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Journal = Inventions
Section = General

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43 pages, 14490 KB  
Article
Numerical Analysis of the Near-Wake Flow Field of Two Closely Spaced Wind Turbines with Passive Flow Control Ducts
by Maytham M. Abid and Marc Marín-Genescà
Inventions 2025, 10(6), 104; https://doi.org/10.3390/inventions10060104 - 13 Nov 2025
Viewed by 428
Abstract
The growing demand for renewable energy in space-constrained environments highlights the need for compact, high-efficiency wind energy systems. Conventional bare wind turbine (BWT) arrays suffer from severe wake interactions and performance degradation when operated in tandem or closely spaced configurations. To address these [...] Read more.
The growing demand for renewable energy in space-constrained environments highlights the need for compact, high-efficiency wind energy systems. Conventional bare wind turbine (BWT) arrays suffer from severe wake interactions and performance degradation when operated in tandem or closely spaced configurations. To address these limitations, this study investigates the aerodynamic performance and near-wake dynamics of a novel multi-ducted wind turbine (MDWT) system that integrates passive flow-control technique (PFCT) into an innovative fixed-duct design. The objective is to evaluate how tandem ducted arrangements with this integrated mechanism influence wake recovery, vortex dynamics, and power generation compared with multi-bare wind turbine (MBWT) system. A numerical approach is employed using the Unsteady Reynolds-Averaged Navier–Stokes (URANS) formulation with the k–ω SST turbulence model, validated against experimental data. The analysis focuses on two identical, fixed-orientation ducts arranged in tandem without lateral offset, tested under three spacing configurations. The results reveal that the ducted system accelerates the near-wake flow and displaces velocity-deficit regions downward due to the passive flow-control sheets, producing stronger inflow fluctuations and enhanced turbulence mixing. These effects improve wake recovery and mitigate energy losses behind the first turbine. Quantitatively, the MDWT array achieves total power outputs 1.99, 1.90, and 1.81 times greater than those of the MBWT array for Configurations No. 1, No. 2, and No. 3, respectively. In particular, the second duct in Configuration No. 1 demonstrates a 3.46-fold increase in power coefficient compared with its bare counterpart. These substantial gains arise because the upstream duct–PFCT assembly generates a favorable pressure gradient that entrains ambient air into the wake, while coherent tip vortices and redirected shear flows enhance mixing and channel high-momentum fluid toward the downstream rotor plane. The consistent performance across spacings further confirms that duct-induced flow acceleration and organized vortex structures dominate over natural wake recovery effects, maintaining efficient energy transfer between turbines. The study concludes that closely spaced MDWT systems provide a compact and modular solution for maximizing energy extraction in constrained environments. Full article
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25 pages, 2154 KB  
Article
A Multimodal Polygraph Framework with Optimized Machine Learning for Robust Deception Detection
by Omar Shalash, Ahmed Métwalli, Mohammed Sallam and Esraa Khatab
Inventions 2025, 10(6), 96; https://doi.org/10.3390/inventions10060096 - 29 Oct 2025
Viewed by 1048
Abstract
Deception detection is considered a concern for all individuals in their everyday lives, as it greatly affects human interactions. While multiple automatic lie detection systems exist, their accuracy still needs to be improved. Additionally, the lack of adequate and realistic datasets hinders the [...] Read more.
Deception detection is considered a concern for all individuals in their everyday lives, as it greatly affects human interactions. While multiple automatic lie detection systems exist, their accuracy still needs to be improved. Additionally, the lack of adequate and realistic datasets hinders the development of reliable systems. This paper presents a new multimodal dataset with physiological data (heart rate, galvanic skin response, and body temperature), in addition to demographic data (age, weight, and height). The presented dataset was collected from 49 unique subjects. Moreover, this paper presents a polygraph-based lie detection system utilizing multimodal sensor fusion. Different machine learning algorithms are used and evaluated. Random Forest has achieved an accuracy of 97%, outperforming Logistic Regression (58%), Support Vector Machine (58% with perfect recall of 1.00), and k-Nearest Neighbor (83%). The model shows excellent precision and recall (0.97 each), making it effective for applications such as criminal investigations. With a computation time of 0.06 s, Random Forest has proven to be efficient for real-time use. Additionally, a robust k-fold cross-validation procedure was conducted, combined with Grid Search and Particle Swarm Optimization (PSO) for hyperparameter tuning, which substantially reduced the gap between training and validation accuracies from several percentage points to under 1%, underscoring the model’s enhanced generalization and reliability in real-world scenarios. Full article
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16 pages, 1334 KB  
Article
Wire-Based Solid-State Propellant Management System for Small Form-Factor Space Propulsion
by Pavel O. Savelev, Andrei I. Shumeiko and Victor D. Telekh
Inventions 2025, 10(5), 75; https://doi.org/10.3390/inventions10050075 - 26 Aug 2025
Viewed by 1048
Abstract
The development of dynamic missions of small satellites requires the development of efficient, compact, and reliable propulsion systems (PSs). This paper investigates a propellant storage and supply system (PSSS), utilizing alternative solid-state propellants in the form of wire. To establish the background to [...] Read more.
