Search Results (405)

The investigation of fluid flow channeling and viscous fingering during immiscible two-phase displacement in subsurface porous media is crucial for optimizing CO₂ geological sequestration and improving hydrocarbon recovery. In this study, we develop a pore-scale numerical framework for unsteady state immiscible displacement based on a body-centered cubic percolation network, which explicitly captures the coupled effects of pore-scale heterogeneity, capillary number, and unfavorable viscosity ratio on flow channeling and viscous fingering. The simulations reveal that viscous fingering and flow channeling preferentially occur along overlapping high conductivity pathways that conform to the minimum energy dissipation principle. Along these preferential routes, the local balance between viscous and capillary forces governs the stability of the two-phase interface and gives rise to distinct patterns and intensities of viscous fingering in the invading phase. Building on these insights, we establish a theoretical framework that quantifies how the critical pore radius and capillary number control the onset and growth of interfacial instabilities during immiscible displacement. The model demonstrates that lowering the injection rate, and hence, the effective capillary number, suppresses viscous fingering, leading to more stable displacement fronts. These findings provide practical guidance for the design of injection schemes, helping to enhance oil and gas recovery and improve the storage efficiency and security of CO₂ geological sequestration projects. Full article

This paper aims to address the problem of the low success rate of seedling picking and throwing, and the high damage rate of pot seedling, caused by the unclear interaction and parameter mismatch between the seedling picking end effector and the pot seedling during the seedling picking and throwing process of automatic transplanters. An EDEM–RecurDyn coupled simulation was conducted, through which the disturbance of substrate particles in the bowl body during the inserting, extracting, and transporting processes by the seedling picking end effector was visualized and analyzed. The force and motion responses of the particles during their interaction with the seedling picking end effector were explored, and the working parameters of the seedling picking end effector were optimized. A seedling picking end effector using two fingers and four needles is taken as the research object, a kinematic mathematical model of the seedling picking end effector is established, and the dimensional parameters of each component of the end effector are determined. Physical characteristic tests are conducted on Shanghai bok choy pot seedlings to obtain relevant parameters. A discrete element model of the pot seedling is established in EDEM 2022 software, and a virtual prototype model of the seedling picking end effector is established in Recurdyn 2024 software. Through EDEM-Recurdyn coupled simulation, the force and movement of the substrate particles in the bowl body during the inserting, extracting, and transporting processes of the seedling picking end effector under different operating parameters were explored, providing a theoretical basis for optimizing the working parameters of the end effector. The inserting and extracting velocity, transporting velocity, and inserting depth of the seedling picking end effector were used as experimental factors, and the success rate of seedling picking and throwing, and the loss rate of substrate, were used as evaluation indicators; single-factor tests and three-factor, three-level Box–Behnken bench tests were conducted. Variance analysis, response surface methodology, and multi-objective optimization were performed using Design-Expert 13 software to obtain the optimal parameter combination: when the inserting and extracting velocity was 228 mm/s, the transporting velocity was 264 mm/s, the inserting depth was 37 mm, the success rate of seedling picking and throwing was 97.48%, and the loss rate of substrate was 2.12%. A verification experiment was conducted on the bench, and the success rate of seedling picking and throwing was 97.35%, and the loss rate of substrate was 2.34%, which was largely consistent with the optimized results, thereby confirming the rationality of the established model and optimized parameters. Field trial showed the success rate of seedling picking and throwing was 97.04%, and the loss rate of substrate was 2.41%. The error between the success rate of seedling picking and throwing and the optimized result was 0.45%, indicating that the seedling picking end effector has strong anti-interference ability, and verifying the feasibility and practicality of the established model and optimized parameters. Full article

