Design and Kinematic Analysis of a Novel Humanoid Robot Eye Using Pneumatic Artificial Muscles

This paper proposed a novel humanoid robot eye, which is driven by six Pneumatic Artificial Muscles （PAMs） and rotates with 3 Degree of Freedom （DOF）. The design of the mechanism and motion type of the robot eye are inspired by that of human eyes. The model of humanoid robot eye is established as a parallel mechanism, and the inverse-kinematic problem of this flexible tendons driving parallel system is solved by the analytical geometry method. As an extension, the simulation result for saccadic movement is presented under three conditions. The design and kinematic analysis of the prototype could be a sig- nificant step towards the goal of building an autonomous humanoid robot eye with the movement and especially the visual functions similar to that of human.     

Effect of bending on shot peened and polished osteosynthesis plates

Shot peening can increase the fatigue strength of commercially available surgical plates made of 1.4435 alloy by 40% even in a corrosive environment. Our investigations show that residual stresses resulting from shot peening are reduced by additional bending of the plates. In such plates smaller tensile residual stresses were found than after polishing of the plates. Bending of polished plates results in considerable tensile residual stresses. The hardening achieved by shot peening is not reduced by bending. As the fatigue strength of soft materials depends mainly on the hardening and less on the residual stresses, only little influence of the changed residual stresses on the fatigue strength can be expected. Shot peening of surgical implants thus means an improvement in quality.     

Interconversion of the Ialpha and Ibeta crystalline forms of cellulose by bending

Bending cellulose in a plane normal to the hydrogen-bonded sheets of chains causes a longitudinal displacement of the sheets with respect to one another. The magnitude of this displacement is shown to be sufficient to interconvert the Ialpha and Ibeta forms of cellulose within a bending angle of 39 degrees when the curvature of the sheets of chains comprising the microfibril is modelled as a series of concentric circular arcs. Bending through an angle of 90 degrees is more than sufficient to convert the Ialpha form into Ibeta and back again. Cellulose microfibrils emerging from the cellulose synthase complex in the plasma membrane must bend sharply before they can lie parallel with the inner face of the cell wall. The scale of the changes induced by bending is sufficient to ensure that whatever crystal form would be expected from the geometry of the biosynthetic complex, it is likely be radically altered before the cellulose is incorporated into the cell wall.     

Torsion and Antero-Posterior Bending in the In Vivo Human Tibia Loading Regimes during Walking and Running

Bending, in addition to compression, is recognized to be a common loading pattern in long bones in animals. However, due to the technical difficulty of measuring bone deformation in humans, our current understanding of bone loading patterns in humans is very limited. In the present study, we hypothesized that bending and torsion are important loading regimes in the human tibia. In vivo tibia segment deformation in humans was assessed during walking and running utilizing a novel optical approach. Results suggest that the proximal tibia primarily bends to the posterior (bending angle: 0.15°–1.30°) and medial aspect (bending angle: 0.38°–0.90°) and that it twists externally (torsion angle: 0.67°–1.66°) in relation to the distal tibia during the stance phase of overground walking at a speed between 2.5 and 6.1 km/h. Peak posterior bending and peak torsion occurred during the first and second half of stance phase, respectively. The peak-to-peak antero-posterior (AP) bending angles increased linearly with vertical ground reaction force and speed. Similarly, peak-to-peak torsion angles increased with the vertical free moment in four of the five test subjects and with the speed in three of the test subjects. There was no correlation between peak-to-peak medio-lateral (ML) bending angles and ground reaction force or speed. On the treadmill, peak-to-peak AP bending angles increased with walking and running speed, but peak-to-peak torsion angles and peak-to-peak ML bending angles remained constant during walking. Peak-to-peak AP bending angle during treadmill running was speed-dependent and larger than that observed during walking. In contrast, peak-to-peak tibia torsion angle was smaller during treadmill running than during walking. To conclude, bending and torsion of substantial magnitude were observed in the human tibia during walking and running. A systematic distribution of peak amplitude was found during the first and second parts of the stance phase.     