The development of dynamic missions of small satellites requires the development of efficient, compact, and reliable propulsion systems (PSs). This paper investigates a propellant storage and supply system (PSSS), utilizing alternative solid-state propellants in the form of wire. To establish the background to the suggested solutions implemented in the proposed system, two types of comparative analysis were performed. The first one compared different types of propellant management system designs while the second juxtaposes a variety of propellants. It is shown that the solid-state systems for small satellite operations are advantageous, while the selection of propellants should be focused on safe operations and operational requirements. The principle of operation and structural design of the proposed wire-based solid-state propellant management system are discussed, including the assessment of its engineering realization. The strategies to mitigate the potential problems with the system’s operations such as propellant unwanted deposition and corrosive effects are suggested. An example of using the proposed system is provided, which considers a deep space dynamic mission case. The proposed PSSS architecture is dedicated to increasing the energy efficiency, resilience to environmental factors, and suitability for small satellite platforms, including that of the CubeSat format. Full article
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31 pages, 946 KB  
Article
Performance Analysis of a Floating Seawater Desalination Structure Based on Heat Pipes
by Juan J. Vallejo Tejero, María Martínez Gómez, Francisco J. Muñoz Gutiérrez and Alejandro Rodríguez Gómez
Inventions 2025, 10(4), 72; https://doi.org/10.3390/inventions10040072 - 14 Aug 2025
Viewed by 1022
Abstract
This study presents a comprehensive numerical simulation and thermal performance analysis of a novel modular floating solar still system, featuring integrated heat-pipe vacuum tube collectors, designed for seawater desalination. This innovative system—subject of International Patent Application WO 2023/062261 A1—not only aims to enhance [...] Read more.
This study presents a comprehensive numerical simulation and thermal performance analysis of a novel modular floating solar still system, featuring integrated heat-pipe vacuum tube collectors, designed for seawater desalination. This innovative system—subject of International Patent Application WO 2023/062261 A1—not only aims to enhance efficiency and scalability beyond traditional solar stills, but also addresses the significant environmental challenge of concentrated brine discharge inherent in conventional desalination methods. The study evolved from an initial theoretical model to a rigorous dynamic thermal model, validated using real hourly meteorological data from Málaga, Andalusia, Spain. This modelling approach was developed to quantify heat transfer mechanisms and accurately predict system performance. The refined hourly simulation forecasts an annual freshwater production of approximately 174 L per unit. Notably, a preliminary economic assessment estimates the Cost of Produced Water per Litre (CPL) at 0.7509 EUR/litre, establishing a valuable baseline for future optimisation. These findings underscore the critical importance of dynamic hourly simulations for realistic performance prediction and validate the technical and preliminary economic feasibility of this novel approach. The system’s projected output, modular floating design, and significant environmental advantages position it as a promising and sustainable solution for freshwater production, particularly in coastal regions and sensitive marine ecosystems. This work provides a solid foundation for future experimental validation, cost optimisation, and scalable implementation of renewable energy-driven desalination. Full article
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33 pages, 6169 KB  
Article
An Innovative Solution for Stair Climbing: A Conceptual Design and Analysis of a Tri-Wheeled Trolley with Motorized, Adjustable, and Foldable Features
by Howard Jun Hao Oh, Kia Wai Liew, Poh Kiat Ng, Boon Kian Lim, Chai Hua Tay and Chee Lin Khoh
Inventions 2025, 10(4), 57; https://doi.org/10.3390/inventions10040057 - 16 Jul 2025
Cited by 1 | Viewed by 3349
Abstract
The objective of this study is to design, develop, and analyze a tri-wheeled trolley integrated with a motor that incorporates adjustable and foldable features. The purpose of a trolley is to allow users to easily transport items from one place to another. However, [...] Read more.
