Low-Cost Force Sensors Embedded in Physical Human–Machine Interfaces: Concept, Exemplary Realization on Upper-Body Exoskeleton, and Validation

In modern times, the collaboration between humans and machines increasingly rises, combining their respective benefits. The direct physical support causes interaction forces in human–machine interfaces, whereas their form determines both the effectiveness and comfort of the collaboration. However, their correct detection requires various sensor characteristics and remains challenging. Thus, this paper presents a developed low-cost sensor pad working with a silicone capsule and a piezoresistive pressure sensor. Its measurement accuracy is validated in both an isolated testing environment and a laboratory study with four test subjects (gender-balanced), and an application integrated in interfaces of an active upper-body exoskeleton. In the material-testing machine, it becomes apparent that the sensor pad generally features the capability of reliably determining normal forces on its surface until a certain threshold. This is also proven in the real application, where the measurement data of three sensor pads spatially embedded in the exoskeletal interface are compared to the data of an installed multi-axis load cell and a high-resolution flexible pressure map. Here, the consideration of three sensor pads potentially enables detection of exoskeletal support on the upper arm as well as “poor” fit conditions such as uneven pressure distributions that recommend immediate system adjustments for ergonomic improvements.

The consistency and reliability of six-strand and four-strand flexor tendon repairs: a comparative porcine cadaveric study

The aim of this study was to compare the consistency and reliability of the six-strand Gan modification of the Lim-Tsai flexor tendon repair with the four-strand Adelaide repair, both with 3-0 sutures and with eight to ten runs of simple 5-0 running peripheral suture as well as the influence of the surgeons’ level of experience on the strength of the repair in a cadaveric animal setup. Thirty-nine surgeons repaired 78 porcine flexor digitorum profundus tendons with either the Adelaide technique (39 tendons) or the modified Lim-Tsai technique (39 tendons). Each repaired tendon was tested in a material testing machine under a single cycle load-to-failure test. The forces were recorded when the gap between the two tendon stumps reached 1 and 2 mm and when irreversible elongation or total rupture occurred. We found no significant differences in gap formation force and yielding strength of the tendons between the two methods. The surgeon’s previous experience in tendon repairs did not improve the consistency, reliability or tensile strength of the repairs. We conclude that if a strong peripheral suture is added, the modified Lim-Tsai repair has the same technical reliability and consistency as the Adelaide repair in term of ultimate loading strength in this test setup.

Synthesis of a novel UV-curable prepolymer 1,3-bis[(3-ethyl-3-methoxyoxetane)propyl]tetramethyldisiloxane and study on its UV-curing properties

Precursor 3-ethyl-3-hydroxymethyloxetane was synthesized with trihydroxypropane and diethyl carbonate as the main raw materials. Intermediate 3-ethyl-3-allylmethoxyoxetane was synthesized with 3-ethyl-3-hydroxymethyloxetane and allyl bromide. Prepolymer 1,3-bis[(3-ethyl-3-methoxyoxetane)propyl]tetramethyldisiloxane was synthesized with 3-ethyl-3-allylmethoxyoxetane and 1,1,3,3-tetramethyldisiloxane. Cationic photoinitiator triarylsulfonium hexafluoroantimonate of 3 wt% was added to the prepolymer, and a novel kind of photosensitive resin was prepared. Structures of the compounds obtained at individual stages of the synthesis were analyzed and characterized by FTIR and 1H-NMR. Photo-DSC analysis showed that the prepolymer had excellent photosensitivity. Thermogravimetric analysis (TG) revealed that the ultraviolet (UV)-cured samples owned excellent thermal stabilities of up to 405°C. And the mechanical properties of the UV-cured samples were tested by the universal material testing machine, giving 25.95 MPa of tensile strength, 2,935.15 MPa of elastic modulus, and 4.09% of elongation at break.

Preparation of Bis[(3-ethyl-3-methoxyoxetane)propyl]diphenylsilane and Investigation of Its Cationic UV-Curing Material Properties

Precusor EHO(3-ethyl-3-hydroxymethyloxetane) was synthesized with diethyl carbonate and trihydroxypropane as the main raw materials. Intermediate AllyEHO(3-ethyl-3-allylmethoxyoxetane) was synthesized with 3-ethyl-3-hydroxymethyloxetane and allyl bromide as the main raw materials. Prepolymer bis[(3-ethyl-3-methoxyoxetane)propyl]diphenylsilane was synthesized with 3-ethyl-3-methoxyoxetane)propyl and diphenylsilane. Photoinitiator triarylsulfonium hexafluoroantimonate of 3% was added to the prepolymer, and a novel kind of the photosensitive resin was prepared. They were analyzed and characterized with FTIR and 1H-NMR. Photo-DSC examination revealed that the bis[(3-ethyl-3-methoxyoxetane)propyl]diphenylsilane has great photosensitivity. The thermal properties and mechanical properties of the photosensitive resin were examined by TGA and a microcomputer-controlled universal material testing machine, with thermal stabilities of up to 446 °C. The tensile strength was 75.5 MPa and the bending strength was 49.5 MPa. The light transmittance remained above 98%.

