Musculoskeletal System for Bio-Inspired Robotic Systems Based on Ball and Socket Joints

2016 ◽  
Author(s):  
Lianjun Wu ◽  
Yonas Tadesse
Keyword(s):  
Musculoskeletal System ◽  
System Integration ◽  
Cost Effective ◽  
Robotic Systems ◽  
Mechanical Transmission ◽  
Artificial Muscles ◽  
Synthetic Materials ◽  
3D Printed ◽  
Promising Solution ◽  
Soft Actuators

Musculoskeletal system is the fundamental structure that allows complex mobility of biological systems. A lot of efforts have been made in the past to mimic this structure using synthetic materials for use in robotic systems. Development challenges for this technology include design and manufacturing, system integration, control methods and energy usage. One of the key elements of musculoskeletal system is artificial muscles or actuators used in this system. Actuators presented in the literature do not match the performance of natural muscles in most of the metrics such as force generation, strain output, frequency, power density, ease of control and repeatability. This paper briefly describes the recently introduced Twisted and Coiled Polymer (TCP) muscles integrated into a ball and socket joint made of ABS plus® material. The proposed structure consists of a class of ball-and-socket joint that incorporates TCP muscles and silicone to generate multidimensional actuation. Most traditional joint-and-actuator assemblies include passive rotary joints actuated by servomotors via gears transmission. Our proposed ABS based 3D printed joint is actuated by artificial muscles without any complex mechanical transmission system. In comparison with other such assemblies, the proposed joint system is a promising solution to the diverse applications in robotics, especially where soft actuators and cost effective solutions are needed.

scholarly journals Musculoskeletal System for Bio-Inspired Robotic Systems

2016 ◽  
Vol 138 (03) ◽  
pp. S11-S16 ◽  
Author(s):  
Yonas Tadesse ◽  
Lianjun Wu ◽  
Lokesh K. Saharan
Keyword(s):  
Musculoskeletal System ◽  
System Integration ◽  
Degrees Of Freedom ◽  
Manufacturing System ◽  
Biological Systems ◽  
Robotic Systems ◽  
Energy Usage ◽  
3D Printed ◽  
Musculoskeletal Systems ◽  
Novel Design

This article presents a research focused on developing musculoskeletal system for bio-inspired robotic systems. A musculoskeletal system is the fundamental structure that allows complex mobility of biological systems. This paper briefly describes the recently introduced twisted and coiled polymer (TCP) muscles and a novel design of musculoskeletal system based on ball and socket joint, as well as their application in a 3D printed humanoid robot. The challenge to develop such systems is multifaceted, including design, manufacturing, system integration, control methods, and energy usage. Some of the challenges in humanoid design are the degrees of freedom and the synergetic combination of hardware and software to perform a particular task. The other challenge is affordability of the platform. Most humanoids are very expensive. Since the TCP-based actuators are inexpensive and musculoskeletal systems inspired by biological systems are optimum for performance, they will address these problems. The bio-inspired ball and socket joint shown in the article can be cascaded to create complex robots, for example, for the shoulder joint of a humanoid.

scholarly journals Modeling and System Integration for a Thin Pneumatic Rubber 3-DOF Actuator

Actuators ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 32 ◽  
Author(s):  
Shuhei Kawamura ◽  
Mizuki Sudani ◽  
Mingcong Deng ◽  
Yuichi Noge ◽  
Shuichi Wakimoto
Keyword(s):  
System Integration ◽  
Degrees Of Freedom ◽  
Small Diameter ◽  
Experimental System ◽  
Longitudinal Direction ◽  
Axial Direction ◽  
Artificial Muscles ◽  
Contraction Force ◽  
Proposed Model ◽  
Soft Actuators

Recently, soft actuators have been getting increased attention within various fields. The actuators are composed of flexible materials and driven by pneumatic pressure. A thin pneumatic rubber actuator generating 3 degrees of freedom motion, called 3-DOF micro-hand, has small diameter McKibben artificial muscles which generate a contraction force in the axial direction. By this structure, the micro-hand contracts in the longitudinal direction and bends in any direction by changing the applied air pressure pattern to the artificial muscles. The input–output relation of the micro-hand, however, is complicated and has not been modeled. In this paper, modeling for 3-DOF micro-hand is proposed. Moreover, the experimental system is built for the micro-hand and the proposed model is evaluated by using the experimental results.

scholarly journals Finite Element Modeling in the Design Process of 3D Printed Pneumatic Soft Actuators and Sensors

Robotics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 52 ◽  
Author(s):  
Charbel Tawk ◽  
Gursel Alici
Keyword(s):  
Finite Element ◽  
Finite Element Modeling ◽  
Design Process ◽  
Three Dimensional ◽  
Nonlinear Behavior ◽  
Robotic Systems ◽  
Element Modeling ◽  
And Topology ◽  
3D Printed ◽  
Soft Actuators

