scholarly journals A 3D-Printed Fin Ray Effect Inspired Soft Robotic Gripper with Force Feedback

Micromachines ◽  
2021 ◽  
Vol 12 (10) ◽  
pp. 1141
Author(s):  
Yang Yang ◽  
Kaixiang Jin ◽  
Honghui Zhu ◽  
Gongfei Song ◽  
Haojian Lu ◽  
...  
Keyword(s):  
Food Industry ◽  
Simple Structure ◽  
Force Feedback ◽  
Force Sensor ◽  
Whole Body ◽  
Service Robot ◽  
Fin Ray ◽  
Wide Range ◽  
3D Printed ◽  
Gripping Force

Soft robotic grippers are able to carry out many tasks that traditional rigid-bodied grippers cannot perform but often have many limitations in terms of control and feedback. In this study, a Fin Ray effect inspired soft robotic gripper is proposed with its whole body directly 3D printed using soft material without the need of assembly. As a result, the soft gripper has a light weight, simple structure, is enabled with high compliance and conformability, and is able to grasp objects with arbitrary geometry. A force sensor is embedded in the inner side of the gripper, which allows the contact force required to grip the object to be measured in order to guarantee successful grasping and to provide the most suitable gripping force. In addition, it enables control and data monitoring of the gripper’s operating state at all times. Characterization and grasping demonstration of the gripper are given in the Experiment section. Results show that the gripper can be used in a wide range of scenarios and applications, such as the service robot and food industry.

scholarly journals Method for the Detection of Tumor Blood Vessels in Neurosurgery Using a Gripping Force Feedback System

Sensors ◽  
2019 ◽  
Vol 19 (23) ◽  
pp. 5157
Author(s):  
Hiroki Yokota ◽  
Takeshi Yoneyama ◽  
Tetsuyou Watanabe ◽  
Yasuo Sasagawa ◽  
Mitsutoshi Nakada
Keyword(s):  
Blood Vessel ◽  
Blood Vessels ◽  
Force Feedback ◽  
Correlation Coefficients ◽  
Feedback System ◽  
Force Sensor ◽  
Robot System ◽  
Blood Vessel Detection ◽  
Operating Space ◽  
Gripping Force

Avoiding unnecessary bleeding during neuroendoscopic surgeries is crucial because achieving hemostasis in a narrow operating space is challenging. However, when the location of a blood vessel in a tumor cannot be visually confirmed, unintentional damage to the vessel and subsequent bleeding may occur. This study proposes a method for tumor blood vessel detection using a master–slave surgical robot system equipped with a force sensor in the slave gripper. Using this method, blood pulsation inside a tumor was detected, displayed as a gripping force wave, via the slave force sensor. The characteristics of gripping force due to blood pulsation were extracted by measuring the fluctuation of the force in real time. The presence or absence of blood vessels was determined on the basis of cross-correlation coefficients between the gripping force fluctuation waveform due to blood pulsation and model fluctuation waveform. Experimental validation using two types of simulated tumors (soft: E = 6 kPa; hard: E = 38 kPa) and a simulated blood vessel (E = 1.9 MPa, radius = 0.5 mm, thickness = 0.1 mm) revealed that the presence of blood vessels could be detected while gripping at a constant angle and during transient gripping.

Gripping Force Feedback System for Neurosurgery

2014 ◽  
Vol 8 (1) ◽  
pp. 83-94 ◽  
Author(s):  
Yoshinori Fujihira ◽  
◽  
Takuya Hanyu ◽  
Yusuke Kanada ◽  
Takeshi Yoneyama ◽  
...  
Keyword(s):  
Force Feedback ◽  
Feedback System ◽  
Force Sensor ◽  
Thin Plates ◽  
Display Device ◽  
Kinesthetic Sense ◽  
The Difference ◽  
Pulling Force ◽  
Gripping Force ◽  
Force Sense

A force feedback manipulator system was developed for use in neurosurgery. The system consists of a multidegree of freedom manipulator with a forcedetecting gripper and a device capable of using force feedback to display kinesthetic sense. The structure, which consists of parallel thin plates in the gripper of the manipulator, enables the detection of a gripping force and a pulling force, which can be used to grip and pull tumors. In this paper, we describe ways of improving the structure of the force sensor. Throughbilateral control, the operation device is able to display the gripping force as its driving force, and the pulling force as the frictional force between the display device and the skin of the finger. We also conducted experiments to test the force sense display capabilities of the developed system. The results showed that the system can display a force and the difference between the softness of different objects that are gripped. The ability of the system to identify different objects is increased by magnifying the detected force using an appropriate scale.