The objective of this study is to design, develop, and analyze a tri-wheeled trolley integrated with a motor that incorporates adjustable and foldable features. The purpose of a trolley is to allow users to easily transport items from one place to another. However, problems arise when transporting objects across challenging surfaces, such as up a flight of stairs, using a conventional cart. This innovation uses multiple engineering skills to determine and develop the best possible design for a stair-climbing trolley. A tri-wheel mechanism is integrated into its motorized design, meticulously engineered for adjustability, ensuring compatibility with a wide range of staircase dimensions. The designed trolley was constructed considering elements and processes such as a literature review, conceptual design, concept screening, concept scoring, 3D modelling, engineering design calculations, and simulations. The trolley was tested, and the measured pulling force data were compared with the theoretical calculations. A graph of the pulling force vs. load was plotted, in which both datasets showed similar increasing trends; hence, the designed trolley worked as expected. The development of this stair-climbing trolley can benefit people living in rural areas or low-cost buildings that are not equipped with elevators and can reduce injuries among the elderly. The designed stair-climbing trolley will not only minimize the user’s physical effort but also enhance safety. On top of that, the adjustable and foldable features of the stair-climbing trolley would benefit users living in areas with limited space. Full article
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13 pages, 2235 KB  
Article
Intelligent Damage Prediction During Vehicle Collisions Based on Simulation Datasets
by Sheng Liu, Conghao Liu, Xunan An, Xin Liu and Liang Hao
Inventions 2025, 10(3), 40; https://doi.org/10.3390/inventions10030040 - 28 May 2025
Viewed by 1008
Abstract
Accurate prediction of vehicle damage in collision scenarios is crucial for enhancing road safety. However, traditional collision simulation methods are computationally intensive and time consuming. In this study, we proposed an intelligent damage prediction model that significantly reduces the computational time required for [...] Read more.
Accurate prediction of vehicle damage in collision scenarios is crucial for enhancing road safety. However, traditional collision simulation methods are computationally intensive and time consuming. In this study, we proposed an intelligent damage prediction model that significantly reduces the computational time required for collision simulations by leveraging collision simulation datasets in conjunction with the random forest (RF) algorithm. A finite element model for vehicle collision simulation was first established. Subsequently, a dataset comprising 160 collision scenarios was generated by systematically varying the collision object, angle, offset, and speed, ensuring comprehensive coverage of vehicle damage data. The dataset was employed to construct an RF-based prediction model to estimate vehicle collision damage. Validation trials demonstrated that the proposed model achieved a mean absolute percentage error of 20.09% compared with 33.18% of a support vector machine regression (SVMR) model. The root-mean-square error of the proposed model was 33.94, whereas that of the SVMR model was 68.16. Compared with the SVMR model, the proposed RF model exhibited superior fitting performance, with reduced dispersion between the predicted and actual values. This enhanced model offers rapid damage prediction for trajectory planning systems and adaptive restraint systems in autonomous vehicles, ultimately contributing to enhanced road safety. Full article
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16 pages, 5068 KB  
Article
Simulation-Driven Optimization of Thermochemical Energy Storage in SrCl2-Based System for Integration with Solar Energy Technology
by Suratsavadee K. Korkua, Uthen Thubsuang, Siraporn Sakphrom, Santanu Kumar Dash, Chalearm Tesanu and Kamon Thinsurat
Inventions 2025, 10(1), 9; https://doi.org/10.3390/inventions10010009 - 30 Jan 2025
Cited by 3 | Viewed by 2088
Abstract
This study presents a simulation-driven optimization of thermochemical energy storage using SrCl2-based systems for integration with solar energy technologies. Thermochemical sorption systems offer promising potential for enhancing solar energy-storage efficiency by capturing both thermal and electrical energy. However, optimizing sorption processes [...] Read more.