A parameter optimization method to determine ski stiffness properties from ski deformation data

The deformation of skis and the contact pressure between skis and snow are crucial factors for carved turns in alpine skiing. The purpose of the current study was to develop and to evaluate an optimization method to determine the bending and torsional stiffness that lead to a given bending and torsional deflection of the ski. Euler-Bernoulli beam theory and classical torsion theory were applied to model the deformation of the ski. Bending and torsional stiffness were approximated as linear combinations of B-splines. To compute the unknown coefficients, a parameter optimization problem was formulated and successfully solved by multiple shooting and least squares data fitting. The proposed optimization method was evaluated based on ski stiffness data and ski deformation data taken from a recently published simulation study. The ski deformation data were used as input data to the optimization method. The optimization method was capable of successfully reproducing the shape of the original bending and torsional stiffness data of the ski with a root mean square error below 1 N m2. In conclusion, the proposed computational method offers the possibility to calculate ski stiffness properties with respect to a given ski deformation.     

An artificial muscle actuator for biomimetic underwater propulsors

In this paper, we introduce the analytical framework of the modeling dynamic characteristics of a soft artificial muscle actuator for aquatic propulsor applications. The artificial muscle used for this underwater application is an ionic polymer-metal composite (IPMC) which can generate bending motion in aquatic environments. The inputs of the model are the voltages applied to multiple IPMCs, and the output can be either the shape of the actuators or the thrust force generated from the interaction between dynamic actuator motions and surrounding water. In order to determine the relationship between the input voltages and the bending moments, the simplified RC model is used, and the mechanical beam theory is used for the bending motion of IPMC actuators. Also, the hydrodynamic forces exerted on an actuator as it moves relative to the surrounding medium or water are added to the equations of motion to study the effect of actuator bending on the thrust force generation. The proposed method can be used for modeling the general bending type artificial muscle actuator in a single or segmented form operating in the water. The segmented design has more flexibility in controlling the shape of the actuator when compared with the single form, especially in generating undulatory waves. Considering an inherent nature of large deformations in the IPMC actuator, a large deflection beam model has been developed and integrated with the electrical RC model and hydrodynamic forces to develop the state space model of the actuator system. The model was validated against existing experimental data.     

Effects of Dragonfly Wing Structure on the Dynamic Performances

The configurations of dragonfly wings, including the corrugations of the chordwise cross-section, the microstructure of the longitudinal veins and membrane, were comprehensively investigated using the Environmental Scanning Electron Microscopy (ESEM). Based on the experimental results reported previously, the multi-scale and multi-dimensional models with different structural features of dragonfly wing were created, and the biological dynamic behaviors of wing models were discussed through the Finite Element Method (FEM). The results demonstrate that the effects of different structural features on dynamic behaviors of dragonfly wing such as natural frequency/modal, bending/torsional deformation, reaction force/torque are very significant. The corrugations of dragonfly wing along the chordwise can observably improve the flapping frequency because of the greater structural stiffness of wings. In updated model, the novel sandwich microstructure of the longitudinal veins remarkably improves the torsional deformation of dragonfly wing while it has a little effect on the flapping frequency and bending deformation. These integrated structural features can adjust the deformation of wing oneself, therefore the flow field around the wings can be controlled adaptively. The fact is that the flights of dragonfly wing with sandwich microstructure of longitudinal veins are more efficient and intelligent.     

Can the effect of soft tissue artifact be eliminated in upper-arm internal-external rotation?