Prototyping Force-Controlled 3-DOF Hydraulic Arms for Humanoid Robots

2016 ◽  
Vol 28 (1) ◽  
pp. 95-103 ◽  
Author(s):  
Kensuke Izawa ◽  
◽  
Sang-Ho Hyon
Keyword(s):  
Force Feedback ◽  
Rapid Prototype ◽  
Humanoid Robots ◽  
Body Motion ◽  
Whole Body ◽  
Singular Perturbation Analysis ◽  
Wide Range ◽  
Force Tracking ◽  
Dual Arm Robot ◽  
Dual Arm

[abstFig src='/00280001/11.jpg' width=""230"" text='Hydraulic dual arm robot prototype' ]This paper reports on a hydraulic dual arm robot developed as a rapid prototype for our hydraulic humanoid robot. The lightweight arms (4 kg each) have three joints driven by hydraulic linear servo actuators that can achieve higher torque and speed than human arms. A double four-bar linkage provides a wide range of motion (210°) to the shoulder joint. Each joint has torque controllability that is fully utilized for compliant whole-body motion control tasks. Based on singular perturbation analysis, we discuss how damping on the joints is actively modulated by hydraulic force feedback control, which is then utilized in our passivity-based task-space force control scheme. The effectiveness of the proposed system is experimentally evaluated through zero-force tracking gravity compensation with a 10 kg payload and object manipulation tasks.

Age- and sex-related bone uptake of Tc-99m-HDP measured by whole-body bone scanning

2000 ◽  
Vol 39 (05) ◽  
pp. 127-132 ◽  
Author(s):  
Nicole Sieweke ◽  
K. H. Bohuslavizki ◽  
W. U. Kampen ◽  
M. Zuhayra ◽  
M. Clausen ◽  
...  
Keyword(s):  
Whole Body ◽  
Bone Lesions ◽  
Men And Women ◽  
Bone Uptake ◽  
Normal Bone ◽  
Age Related ◽  
Number Of Patients ◽  
Wide Range ◽  
Bone Scans ◽  
Body Bone

Summary Aim of this study was to validate a recently introduced new and easy-to-perform method for quantifying bone uptake of Tc-99m-labelled diphosphonate in a routine clinical setting and to establish a normal data base for bone uptake depending on age and gender. Methods: In 49 women (14-79 years) and 47 men (6-89 years) with normal bone scans as well as in 49 women (33-81 years) and 37 men (27-88 years) with metastatic bone disease whole-body bone scans were acquired at 3 min and 3-4 hours p.i. to calculate bone uptake after correction for both urinary excretion and soft tissue retention. Results: Bone uptake values of various age-related subgroups showed no significant differences between men and women (p >0.05 ). Furthermore, no differences could be proven between age-matched subgroups of normals and patients with less than 10 metastatic bone lesions, while patients with wide-spread bone metastases revealed significantly increased uptake values. In both men and women highest bone uptake was obtained (p <0.05 ) in subjects younger than 20 years with active epiphyseal growth plates. In men, bone uptake slowly decreased with age up to 60 years and then showed a tendency towards increasing uptake values. In women, the mean uptake reached a minimun in the decade 20-29 years and then slowly increased with a positive linear correlation of age and uptake in subjects older than 55 years (r = 0.57). Conclusion: Since the results proposed in this study are in good agreement with data from literature, the new method used for quantification could be validated in a large number of patients. Furthermore, age- and sexrelated normal bone uptake values of Tc-99m-HDP covering a wide range of age could be presented for this method as a basis for further studies on bone uptake.

Insights into Potent Therapeutical Antileukemic Agent L-glutaminase Enzyme Under Solid-state Fermentation: A Review

2020 ◽  
Vol 21 (3) ◽  
pp. 211-220 ◽  
Author(s):  
Chandrasai Potla Durthi ◽  
Madhuri Pola ◽  
Satish Babu Rajulapati ◽  
Anand Kishore Kola
Keyword(s):  
Solid State ◽  
Solid State Fermentation ◽  
Food Industry ◽  
Energy Requirement ◽  
Production Studies ◽  
Wide Range ◽  
Hybridoma Technology ◽  
Bacteria And Fungi ◽  
The Stability ◽  
Glutaminase Activity