This study presents a simulation-driven optimization of thermochemical energy storage using SrCl2-based systems for integration with solar energy technologies. Thermochemical sorption systems offer promising potential for enhancing solar energy-storage efficiency by capturing both thermal and electrical energy. However, optimizing sorption processes remains crucial for maximizing energy storage capacity. This work utilized advanced simulation tools to analyze the heat and mass transfer dynamics within SrCl2-EG composites and evaluate system performance under varying compression ratios (CR), reactant temperatures, and heat transfer fluid (HTF) flow rates. The results demonstrate that adjusting CR enhances the overall system efficiency. CR = 4 yields the highest desorption rate of 93.8%, while reducing the required HTF mass flow by nearly tenfold compared to lower CR values. Higher CR contributes to a reduction in sensible heat loss, allowing a greater percentage of thermal energy to be captured. Simulations also show that optimized SrCl2-based systems can integrate effectively with solar energy conversion technologies, making them highly suitable for both energy storage and cooling applications. This research underscores the role of thermochemical energy storage systems in providing more sustainable and efficient solar energy solutions. By reducing energy losses and improving the reliability of the energy storage process, SrCl2-based systems offer significant advantages for renewable energy integration. Full article
(This article belongs to the Special Issue Emerging Trends and Innovations in Renewable Energy)
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26 pages, 15093 KB  
Article
Alternative Energy Sources Usable in Automotive Transport
by Jiří Zukal, Zoltán Szabó, Miloš Klíma and Pavel Fiala
Inventions 2024, 9(6), 125; https://doi.org/10.3390/inventions9060125 - 18 Dec 2024
Viewed by 1788
Abstract
The research focuses on the methodology of preparing a concept and application scenarios for alternative sources of energy in transportation. The ideas and interpretations are not strictly limited to automobile transport but also reach into other areas of using and processing energy. The [...] Read more.
The research focuses on the methodology of preparing a concept and application scenarios for alternative sources of energy in transportation. The ideas and interpretations are not strictly limited to automobile transport but also reach into other areas of using and processing energy. The conceptual approach to the choice of sources, with the aim of securing the efficient use of energy conversion, is illustrated on the model embodiment embedded in a passenger car; the relevant presentation is centered on an experiment focusing on the linear arrangement of a driven electromagnetic generator. This involves generating and collecting energy for not only the accumulation of electrical energy using relatively independent systems, but also for direct use within driving needs. In the modeled example, the supplied energy is assumed to be in a range of constant power from p = 10 W to 50 kW (200 kW). The given example of the design of the choice of energy conversion sources and the use of generators in a passenger car shows the possibilities, limitations, and variants for demonstrating the requirements relating to a simple driving mode. The application of a linear or cylindrical internal combustion engine is considered for a specific set mode of the car. Variants of suitable uses of the accumulated energy in compressed air are proposed. The use of light and thermal forms of energy is considered for additional forms. As an experimental example, the use of generators derived from vibration harvesters is shown. The proposed energy generation arrangement can be controlled and optimized for specific transport tasks. The generation and accumulation of energy can be employed in the form of electrical energy, as kinetic energy for direct use in driving, or to accumulate in compressed air for later use. Solar energy can be used directly or can be accumulated. The combustion unit can serve as a source of kinetic energy or also to store energy for further use. The concept of alternative sources is based on known methods of use in other industries. The model combination of resources and its simple analysis in the concept of resource selection is demonstrated on an example of an application in passenger cars. Full article
(This article belongs to the Special Issue Emerging Trends and Innovations in Renewable Energy)
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16 pages, 7334 KB  
Review
Patents of Systems and Methods Using Non-Ionizing Radiation for Measuring Rearfoot Deformations: A Review
by Gabriel Trujillo-Hernández, Wendy Flores-Fuentes, Luis Roberto Ramírez-Hernández, Oleg Sergiyenko, Moises J. Castro-Toscano, Abelardo Mercado-Herrera and Fabian N. Murrieta-Rico
Inventions 2024, 9(6), 122; https://doi.org/10.3390/inventions9060122 - 6 Dec 2024
Viewed by 2072
Abstract
Individuals’ lifestyles are affected by valgus and varus deformities in the rearfoot, causing pain in the joints and plantar surface due to the misalignment between the tibial and calcaneus. In orthopedics, medical professionals measure this misalignment by using X-ray systems and goniometers. The [...] Read more.