Rancang Bangun Mesin Uji Universal Untuk Pengujian Tarik dan Tekuk Bertenaga Hidrolik

<em>Universal Testing Machine or UTM (Universal Testing Machine) is a material testing machine that has more than one type of material testing. The purpose of this research is to design and analyze the strength of the UTM construction for tensile and bending tests. This machine uses a hydraulic jack as a power source to provide the required load. The design is limited to a load of 1.4 tons while the maximum construction load is 5 tons according to the hydraulic jack capacity. The method used in this study begins with a design using CAD and then analyzed with the finite element method. From the results of the analysis and evaluation, the designed tool can be used safely in accordance with the specifications used. The results showed that from the experimental results on the tensile and bending test specimens, both tests were successfully carried out. The tensile test was carried out with SUS 304 and SS400 with different thicknesses with dimensions according to ASTM E8 standards, while the bending test was carried out on ASTM A36 material with a size of 200 x 40 x 6 mm. After the test is carried out, the construction of the machine is checked for possible defects due to the test, namely the upper and lower clamps, punches and dies, and the engine frame. As a conclusion, after testing, it turns out that no damage or defects were found in all the parts examined</em>

Suspension button constructs restore posterior knee laxity in solid tibial avulsion of the posterior cruciate ligament

Purpose Dislocated tibial avulsions of the posterior cruciate ligament (PCL) require surgical intervention. Several arthroscopic strategies are options to fix the fragment and restore posterior laxity, including two types of suspension button devices: adjustable (self-locking) and rigid knotted systems. Our hypothesis was that a rigid knotted button construct has superior biomechanical properties regarding laxity restoration compared with an adjustable system. Both techniques were compared with standard screw fixation and the native PCL. Methods Sixty porcine knees were dissected. The constructs were tested for elongation, stiffness, yield force, load to failure force, and failure mode in a material testing machine. Group N (native, intact PCL) was used as a control group. In group DB (Dogbone™), TR (Tightrope™), and S (screw), a standardized block osteotomy with the osteotomized fragment attached to the PCL was set. The DB and TR groups simulated using a suspension button system with either a rigid knotted (DB) or adjustable system (TR). These groups were compared to a screw technique (S) simulating antegrade screw fixation from posterior. Results Comparing the different techniques (DB, TR, S), no significant elongation was detected; all techniques achieved a sufficient posterior laxity restoration. Significant elongation in the DB and TR group was detected compared with the native PCL (N). In contrast, screw fixation did not lead to significant elongation. The stiffness, yield load, and load to failure force did not differ significantly between the techniques. None of the techniques reached the same level of yield load and load to failure force as the intact state. Conclusion Arthroscopic suspension button techniques sufficiently restore the posterior laxity and gain a comparable construct strength as an open antegrade screw fixation.

Pressure Sensor System for Customized Scoliosis Braces

Hard-shell thoracolumbar sacral orthoses (TLSOs) are used for treating idiopathic scoliosis, a deformation of the spine with a sideways curvature. The pressure required inside the TLSO for ideal corrective results remains unclear. Retrofitting TLSOs with commercially available pressure measurement systems is expensive and can only be performed in a laboratory. The aim of this study was to develop a cost-effective but accurate pressure sensor system for TLSOs. The sensor was built from a piezoresistive polymer, placed between two closed-cell foam liners, and evaluated with a material testing machine. Because foams are energy absorbers, the pressure-conductance curve was affected by hysteresis. The sensor was calibrated on a force plate with the transitions from loading to unloading used to establish the calibration curve. The root mean square error was 12% on average within the required pressure range of 0.01–0.13 MPa. The sensor reacted to the changing pressure during breathing and different activities when tested underneath a chest belt at different tensions. The peak pressure reached 0.135 MPa. The sensor was further tested inside the scoliosis brace during different activities. The measured pressure was 0.014–0.124 MPa. The results from this study enable cheaper and mobile systems to be used for clinical studies on the comfort and pressure of braces during daily activities.

A Study on the Improvement of Using Raw Lacquer and Electrospinning on Properties of PVP Nanofilms

Raw lacquer (RL), ethanol being used as the solvent, was added to polyvinyl pyrrolidone (PVP) and then electrospun into RL/PVP nanofilms. Manufacturing parameters such as RL/PVP ratio, voltage, flow velocity, needle type, and the distance between syringe and the collection board were systematically investigated. A scanning electronic microscope (SEM) was used to observe the surface morphology of nanofilms; the block drop method was used to measure the water contact angle; the mechanical properties of RL/PVP nanofilms of different proportions were tested by universal material testing machine; and Fourier-transform infrared spectroscopy (FT-IR) was used to characterize the structure. Based on the water resistance and acid resistance measurements, the proposed nanofilms demonstrated to be water and acid resistant were successfully produced. The results show that PVP that melts in water becomes incompatible with water after adding raw lacquer, and the acid resistance is greatly improved. Furthermore, the smaller the fiber diameter, the better the mechanical properties of the nanofilms are under low ratio of RL/PVP. With a high proportion of RL/PVP, the inner structure of the nanofilm is denser, and the water resistance and acid resistance are better. The dense structure can protect the inner material of the nanofilms.

Design and Fabrication a Lightweight Spring Made of Natural Rubber for a Motorcycle’s Shock Absorber

This research aims to design and fabricate a spring made of natural rubber for a lightweight motorcycle’s shock absorber. This study is carried out in four main steps. First, a stiffness property of a steel coil spring and a damping property of a commercial shock absorber were tested using an Instron® material testing machine and a test rig. Second, six different types of rubber compounds (A-1, A-2, A-3, B-1, B-2, and B-3) were formulated and the best compound was selected to use for a rubber spring. Third, the rubber spring was designed and analyzed using the finite element method to investigate the best model. Finally, a prototype of the rubber spring was fabricated and tested. The steel coil spring was replaced by the rubber spring and tested for its damping property within a real shock absorber. The results of the prototype testing showed that the weight of the rubber spring was lower than the steel coil spring about 48%. The stiffness property of the rubber spring was higher than the steel coil spring around 43% and the damping property of the shock absorber using rubber spring was higher than the damping property of the shock absorber using steel coil spring about 6%. The rubber spring provided more advantages than the steel coil spring for its good corrosion resistance, lightweight, and ease of maintenance. However, the implementation of the rubber spring in the real motorcycle and its fatigue life should be studied in the next future.