Aim & objective: To review the applications and production studies of reported antileukemic drug L-glutaminase under Solid-state Fermentation (SSF). Overview: An amidohydrolase that gained economic importance because of its wide range of applications in the pharmaceutical industry, as well as the food industry, is L-glutaminase. The medical applications utilized it as an anti-tumor agent as well as an antiretroviral agent. L-glutaminase is employed in the food industry as an acrylamide degradation agent, as a flavor enhancer and for the synthesis of theanine. Another application includes its use in hybridoma technology as a biosensing agent. Because of its diverse applications, scientists are now focusing on enhancing the production and optimization of L-glutaminase from various sources by both Solid-state Fermentation (SSF) and submerged fermentation studies. Of both types of fermentation processes, SSF has gained importance because of its minimal cost and energy requirement. L-glutaminase can be produced by SSF from both bacteria and fungi. Single-factor studies, as well as multi-level optimization studies, were employed to enhance L-glutaminase production. It was concluded that L-glutaminase activity achieved by SSF was 1690 U/g using wheat bran and Bengal gram husk by applying feed-forward artificial neural network and genetic algorithm. The highest L-glutaminase activity achieved under SSF was 3300 U/gds from Bacillus sp., by mixture design. Purification and kinetics studies were also reported to find the molecular weight as well as the stability of L-glutaminase. Conclusion: The current review is focused on the production of L-glutaminase by SSF from both bacteria and fungi. It was concluded from reported literature that optimization studies enhanced L-glutaminase production. Researchers have also confirmed antileukemic and anti-tumor properties of the purified L-glutaminase on various cell lines.

scholarly journals The aspects of microbial biomass use in the utilization of selected waste from the agro-food industry

2020 ◽  
Vol 15 (1) ◽  
pp. 787-796 ◽  
Author(s):  
Marek Kieliszek ◽  
Kamil Piwowarek ◽  
Anna M. Kot ◽  
Katarzyna Pobiega
Keyword(s):  
Food Industry ◽  
Industrial Applications ◽  
Waste Products ◽  
Yeast Biomass ◽  
Wide Range ◽  
Innovative Solutions ◽  
Biomass Management ◽  
Effective Use ◽  
Modern Technologies ◽  
Biomass Of Microorganisms

AbstractCellular biomass of microorganisms can be effectively used in the treatment of waste from various branches of the agro-food industry. Urbanization processes and economic development, which have been intensifying in recent decades, lead to the degradation of the natural environment. In the first half of the 20th century, problems related to waste management were not as serious and challenging as they are today. The present situation forces the use of modern technologies and the creation of innovative solutions for environmental protection. Waste of industrial origin are difficult to recycle and require a high financial outlay, while the organic waste of animal and plant origins, such as potato wastewater, whey, lignin, and cellulose, is dominant. In this article, we describe the possibilities of using microorganisms for the utilization of various waste products. A solution to reduce the costs of waste disposal is the use of yeast biomass. Management of waste products using yeast biomass has made it possible to generate new metabolites, such as β-glucans, vitamins, carotenoids, and enzymes, which have a wide range of industrial applications. Exploration and discovery of new areas of applications of yeast, fungal, and bacteria cells can lead to an increase in their effective use in many fields of biotechnology.

scholarly journals Quantification of assembly forces during creation of head-neck taper junction considering soft tissue bearing: a biomechanical study

Arthroplasty ◽  
2021 ◽  
Vol 3 (1) ◽  
Author(s):  
Toni Wendler ◽  
Torsten Prietzel ◽  
Robert Möbius ◽  
Jean-Pierre Fischer ◽  
Andreas Roth ◽  
...  
Keyword(s):  
Soft Tissue ◽  
Work Experience ◽  
Soft Tissues ◽  
Force Sensor ◽  
Biomechanical Study ◽  
Measuring System ◽  
Wide Range ◽  
Head Neck

Abstract Background All current total hip arthroplasty (THA) systems are modular in design. Only during the operation femoral head and stem get connected by a Morse taper junction. The junction is realized by hammer blows from the surgeon. Decisive for the junction strength is the maximum force acting once in the direction of the neck axis, which is mainly influenced by the applied impulse and surrounding soft tissues. This leads to large differences in assembly forces between the surgeries. This study aimed to quantify the assembly forces of different surgeons under influence of surrounding soft tissue. Methods First, a measuring system, consisting of a prosthesis and a hammer, was developed. Both components are equipped with a piezoelectric force sensor. Initially, in situ experiments on human cadavers were carried out using this system in order to determine the actual assembly forces and to characterize the influence of human soft tissues. Afterwards, an in vitro model in the form of an artificial femur (Sawbones Europe AB, Malmo, Sweden) with implanted measuring stem embedded in gelatine was developed. The gelatine mixture was chosen in such a way that assembly forces applied to the model corresponded to those in situ. A study involving 31 surgeons was carried out on the aforementioned in vitro model, in which the assembly forces were determined. Results A model was developed, with the influence of human soft tissues being taken into account. The assembly forces measured on the in vitro model were, on average, 2037.2 N ± 724.9 N, ranging from 822.5 N to 3835.2 N. The comparison among the surgeons showed no significant differences in sex (P = 0.09), work experience (P = 0.71) and number of THAs performed per year (P = 0.69). Conclusions All measured assembly forces were below 4 kN, which is recommended in the literature. This could lead to increased corrosion following fretting in the head-neck interface. In addition, there was a very wide range of assembly forces among the surgeons, although other influencing factors such as different implant sizes or materials were not taken into account. To ensure optimal assembly force, the impaction should be standardized, e.g., by using an appropriate surgical instrument.