Large-scale storage solutions play a critical role in the ongoing energy transition, with Underground Hydrogen Storage (UHS) emerging as a possible option. UHS can benefit from existing natural gas storage expertise; however, key differences in hydrogen’s behavior compared to CH₄ must be characterized at the pore scale to optimize the design and the management of these systems. This work investigates two-phase (gas–water) flow behavior using microfluidic devices mimicking reservoir rocks’ pore structure. Microfluidic tests provide a systematic side-by-side comparison of H₂–water and CH₄–water displacement under the same pore-network geometries, wettability, and flow conditions, focusing on the drainage phase. While all experiments fall within the transitional flow regime between capillary and viscous fingering, clear quantitative differences between H₂ and CH₄ emerge. Indeed, the results show that hydrogen’s lower viscosity enhances capillary fingering and snap-off events, while methane exhibits more stable viscous-dominated behavior. Both gases show rapid breakthrough; however, H₂’s flow instability—especially at low capillary numbers (Ca)—leads to spontaneous water imbibition, suggesting stronger capillary forces. Relative permeability endpoints are evaluated when steady state conditions are reached: they show dependence on Ca, not just saturation, aligning with recent scaling laws. Despite H₂ showing a different displacement regime, closer to capillary fingering, H₂ mobility remains comparable to CH₄. These findings highlight differences in flow behavior between H₂ and CH₄, emphasizing the need for tailored strategies for UHS to manage trapping and optimize recovery. Full article

In response to the growing need for efficient, stable, and non-destructive gripping in apple harvesting robots, this study proposes a novel rigid–flexible coupled end-effector. The design integrates an underactuated mechanism with a real-time force feedback control system. First, compression tests on ‘Red Fuji’ apples determined the minimum damage threshold to be 24.33 N. A genetic algorithm (GA) was employed to optimize the geometric parameters of the finger mechanism for uniform force distribution. Subsequently, a rigid–flexible coupled multibody dynamics model was established to simulate the grasping of small (70 mm), medium (80 mm), and large (90 mm) apples. Additionally, a harvesting experimental platform was constructed to verify the performance. Results demonstrated that by limiting the contact force of the distal phalange region silicone (DPRS) to 24 N via active feedback, the peak contact forces on the proximal phalange region silicone (PPRS) and middle phalange region silicone (MPRS) were effectively maintained below the damage threshold across all three sizes. The maximum equivalent stress remained significantly below the fruit’s yield limit, ensuring no mechanical damage occurred, with an average enveloping time of approximately 1.30 s. The experimental data showed strong agreement with the simulation, with a mean absolute percentage error (MAPE) of 5.98% for contact force and 5.40% for enveloping time. These results confirm that the proposed end-effector successfully achieves high adaptability and reliability in non-destructive harvesting, offering a valuable reference for agricultural robotics. Full article

Objectives: This study investigates empathy levels among the public safety personnel and their relationship with current selection indicators (morphological, neuromuscular, and psychological characteristics), highlighting the importance of the topic and its potential for further research. Methods: The research was conducted on a sample of 136 police and national security students. The cross-sectional design was applied. Empathy was assessed with the Interpersonal Reactivity Index. Basic morphological characteristics were measured with a portable stadiometer and the InBody 720 device. Neuromuscular characteristics were measured using a handgrip strength test with a sliding device that measures isometric finger flexor force. Psychological characteristics were assessed using the Big Five Plus Two, the Mental Toughness Index, and the Dark Triad Dirty Dozen questionnaires. Results: Numerous significant differences between female and male participants, as well as gender-specific correlation patterns, were revealed. Female participants expressed more fantasy (3.23 ± 1.05), empathic concern (3.71 ± 0.75), and personal distress (1.76 ± 0.67) than males (2.84 ± 0.84; 3.37 ± 0.71; 1.5 ± 0.53). Among them, negative correlations of psychological distress with conscientiousness (ρ = −0.66) and mental toughness (ρ = −0.59) stand out. Conclusions: This study indicates the possible existence of correlations between empathy, neuromuscular, morphological, and psychological characteristics in public safety personnel of both genders, with gender-specific patterns. Results indicate opportunities for further research aimed at improving the efficiency of the existing selection system. Full article