The purpose of this study was to quantify the effect of soft tissue artifact during three-dimensional motion capture and assess the effectiveness of an optimization method to reduce this effect. Four subjects were captured performing upper-arm internal-external rotation with retro-reflective marker sets attached to their upper extremities. A mechanical arm, with the same marker set attached, replicated the tasks human subjects performed. Artificial sinusoidal noise was then added to the recorded mechanical arm data to simulate soft tissue artifact. All data were processed by an optimization model. The result from both human and mechanical arm kinematic data demonstrates that soft tissue artifact can be reduced by an optimization model, although this error cannot be successfully eliminated. The soft tissue artifact from human subjects and the simulated soft tissue artifact from artificial sinusoidal noise were demonstrated to be considerably different. It was therefore concluded that the kinematic noise caused by skin movement artifact during upper-arm internal-external rotation does not follow a sinusoidal pattern and cannot be effectively eliminated by an optimization model.     

Effects of systemic arterial blood pressure on the contractile force of a human hand muscle.

The effect of physiological changes in systemic blood pressure on the force output of working abductor pollicis (AP) muscle was studied in six normal subjects. Supramaximal tetanic stimulation at the ulnar nerve produced repeated isometric contractions at 1-s intervals. Force output declined gradually with time. During the train of contractions, subjects voluntarily contracted the knee extensors for 1 min; this raised systemic blood pressure by 29%. Force output from AP rose in parallel with blood pressure so that 18% of the contraction force lost through fatigue was recovered for each 10% increase in blood pressure. When blood pressure in the hand was kept constant despite the increased systemic pressure, force output did not rise. The results show that muscle performance is strongly affected by physiological changes in central blood pressure and suggest that sensory input concerning the adequacy of muscle performance exerts a feedback control over the increase in systemic blood pressure during muscular activity.     

Testing a computer-assisted bending machine for manufacturing orthodontic treatment elements]

The use of suitable orthodontic devices producing desired defined force systems is of importance for successful orthodontic treatment. Bending loops can be difficult and time-consuming. Computerised fabrication would enable very precise reproduction of individual loops. A bending machine has now been developed within the framework of a computer-assisted treatment concept. In this study, a prototype machine was used to fabricate U-, T- and delta loops made of stainless steel, cobalt chromium and titanium molybdenum wire. The various geometric parameters of each loop were measured to determine how precisely they had been produced. Furthermore, the force system of each loop were experimentally investigated during simulated activation in an orthodontic measurement and simulation system. The results indicate that the geometric parameters had an average error of 2.8 degrees for angles and 0.9 mm for lengths. Owing to the fabrication errors, loops of the same type produced different force systems. Overall, the new bending machine can fabricate different types of loop, but the requirements of very precise fabrication are currently not met. This fact, together with further limitations in terms of configuration, means that the machine cannot be used routinely at present. However, the machine can nevertheless be considered a good basis for further development.     

Numerical investigation of the intravascular coronary stent flexibility

Nowadays stent therapy is widely adopted to treat atherosclerotic vessel diseases. The high commercial value of these devices and the high prototypation costs require the use of finite element analyses, instead of classical trial and error technique, to design and verify new models. In this paper, we explore the advantages of the finite element method (FEM) in order to investigate new generation stent performance in terms of flexibility. Indeed, the ability of the stent to bend in order to accommodate curvatures and angles of vessels during delivery is one of the most significant prerequisites for optimal stent performance. Two different FEM models, resembling two new generation intravascular stents, were developed. The main model dimensions were obtained by means of a stereo microscope, analyzing one Cordis BX-Velocity and one Carbostent Sirius coronary stent. Bending tests under displacement control in the unexpanded and expanded configuration were carried out. The curvature index, defined as the ratio between the sum of rotation angles at the extremes and the length of the stent, yielded comparative information about the capability of the device to be delivered into tortuous vessels and to conform to their contours. Results, expressed in terms of the bending moment-curvature index, demonstrated a different response for the two models. In particular the Cordis model showed a higher flexibility. Lower flexibility in the expanded configurations for both models was detected. However this flexibility depends on how the contact takes place between the different parts of the struts.     

A Stochastic Model for Helix Bending in B-DNA

Abstract

Bending in double-helical B-DNA apparently occurs only by rolling adjacent base pairs over one another along their long axes. The lifting apart of ends that would be required by tilt or wedge angle contributions is too costly in free energy and does not occur. Roll angles at base steps can be positive (compression of major groove) or negative (compression of minor groove); with the former somewhat easier.