The modeling of soft structures, actuators, and sensors is challenging, primarily due to the high nonlinearities involved in such soft robotic systems. Finite element modeling (FEM) is an effective technique to represent soft and deformable robotic systems containing geometric nonlinearities due to large mechanical deformations, material nonlinearities due to the inherent nonlinear behavior of the materials (i.e., stress-strain behavior) involved in such systems, and contact nonlinearities due to the surfaces that come into contact upon deformation. Prior to the fabrication of such soft robotic systems, FEM can be used to predict their behavior efficiently and accurately under various inputs and optimize their performance and topology to meet certain design and performance requirements. In this article, we present the implementation of FEM in the design process of directly three-dimensional (3D) printed pneumatic soft actuators and sensors to accurately predict their behavior and optimize their performance and topology. We present numerical and experimental results to show that this approach is very effective to rapidly and efficiently design the soft actuators and sensors to meet certain design requirements and to save time, modeling, design, and fabrication resources.

scholarly journals 3D printed microfluidic lab-on-a-chip device for fiber-based dual beam optical manipulation

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Haoran Wang ◽  
Anton Enders ◽  
John-Alexander Preuss ◽  
Janina Bahnemann ◽  
Alexander Heisterkamp ◽  
...  
Keyword(s):  
Optical Fibers ◽  
Single Cells ◽  
Lab On A Chip ◽  
Cost Effective ◽  
Optical Manipulation ◽  
Hydrodynamic Focusing ◽  
Trapping Region ◽  
Dual Beam ◽  
3D Printed ◽  
On Chip

Abstract3D printing of microfluidic lab-on-a-chip devices enables rapid prototyping of robust and complex structures. In this work, we designed and fabricated a 3D printed lab-on-a-chip device for fiber-based dual beam optical manipulation. The final 3D printed chip offers three key features, such as (1) an optimized fiber channel design for precise alignment of optical fibers, (2) an optically clear window to visualize the trapping region, and (3) a sample channel which facilitates hydrodynamic focusing of samples. A square zig–zag structure incorporated in the sample channel increases the number of particles at the trapping site and focuses the cells and particles during experiments when operating the chip at low Reynolds number. To evaluate the performance of the device for optical manipulation, we implemented on-chip, fiber-based optical trapping of different-sized microscopic particles and performed trap stiffness measurements. In addition, optical stretching of MCF-7 cells was successfully accomplished for the purpose of studying the effects of a cytochalasin metabolite, pyrichalasin H, on cell elasticity. We observed distinct changes in the deformability of single cells treated with pyrichalasin H compared to untreated cells. These results demonstrate that 3D printed microfluidic lab-on-a-chip devices offer a cost-effective and customizable platform for applications in optical manipulation.

scholarly journals 3D Printed Imaging Platform for Portable Cell Counting

The Analyst ◽  
2021 ◽  
Author(s):  
Diwakar M. Awate ◽  
Cicero C. Pola ◽  
Erica Shumaker ◽  
Carmen L Gomes ◽  
Jaime Javier Juarez
Keyword(s):  
3D Printing ◽  
Point Of Care ◽  
Cost Effective ◽  
Cell Counting ◽  
Biomedical Sciences ◽  
Widespread Application ◽  
Resource Limited ◽  
Cost Effective Approach ◽  
3D Printed

Despite having widespread application in the biomedical sciences, flow cytometers have several limitations that prevent their application to point-of-care (POC) diagnostics in resource-limited environments. 3D printing provides a cost-effective approach...

scholarly journals Effects of Rice Straw Powder (RSP) Size and Pretreatment on Properties of FDM 3D-Printed RSP/Poly(Lactic Acid) Biocomposites

Molecules ◽  
2021 ◽  
Vol 26 (11) ◽  
pp. 3234
Author(s):  
Wangwang Yu ◽  
Lili Dong ◽  
Wen Lei ◽  
Yuhan Zhou ◽  
Yongzhe Pu ◽  
...  
Keyword(s):  
Lactic Acid ◽  
Rice Straw ◽  
Fused Deposition Modeling ◽  
Flexural Modulus ◽  
Tensile Modulus ◽  
Cost Effective ◽  
Poly Lactic Acid ◽  
Fused Deposition ◽  
Interfacial Compatibility ◽  
3D Printed

To develop a new kind of environment-friendly composite filament for fused deposition modeling (FDM) 3D printing, rice straw powder (RSP)/poly(lactic acid) (PLA) biocomposites were FDM-3D-printed, and the effects of the particle size and pretreatment of RSP on the properties of RSP/PLA biocomposites were investigated. The results indicated that the 120-mesh RSP/PLA biocomposites (named 120#RSP/PLA) showed better performance than RSP/PLA biocomposites prepared with other RSP sizes. Infrared results showed that pretreatment of RSP by different methods was successful, and scanning electron microscopy indicated that composites prepared after pretreatment exhibited good interfacial compatibility due to a preferable binding force between fiber and matrix. When RSP was synergistically pretreated by alkaline and ultrasound, the composite exhibited a high tensile strength, tensile modulus, flexural strength, and flexural modulus of 58.59, 568.68, 90.32, and 3218.12 MPa, respectively, reflecting an increase of 31.19%, 16.48%, 18.75%, and 25.27%, respectively, compared with unmodified 120#RSP/PLA. Pretreatment of RSP also improved the thermal stability and hydrophobic properties, while reducing the water absorption of 120#RSP/PLA. This work is believed to provide highlights of the development of cost-effective biocomposite filaments and improvement of the properties of FDM parts.