scholarly journals Simulation Verification of the Contact Parameter Influence on the Forces’ Course of Cereal Grain Impact against a Stiff Surface

2021 ◽  
Vol 11 (2) ◽  
pp. 466
Author(s):  
Włodzimierz Kęska ◽  
Jacek Marcinkiewicz ◽  
Łukasz Gierz ◽  
Żaneta Staszak ◽  
Jarosław Selech ◽  
...  
Keyword(s):  
Dynamic Properties ◽  
Decisive Role ◽  
Force Sensor ◽  
Contact Forces ◽  
Correct Selection ◽  
Contact Parameter ◽  
Cereal Grain ◽  
Wide Range ◽  
The Impact ◽  
Selection Of

The continuous development of computer technology has made it applicable in many scientific fields, including research into a wide range of processes in agricultural machines. It allows the simulation of very complex physical phenomena, including grain motion. A recently discovered discrete element method (DEM) is used for this purpose. It involves direct integration of equations of grain system motion under the action of various forces, the most important of which are contact forces. The method’s accuracy depends mainly on precisely developed mathematical models of contacts. The creation of such models requires empirical validation, an experiment that investigates the course of contact forces at the moment of the impact of the grains. To achieve this, specialised test stations equipped with force and speed sensors were developed. The correct selection of testing equipment and interpretation of results play a decisive role in this type of research. This paper focuses on the evaluation of the force sensor dynamic properties’ influence on the measurement accuracy of the course of the plant grain impact forces against a stiff surface. The issue was examined using the computer simulation method. A proprietary computer software with the main calculation module and data input procedures, which presents results in a graphic form, was used for calculations. From the simulation, graphs of the contact force and force signal from the sensor were obtained. This helped to clearly indicate the essence of the correct selection of parameters used in the tests of sensors, which should be characterised by high resonance frequency.

scholarly journals Recent Insights into Anthocyanin Pigmentation, Synthesis, Trafficking, and Regulatory Mechanisms in Rice (Oryza sativa L.) Caryopsis

Biomolecules ◽  
2021 ◽  
Vol 11 (3) ◽  
pp. 394 ◽  
Author(s):  
Enerand Mackon ◽  
Guibeline Charlie Jeazet Dongho Epse Mackon ◽  
Yafei Ma ◽  
Muhammad Haneef Kashif ◽  
Niyaz Ali ◽  
...  
Keyword(s):  
Food Industry ◽  
Anthocyanin Biosynthesis ◽  
Oryza Sativa L ◽  
Anthocyanin Synthesis ◽  
Pigmented Rice ◽  
Complex Processes ◽  
Natural Colorants ◽  
Wide Range ◽  
Anthocyanin Production ◽  
And Storage

Anthocyanins are antioxidants used as natural colorants and are beneficial to human health. Anthocyanins contribute to reactive oxygen species detoxification and sustain plant growth and development under different environmental stresses. They are phenolic compounds that are broadly distributed in nature and are responsible for a wide range of attractive coloration in many plant organs. Anthocyanins are found in various parts of plants such as flowers, leaves, stems, shoots, and grains. Considering their nutritional and health attributes, anthocyanin-enriched rice or pigmented rice cultivars are a possible alternative to reduce malnutrition around the globe. Anthocyanin biosynthesis and storage in rice are complex processes in which several structural and regulatory genes are involved. In recent years, significant progress has been achieved in the molecular and genetic mechanism of anthocyanins, and their synthesis is of great interest to researchers and the scientific community. However, limited studies have reported anthocyanin synthesis, transportation, and environmental conditions that can hinder anthocyanin production in rice. Rice is a staple food around the globe, and further research on anthocyanin in rice warrants more attention. In this review, metabolic and pre-biotic activities, the underlying transportation, and storage mechanisms of anthocyanins in rice are discussed in detail. This review provides potential information for the food industry and clues for rice breeding and genetic engineering of rice.

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