Individual steps may advance or oppose the overall direction of bend, or make lateral excursions, but the result of this series of “random roll” steps is the production of a net bending in the helix axis. Because the natural roll points for bending in a given plane occur every 5 base pairs, one would expect that double-helical DNA wrapped around a nucleosome core would exhibit bends with the same periodicity. Alternate bends might be particularly acute where the major groove faced the nucleosome core and was compressed against it.

The “annealed kinking” model proposed by Fratini et al. (J. Biol. Chem. 257, 14686 (1982) was suggested from the observation that a major bend at a natural roll point is flanked by decreasing roll angles at the steps to either side, as though local strain was being minimized by somewhat blurring the bend out rather than keeping it localized. The random walk model suggested in this paper would describe this as a decreased roll angle as the helix step rotates toward a direction perpendicular to the overall bend. Bending of DNA is seen to be a more stochastic process than had been suspected. Detailed analysis of every helix step reveals both side excursions and backward or retrograde motion, as in any random walk situation. Yet these isolated steps counteract one another, to leave behind a residuum of overall bending in a specific direction.     

Comparison of mechanical properties of orthodontic nickel-titanium wires]

Two packages each, containing 10 wires per package, of different batches of 25 different types of orthodontic archwires made of super-elastic nickel-titanium alloys measuring 0.41 x 0.56 mm2, were investigated. The wires were characterized by obtaining the following measurements at an ambient temperature of 37 degrees: a three-point bending test with the supporting points spaced 10 mm apart, and determination of the torque/bending angle curves using a pure bending test. The force/deflection curves provided the parameters characterizing the super-elastic unloading plateau: average force, slope and endpoint. From the torque/bending angle curves, the parameters average torque, plateau endpoint and the elasticity parameters were determined. Average force (0.8-4.5 N), endpoint (0.2-0.9 mm) and the slope of the unloading plateau (0.2-2.1 N/mm) of the three-point bending test clearly differed for individual wires. Significant differences were also seen for average torque (1.5-11.5 Nmm), unloading plateau endpoint (2.7-20.0 degrees) and elasticity parameters epsilon 4, E4, E5 and E6 in the pure bending test. Individual batches showed only minor differences. The results permit the conclusion to be drawn that super-elasticity is applicable to only a small portion of the wires examined. Although other wires showed super-elastic behaviour, the unloading plateaus has a force level of up to 6 N, and cannot be recommended for orthodontic application. The super-elastic plateau is often of use only for deflections greater than 1.5 mm. The use of super-elastic archwires made of nickel-titanium alloys makes sense only when the elastic properties of the respective wires are known. This makes the provision by the manufacturer of relevant data on the elastic properties of wires a necessity.     

Large,sequence-dependent effects on DNA conformation by minor groove binding compounds

To determine what topological changes antiparasitic heterocyclic dications can have on kinetoplast DNA, we have constructed ligation ladders, with phased A5 and ATATA sequences in the same flanking sequence context, as models. Bending by the A5 tract is observed, as expected, while the ATATA sequence bends DNA very little. Complexes of these DNAs with three diamidines containing either furan, thiophene or selenophene groups flanked by phenylamidines were investigated along with netropsin. With the bent A5 ladder the compounds caused either a slight increase or decrease in the bending angle. Surprisingly, however, with ATATA all of the compounds caused significant bending, to values close to or even greater than the A5 bend angle. Results with a mixed cis sequence, which has one A5 and one ATATA, show that the compounds bend ATATA in the same direction as a reference A5 tract, that is, into the minor groove. These results are interpreted in terms of a groove structure for A5 which is largely pre-organized for a fit to the heterocyclic amidines. With ATATA the groove is intrinsically wider and must close to bind the compounds tightly. The conformational change at the binding site then leads to significant bending of the alternating DNA sequence.     