The rising global demand for prosthetic limbs, driven by approximately 185,000 amputations annually in the United States, underscores the need for innovative and cost-efficient solutions. This study explores the integration of hybrid materials, advanced 3D printing techniques, and smart sensing technologies to enhance prosthetic finger production. A Taguchi-based design of experiments (DoE) approach using an L09 orthogonal array was employed to systematically evaluate the effects of infill density, infill pattern, and print speed on the tensile behavior of FDM-printed PLA components. Findings reveal that higher infill densities (90%) and hexagonal patterns significantly enhance yield strength, ultimate tensile strength, and stiffness. Additionally, the rheological properties of polydimethylsiloxane (PDMS) were optimized at various temperatures (30–70 °C), characterizing its viscosity, shear-thinning factors, and stress behaviors for 3D bioprinting of flexible sensors. Barium titanate (BaTiO₃) was incorporated into PDMS to fabricate a flexible tactile sensor, achieving reliable open-circuit voltage readings under applied forces. Structural and functional components of the finger prosthesis were fabricated using FDM, stereolithography (SLA), and extrusion-based bioprinting (EBP) and assembled into a functional prototype. This research demonstrates the feasibility of integrating hybrid materials and advanced printing methodologies to create cost-effective, high-performance prosthetic components with enhanced mechanical properties and embedded sensing capabilities. Full article

Osteoarthritis (OA) is a progressive musculoskeletal disorder that affects not only older adults but also younger populations, often leading to chronic pain, joint stiffness, functional impairment, and a decline in quality of life. Non-invasive physical rehabilitation plays a critical role in slowing disease progression, alleviating symptoms, and maintaining joint mobility. However, rehabilitation tools such as compression gloves and manual exercise aids are typically passive and provide minimal real-time feedback to patients or clinicians. Others, such as exoskeletons and soft-actuated devices, can be costly or complex to use. This study presents the design and development of an electrically actuated glove integrated with force and flex sensors, intended to assist individuals diagnosed with Stage 2 OA in performing guided finger exercises. The system integrates a digital front-end application that offers real-time feedback and data visualization, enabling more personalized and trackable therapy sessions for both patients and healthcare providers. Preliminary results from an initial human trial with healthy participants demonstrate that the glove enables naturalistic movement without imposing excessive restriction or augmentation of motion. These findings support the glove’s potential in preserving hand coordination and dexterity, key objectives in early-stage OA intervention, and suggest its suitability for integration into home-based or clinical rehabilitation protocols. Full article

Limb amputations are a growing global challenge. Electrically powered prosthetic hands are heavy, expensive, and battery dependent. Body-powered prostheses offer a simpler and lighter alternative; however, existing designs require high body forces to operate, exhibit poor aesthetics, and have limited dexterity. This study aims to present a design of a hydraulically actuated soft bending finger with a simple and scalable manufacturing process. This is then realised into a five-fingered body-powered prosthetic hand that is lightweight, comfortable, and representative of a human hand. The actuator was formed from two silicone materials of different stiffness (Stiff Smooth-Sil 950 and flexible Ecoflex 00-30) and reinforced with double-helix fibres to generate bending under internal hydraulic pressure. A shoulder-mounted hydraulic system has been designed to convert scapular elevation and protraction into actuator pressure. Finite element analysis and physical tests were performed to examine the bending and blocking force performance of the actuators. The physical actuators achieved bending angles up to 230 degrees at 60 kPa and blocking forces of 5.9 N at 100 kPa. The prosthetic system was able to grasp and hold a 320-g water bottle. The results demonstrate a soft actuator design that provides simple and scalable manufacturing and shows how these actuators can be incorporated into a body-powered prosthesis. This study provides a preliminary demonstration of the feasibility of human-powered prosthetics and necessitates continued research. This work makes progress towards an affordable and functional body-powered prosthetic hand that can improve the lives of transradial amputees. Full article