Individuals’ lifestyles are affected by valgus and varus deformities in the rearfoot, causing pain in the joints and plantar surface due to the misalignment between the tibial and calcaneus. In orthopedics, medical professionals measure this misalignment by using X-ray systems and goniometers. The X-ray emits ionizing radiation that can cause damage through cumulative exposure over a lifetime, whereas the goniometer will produce measurement errors. This patent review conducted a technological search of systems and methods across various databases using inclusion and exclusion criteria. These thirty-five obtained patents provide valuable information about mechanical, electronic, and mechatronic technologies and non-ionizing radiation to evaluate valgus and varus deformities. The patents are classified into stationary mechanisms, stationary electronic devices, dynamic mechanisms, dynamic electronic devices, stationary mechatronic devices, and dynamic mechatronic devices. They are further categorized based on their measurement methods as either visual or automatic. Additionally, the patents are grouped by usage mode into sitting, standing, and walking. This patent review aims to provide medical professionals with little-known techniques for measuring and evaluating the rearfoot alignment. Full article
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20 pages, 666 KB  
Article
Spring Runoff Simulation of Snow-Dominant Catchment in Steppe Regions: A Comparison Study of Lumped Conceptual Models
by Stanislav Eroshenko, Evgeniy Shmakov, Dmitry Klimenko and Irina Iumanova
Inventions 2024, 9(5), 109; https://doi.org/10.3390/inventions9050109 - 4 Oct 2024
Viewed by 1946
Abstract
This paper explores the application of conceptual hydrological models in optimizing the operation of hydroelectric power plants (HPPs) in steppe regions, a crucial aspect of promoting low-carbon energy solutions. The study aims to identify the most suitable conceptual hydrological model for predicting reservoir [...] Read more.
This paper explores the application of conceptual hydrological models in optimizing the operation of hydroelectric power plants (HPPs) in steppe regions, a crucial aspect of promoting low-carbon energy solutions. The study aims to identify the most suitable conceptual hydrological model for predicting reservoir inflows from multiple catchments in a steppe region, where spring runoff dominates the annual water volume and requires careful consideration of snowfall. Two well-known conceptual models, HBV and GR6J-CemaNeige, which incorporate snow-melting processes, were evaluated. The research also investigated the best approach to preprocessing historical data to enhance model accuracy. Furthermore, the study emphasizes the importance of accurately defining low-water periods to ensure reliable HPP operation through more accurate inflow forecasting. A hypothesis was proposed to explore the relationship between atmospheric circulation and the definition of low-water periods; however, the findings did not support this hypothesis. Overall, the results suggest that combining the conceptual models under consideration can lead to more accurate forecasts, underscoring the need for integrated approaches in managing HPP reservoirs and promoting sustainable energy production. Full article
(This article belongs to the Special Issue Emerging Trends and Innovations in Renewable Energy)
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24 pages, 5160 KB  
Article
Operating Characteristics of a Wave-Driven Plasma Thruster for Cutting-Edge Low Earth Orbit Constellations
by Anna-Maria Theodora Andreescu, Daniel Eugeniu Crunteanu, Maximilian Vlad Teodorescu, Simona Nicoleta Danescu, Adrian Stoicescu, Alexandru Cancescu and Alexandru Paraschiv
Inventions 2024, 9(5), 107; https://doi.org/10.3390/inventions9050107 - 29 Sep 2024
Cited by 1 | Viewed by 1982
Abstract
This paper outlines the development phases of a wave-driven Helicon Plasma Thruster for cutting-edge Low Earth Orbit (LEO) constellations. The two-stage ambipolar electric propulsion (EP) system combines the efficient ionization of an ultra-compact helicon reactor with plasma acceleration based on an ambipolar electric [...] Read more.