Theoretical Calculation of Bending Stiffness of Alveolar Wall

The bending stiffness of the alveolar wall is theoretically analyzed in this study through analytical modeling. First, the alveolar wall facet and its characteristics were geometrically simplified and then modeled using known physical laws. Bending stiffness is shown to be dependent on alveolar wall thickness, density, Poisson’s ratio and speed of the longitudinal wave. The normal bending stiffness of the alveolar wall was further determined. For the adult human, the normal bending stiffness is calculated to be 71.0–414.7 nNm, while for the adult mouse it is 1.9–30.0 nNm. The results of this study can be used as a reference for future pulmonary emphysema and fibrosis studies, as the bending stiffness of alveolar wall will be lower and higher, respectively; than the theoretically determined normal values.     

Repeated unit cell (RUC) approach for pure bending analysis of coronary stents

Flexibility is one of the key properties of coronary stents. The objective of this paper is to characterize the bending behaviour of stents through finite element analysis with repeated unit cell (RUC) models. General periodic boundary conditions for the RUC under the pure bending condition are formulated. It is found that the proposed RUC approach can provide accurate numerical results of bending behaviour of stents with much less computational costs. Bending stiffness, post-yield bending behaviour and the relationship between moment and bending curvature are investigated for Palmaz-Schatz stents and stents with the V- and S-shaped links. It is found that the effect of link geometry on the bending behaviour of stent is significant. The behaviour of stents subjected to cyclic bending is also investigated.     

Local and global effects of strong DNA bending induced during molecular dynamics simulations

DNA bending plays an important role in many biological processes, but its molecular and energetic details as a function of base sequence remain to be fully understood. Using a recently developed restraint, we have studied the controlled bending of four different B-DNA oligomers using molecular dynamics simulations. Umbrella sampling with the AMBER program and the recent parmbsc0 force field yield free energy curves for bending. Bending 15-base pair oligomers by 90° requires roughly 5kcalmol⁻¹, while reaching 150° requires of the order of 12kcalmol⁻¹. Moderate bending occurs mainly through coupled base pair step rolls. Strong bending generally leads to local kinks. The kinks we observe all involve two consecutive base pair steps, with disruption of the central base pair (termed Type II kinks in earlier work). A detailed analysis of each oligomer shows that the free energy of bending only varies quadratically with the bending angle for moderate bending. Beyond this point, in agreement with recent experiments, the variation becomes linear. An harmonic analysis of each base step yields force constants that not only vary with sequence, but also with the degree of bending. Both these observations suggest that DNA is mechanically more complex than simple elastic rod models would imply.     

Vascular factors of the orthostatic responses in systemic haemodynamic

In anaesthetised rats, bending of the body for 30 degrees and 45 degrees entailed a reverse linear dependence between the systolic and diastolic pressures under conditions of initial blood pressure over 95 mm Hg, whereas in initial blood pressure lower than 95 mm Hg the dependence is direct. In bending of the body for 60 degrees the dependence was direct and only present in initial blood pressure lower than 95 mm Hg. Pressor effects of mesaton in orthostasis directly depended on the level of the initial blood pressure. Any dependence of the cardiac output shifts on the initial blood pressure was absent. The direction and the degree of the arterial system reactivity's changes in response to orthostasis and adrenergic effect of mesaton was found to depend on the bending angle and the initial blood pressure level.     

Repeated unit cell (RUC) approach for pure bending analysis of coronary stents

Flexibility is one of the key properties of coronary stents. The objective of this paper is to characterize the bending behaviour of stents through finite element analysis with repeated unit cell (RUC) models. General periodic boundary conditions for the RUC under the pure bending condition are formulated. It is found that the proposed RUC approach can provide accurate numerical results of bending behaviour of stents with much less computational costs. Bending stiffness, post-yield bending behaviour and the relationship between moment and bending curvature are investigated for Palmaz–Schatz stents and stents with the V- and S-shaped links. It is found that the effect of link geometry on the bending behaviour of stent is significant. The behaviour of stents subjected to cyclic bending is also investigated.