Dexterous hands are the core end-effectors of humanoid robots, and their design is a key research focus in this field. With multiple independent finger units, the units’ dexterity directly determines the hand’s operational performance, yet achieving three-degree-of-freedom (3-DOF) anthropomorphic motion remains a key design challenge. To address this, this paper proposes a hybrid-driven index finger unit: combining linkage and tendon–cable drive advantages to realize 3-DOF anthropomorphic motion, and adopting independent drive/transmission modules to simplify manufacturing and boost parameter optimization flexibility. Validated via motion dynamics, DOF, and operational force assessments, this design offers key unit tech for dexterous hand development and serves as a reference for optimizing multi-DOF anthropomorphic finger designs. Full article

Background/Objectives: In two-stage flexor tendon reconstruction, a biomechanically strong connection between the tendon graft, the motor unit, and the distal phalanx of the finger is essential to enable active rehabilitation after surgery. However, the available literature contains few biomechanical studies concerning the strength of this connection. In this study, we tested a new model of this connection involving suturing the tendon graft to the phalanx using an anchor and to the flexor digitorum profundus stump with a three-level continuous suture (palmaris longus—flexor digitorum profundus—anchor (PL-FDP-A)). Methods: For this study, we used eight fingers from patients with injuries that were unsuitable for replantation, as well as eight palmaris longus tendons harvested from cadavers. Eight specimens simulating the PL-FDP-A connections were prepared and tested on a tensile testing machine. The elongation of the specimens under a 20 N load (the minimum for active loading) and the force at rupture were assessed. Results: The mean rupture strength was 44.53 N (SD 16.27, min. 16.50, max. 64.60), with elongation at 20 N of 4.28 mm (SD 2.65, min. 1.49, max. 9.14). Conclusions: Based on our findings, we recommend the PL-FDP-A connection for use in two-stage flexor tendon reconstruction due to (1) rupture values which significantly exceeded the force required for active rehabilitation, and (2) minimal elongation at 20 N, so that motion transmission was not impaired. Full article

Banana harvesting relies heavily on manual labor, which is labor-intensive and prone to fruit damage due to insufficient control of contact forces. This paper presents a systematic methodology for the design and optimization of adaptive flexible end-effectors for banana bunch harvesting, focusing on contact behavior and mechanical constraints. By integrating response surface methodology (RSM) with multi-objective genetic algorithm (MOGA) optimization, the relationships between finger geometry parameters and key performance metrics—contact area, contact stress, and radial stiffness—were quantified, and Pareto-optimal structural configurations were identified. Experimental and simulation results demonstrate that the optimized flexible fingers effectively improve handling performance: contact area increased by 13–28%, contact stress reduced by 45–56%, and radial stiffness enhanced by 193%, while the maximum shear stress on the fruit stalk decreased by 90%, ensuring harvesting stability during dynamic loading. The optimization effectively distributes contact pressure, minimizes fruit damage, and enhances grasping reliability. The proposed contact-behavior-constrained design framework enables passive adaptation to fruit morphology without complex sensors, offering a generalizable solution for soft robotic handling of fragile and irregular agricultural products. This work bridges the gap between bio-inspired gripper design and practical agricultural application, providing both theoretical insights and engineering guidance for automated, low-damage fruit harvesting systems. Full article

To address the automation of table grape harvesting, a clamping and cutting integrated, four-point flexible end-effector is designed, based on the biological and mechanical characteristics of grapes. The clamping device is validated in regard to force closure requirements using a force spiral. On this basis, a finite element model of the grape pedicel–blade system is established, and dynamic simulations of pedicel cutting are conducted using ANSYS 2021/LS-DYNA. The simulation results indicate that when the pedicel diameter is 10 mm, the maximum shear stress is 1.515 MPa. A kinematic simulation of the clamping device is performed using ADAMS, producing a contact force curve between the end effector’s finger joints and the grape during the clamping process. The simulation results show that the peak contact force of 11 N is lower than the critical rupture force of the grape (24.79 N), satisfying the requirements for flexible, low-damage harvesting. Furthermore, to address the vulnerability of grapes, a contact-force control system is designed, employing a position–speed–torque three-loop control strategy. Pressure sensors integrated into the four clamping fingers provide real-time feedback to adjust the contact force, ensuring precise clamping control. Finally, a physical prototype of the end effector and controller is developed, and harvesting trials are conducted in a vineyard. The harvesting success rate reaches 96.7%, with an average harvesting time of 13.7 s per trial. The grape cluster damage and berry drop rates are 3.2% and 2.8%, respectively, meeting the expected design requirements. Full article