Microfluidics 4: PDMS Chip Soft Lithography v2

2021 ◽  
Author(s):  
Serhat Sevli ◽  
not provided C. Yunus Sahan
Keyword(s):  
Soft Lithography ◽  
Cost Effective ◽  
Cnc Machining ◽  
3D Printed ◽  
Low Volume ◽  
Pdms Chip ◽  
Application Specific ◽  
Lithography Technique

Microfluidics materials are of various types and application-specific. PDMS is one of the most preferred and cost-effective solutions for research and low-volume manufacturing. After having the mold, PDMS replicas are generated by a technique called soft-lithography. This protocol describes the preparation of PDMS microchannels using SU8 molds, 3D Printed resin molds, and/or metal molds by the soft lithography technique, SLA printing, or CNC machining.

scholarly journals Implementation of Soft-Lithography Techniques for Fabrication of Bio-Inspired Multi-Layer Dielectric Elastomer Actuators with Interdigitated Mechanically Compliant Electrodes

Actuators ◽  
2018 ◽  
Vol 7 (4) ◽  
pp. 73 ◽  
Author(s):  
Mert Corbaci ◽  
Wayne Walter ◽  
Kathleen Lamkin-Kennard
Keyword(s):  
Soft Lithography ◽  
Skeletal Muscles ◽  
Actuation Voltage ◽  
Transition Process ◽  
Humanoid Robots ◽  
Dielectric Elastomer ◽  
Industrial Robots ◽  
Artificial Muscles ◽  
Dielectric Elastomer Actuators ◽  
Soft Actuators

Advancements in software engineering have enabled the robotics industry to transition from the use of giant industrial robots to more friendly humanoid robots. Soft robotics is one of the key elements needed to advance the transition process by providing a safer way for robots to interact with the environment. Electroactive polymers (EAPs) are one of the best candidate materials for the next generation of soft robotic actuators and artificial muscles. Lightweight dielectric elastomer actuators (DEAs) provide optimal properties such as high elasticity, rapid response rates, mechanical robustness and compliance. However, for DEAs to become widely used as artificial muscles or soft actuators, there are current limitations, such as high actuation voltage requirements, control of actuation direction, and scaling, that need to be addressed. The authors’ approach to overcome the drawbacks of conventional DEAs is inspired by the natural skeletal muscles. Instead of fabricating a large DEA device, smaller sub-units can be fabricated and bundled together to form larger actuators, similar to the way myofibrils form myocytes in skeletal muscles. The current study presents a novel fabrication approach, utilizing soft lithography and other microfabrication techniques, to allow fabrication of multilayer stacked DEA structures, composed of hundreds of micro-sized DEA units.

A Single Chip Integrated Navigation System

1993 ◽  
Vol 46 (1) ◽  
pp. 95-104 ◽  
Author(s):  
Eric Aardoom ◽  
André Nieuwland
Keyword(s):  
Navigation System ◽  
System Integration ◽  
Cost Effective ◽  
Integrated System ◽  
Integrated Navigation ◽  
Single Chip ◽  
Integrated Navigation System ◽  
System Integrity ◽  
Cost Effective Approach ◽  
Application Specific

Recently, integration of different radionavigation systems has become very popular, since it improves system integrity, availability, accuracy and reliability. This paper discusses a new, flexible and cost-effective approach to system integration, centred on a single-chip application specific processor (ASP). An overview of this integrated system is presented and the application of the ASP for the implementation of a six-channel GPS, OMEGA, Loran-C and MLS receiver is given. The ASP is currently being implemented on a 180000 transistor 1·6μ, m CMOS Sea of Gates chip, and is expected to run at 100 MHz clock speed.

Microfluidics 4: PDMS Chip Soft Lithography v2

2021 ◽  
Author(s):  
Serhat Sevli ◽  
not provided C. Yunus Sahan
Keyword(s):  
Soft Lithography ◽  
Cost Effective ◽  
Cnc Machining ◽  
3D Printed ◽  
Low Volume ◽  
Pdms Chip ◽  
Application Specific ◽  
Lithography Technique

Microfluidics materials are of various types and application-specific. PDMS is one of the most preferred and cost-effective solutions for research and low-volume manufacturing. After having the mold, PDMS replicas are generated by a technique called soft-lithography. This protocol describes the preparation of PDMS microchannels using SU8 molds, 3D Printed resin molds, and/or metal molds by the soft lithography technique, SLA printing, or CNC machining.

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