flexible Joint

scholarly journals Structural Insight into the Two-Step Mechanism of PAI-1 Inhibition by Small Molecule TM5484

2021 ◽  
Vol 22 (3) ◽  
pp. 1482 ◽  
Author(s):  
Machteld Sillen ◽  
Toshio Miyata ◽  
Douglas E. Vaughan ◽  
Sergei V. Strelkov ◽  
Paul J. Declerck
Keyword(s):  
Binding Site ◽  
Small Molecule ◽  
Intracellular Signaling ◽  
Plasminogen Activator Inhibitor ◽  
Plasminogen Activator Inhibitor 1 ◽  
Joint Region ◽  
Flexible Joint ◽  
Step Mechanism ◽  
Pai 1

Plasminogen activator inhibitor-1 (PAI-1), a key regulator of the fibrinolytic system, is the main physiological inhibitor of plasminogen activators. By interacting with matrix components, including vitronectin (Vn), PAI-1 plays a regulatory role in tissue remodeling, cell migration, and intracellular signaling. Emerging evidence points to a role for PAI-1 in various pathological conditions, including cardiovascular diseases, cancer, and fibrosis. Targeting PAI-1 is therefore a promising therapeutic strategy in PAI-1-related pathologies. A class of small molecule inhibitors including TM5441 and TM5484, designed to bind the cleft in the central β-sheet A of PAI-1, showed to be potent PAI-1 inhibitors in vivo. However, their binding site has not yet been confirmed. Here, we report two X-ray crystallographic structures of PAI-1 in complex with TM5484. The structures revealed a binding site at the flexible joint region, which is distinct from the presumed binding site. Based on the structural analysis and biochemical data we propose a mechanism for the observed dose-dependent two-step mechanism of PAI-1 inhibition. By binding to the flexible joint region in PAI-1, TM5484 might restrict the structural flexibility of this region, thereby inducing a substrate form of PAI-1 followed by a conversion to an inert form.

scholarly journals Design and Modeling of a Bio-Inspired Flexible Joint Actuator

Actuators ◽  
2021 ◽  
Vol 10 (5) ◽  
pp. 95
Author(s):  
Ming Xu ◽  
Cheng Rong ◽  
Long He
Keyword(s):  
Hydraulic System ◽  
Driving Forces ◽  
Theoretical Models ◽  
Element Analysis ◽  
Flexible Joint ◽  
Fea Model ◽  
The Finite Element Analysis ◽  
Series Of Experiments ◽  
The Mathematical Model ◽  
Moving Speed

Spiders rely on a hydraulic system to stretch their legs but use muscles to make their legs flex. The compound drive of hydraulics and muscle makes an integrate dexterous structure with powerful locomotion abilities, which perfectly meets the primary requirements of advanced robots. Inspired by this hydraulics-muscle co-drive joint, a novel flexible joint actuator was proposed and its driving characteristics were preliminarily explored. The bio-inspired flexible joint manifested as a double-constrained balloon actuator, which was fabricated by the composite process of 3D printing and casting. To evaluate its performance, the mathematical model was deduced, as well as the finite element analysis (FEA) model. A series of experiments on the rotation angles, driving forces, and efficiencies of the flexible joint were carried out and compared with the mathematical calculations and FEA simulations. The results show that the accuracy of the two theoretical models can be used to assess the joint actuator. The locomotion test of a soft arthropod robot with two flexible joints was also implemented, where the moving speed reached 22 mm/s and the feasibility of the proposed flexible joint applied to a soft robot was demonstrated.

Design and Dynamic Modeling of a Flexible Feathering Joint for Robotic Fish Pectoral Fins

2014 ◽  
Author(s):  
Sanaz Bazaz Behbahani ◽  
Xiaobo Tan
Keyword(s):  
Dynamic Model ◽  
Robotic Fish ◽  
Power Stroke ◽  
Hydrodynamic Drag ◽  
Pectoral Fin ◽  
Flexible Joint ◽  
Blade Element Theory ◽  
Pectoral Fins ◽  
Flexible Part ◽  
Recovery Stroke

In this paper, we propose a novel design for a pectoral fin joint of a robotic fish. This joint uses a flexible part to enable the rowing pectoral fin to feather passively and thus reduce the hydrodynamic drag in the recovery stroke. On the other hand, a mechanical stopper allows the fin to maintain its motion prescribed by the servomotor in the power stroke. The design results in net thrust even when the fin is actuated symmetrically for the power and recovery strokes. A dynamic model for this joint and for a pectoral fin-actuated robotic fish involving such joints is presented. The pectoral fin is modeled as a rigid plate connected to the servo arm through a pair of torsional spring and damper that describes the flexible joint. The hydrodynamic force on the fin is evaluated with blade element theory, where all three components of the force are considered due to the feathering degree of freedom of the fin. Experimental results on robotic fish prototype are provided to support the effectiveness of the design and the presented dynamic model. We utilize three different joints (with different sizes and different flexible materials), produced with a multi-material 3D printer, and measure the feathering angles of the joints and the forward swimming velocities of the robotic fish. Good match between the model predictions and experimental data is achieved, and the advantage of the proposed flexible joint over a rigid joint, where the power and recovery strokes have to be actuated at different speeds to produce thrust, is demonstrated.

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