This paper outlines the development phases of a wave-driven Helicon Plasma Thruster for cutting-edge Low Earth Orbit (LEO) constellations. The two-stage ambipolar electric propulsion (EP) system combines the efficient ionization of an ultra-compact helicon reactor with plasma acceleration based on an ambipolar electric field provided by a magnetic nozzle. This paper reveals maturation challenges associated with an emerging EP system in the hundreds-watt class, followed by outlook strategies. A 3 cm diameter helicon reactor was operated using argon gas under a time-modulated RF power envelope ranging from 250 W to 500 W with a fixed magnetic field strength of 400 G. Magnetically enhanced inductively coupled plasma reactor characteristics based on half-wavelength right helical and Nagoya Type III antennas under capacitive (E-mode), inductive (W-mode), and wave coupling (W-mode) were systematically investigated based on Optical Emission Spectroscopy. The operation characteristics of a wave-heated reactor based on helicon configuration were investigated as a function of different operating parameters. This work demonstrates the ability of two-stage HPT using a compact helicon reactor and a cusped magnetic field to outperform today’s LEO spacecraft propulsion. Full article
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2 pages, 130 KB  
Correction
Correction: Freddi et al. Reverse Engineering of a Racing Motorbike Connecting Rod. Inventions 2023, 8, 23
by Marco Freddi, Patrich Ferretti, Giulia Alessandri and Alfredo Liverani
Inventions 2024, 9(5), 103; https://doi.org/10.3390/inventions9050103 - 24 Sep 2024
Viewed by 990
Abstract
In the original publication [...] Full article
(This article belongs to the Collection Feature Innovation Papers)
33 pages, 4010 KB  
Review
A Review of Available Solutions for Implementation of Small–Medium Combined Heat and Power (CHP) Systems
by Cătălina Dobre, Mihnea Costin and Mihaela Constantin
Inventions 2024, 9(4), 82; https://doi.org/10.3390/inventions9040082 - 19 Jul 2024
Cited by 13 | Viewed by 6005
Abstract
The transition towards a sustainable and renewable energy future is essential to mitigate climate change and reduce greenhouse gas emissions. Small–medium combined heat and power (CHP) systems are increasingly popular for distributed energy generation, as they offer improved energy efficiency and reduced emissions [...] Read more.
The transition towards a sustainable and renewable energy future is essential to mitigate climate change and reduce greenhouse gas emissions. Small–medium combined heat and power (CHP) systems are increasingly popular for distributed energy generation, as they offer improved energy efficiency and reduced emissions compared to traditional power generation systems. This article reviews recent research articles related to small–medium CHP systems, including their role in renewable energy systems, use of biofuels, steam injection, diagnostics, and carbon capture. Throughout the research, the high potential of coastal regions has been observed and studied as a solid base for the later development of CHP systems. Based on the reviewed literature, the highest potential solutions are proposed to be further investigated as an efficient, economical solution for generating electricity and heat for various small-scale applications. Full article
(This article belongs to the Topic Marine Renewable Energy, 2nd Edition)
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13 pages, 1283 KB  
Article
Increasing the Reliability of Software Systems Using a Large-Language-Model-Based Solution for Onboarding
by Ioan Cristian Schuszter and Marius Cioca
Inventions 2024, 9(4), 79; https://doi.org/10.3390/inventions9040079 - 15 Jul 2024
Cited by 4 | Viewed by 2498
Abstract
Software systems are often maintained by a group of experienced software developers in order to ensure that faults that may bring the system down are less likely. Large turnover in organizations such as CERN makes it important to think of ways of onboarding [...] Read more.
Software systems are often maintained by a group of experienced software developers in order to ensure that faults that may bring the system down are less likely. Large turnover in organizations such as CERN makes it important to think of ways of onboarding newcomers on a technical project rapidly. This paper focuses on optimizing the way that people get up-to-speed on the business logic and technologies used on the project by using a knowledge-imbued large language model that is enhanced using domain-specific knowledge from the group or team’s internal documentation. The novelty of this approach is the gathering of all of these different open-source methods for developing a chatbot and using it in an industrial use-case. Full article
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28 pages, 4065 KB  
Article
Modeling and Simulation of a 2SPU-RU Parallel Mechanism for a Prosthetic Ankle with Three Degrees of Freedom
by Victoria E. Abarca and Dante A. Elias
Inventions 2024, 9(4), 71; https://doi.org/10.3390/inventions9040071 - 9 Jul 2024
Cited by 6 | Viewed by 2080
Abstract
To assist an individual with an amputation in regaining daily quality of life, a 2SPU-RU type parallel mechanism was developed based on ankle biomechanics. The inverse kinematic analysis of this mechanism was performed using the vector method. Subsequently, the Jacobian matrices were analyzed. [...] Read more.
To assist an individual with an amputation in regaining daily quality of life, a 2SPU-RU type parallel mechanism was developed based on ankle biomechanics. The inverse kinematic analysis of this mechanism was performed using the vector method. Subsequently, the Jacobian matrices were analyzed. The dynamic model of the mechanism was then created based on the principle of virtual work, and its theoretical solution was compared with numerical results obtained in a simulation environment. Additionally, the validity of the dynamic model and the inverse kinematics was verified by comparing theoretical and simulation results for the movements of plantarflexion–dorsiflexion, eversion–inversion, and abduction–adduction during the gait cycle. Full article
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