This work introduces two complementary surface electromyography (sEMG) datasets for hand gesture recognition. Signals were collected from 40 healthy subjects aged 18 to 40 years, divided into two independent groups of 20 participants each. In both datasets, subjects performed five hand gestures. Most of the gestures are the same, although the exact set and the order differ slightly between datasets. For example, Dataset 2 (DS2) includes the simultaneous flexion of the thumb and index finger, which is not present in Dataset 1 (DS1). Data were recorded with three bipolar sEMG sensors placed on the dominant forearm (flexor digitorum superficialis, extensor digitorum, and flexor pollicis longus). A battery-powered acquisition system was used, with sampling rates of 1000 Hz for DS1 and 1500 Hz for DS2. DS1 contains recordings performed at a constant moderate force, while DS2 includes three force levels (low, medium, and high). Both datasets provide raw signals and pre-processed versions segmented into overlapping windows, with clear file structures and annotations, enabling feature extraction for machine learning applications. Together, they constitute a large-scale standardized sEMG resource that supports the development and benchmarking of gesture and force recognition algorithms for rehabilitation, assistive technologies, and prosthetic control. Full article

Designing a mechanical gripper, achieving the combined capabilities of high loading capacity, flexible environmental adaptability, and dexterous kinematic performance, is highly desired in human–machine interaction and industrial production efficiency improvement, yet this combination of grasping encounters irreconcilable challenges. Although rigid–flexible coupled mechanical grippers exhibit promising advantages compared with conventional rigid mechanical grippers and pure soft grippers, they still get stuck in problems of grasping stability owing to the mechanical mismatch between rigid and flexible materials. Inspired by the hybrid structure of the human finger, we designed an underactuated rigid–flexible coupled mechanical gripper (U-RFCG) to expand the grasping range of existing mechanical grippers. We utilized an embedded flexible microcolumn array to couple the rigid underactuated fingers with a flexible silicone rubber finger segment and integrated a flexible silicone rubber cavity into each rigid–flexible coupling finger segment, thereby addressing issues such as slippage and fracture at the coupling interface of the rigid–flexible structure. This design enables the mechanical gripper to possess the superior characteristics of both rigid and flexible grippers, along with simple execution control. We established mathematical models to analyze the static and kinematic properties of the fingers. Based on these models, we optimized the dimensional parameters of the underactuated links to ensure reasonable contact force distribution and stable motion. Repeated experiments demonstrated that the contact force exerted by each phalanx consistently stabilized at approximately 3.58 N during operation. Lastly, we integrated the U-RFCG into a 3D motion platform. Our mechanical gripper demonstrates significant adaptability and high load capacity for grasping various objects, including irregular cauliflowers, fragile fried instant noodles, and heavy cabbages. It successfully handled objects spanning a weight range of 30–1500 g without causing damage to them. These results confirm that our design balances load capacity and grasping safety through the synergy of rigid and flexible properties, providing a new solution for robotic grasping in complex scenarios. Full article

In recent years, agricultural production activities have been advancing towards mechanization and intelligence to bridge the growing gap between the high labor intensity and time sensitivity of harvesting operations and the limited labor resources. As the component that directly interacts with target crops, the end-effector is a crucial part of agricultural harvesting robots. This paper first reviews their materials, number of fingers, actuation methods, and detachment techniques. Analysis reveals that three-fingered end-effectors, known for their stability and ease of control, are the most prevalent. Soft materials have gained significant attention due to their flexibility and low-damage characteristics, while the emergence of variable stiffness technology holds promise for addressing their issues of poor stability and fragility. The introduction of bionics and composite concepts offers potential for enhancing the performance of end-effectors. Subsequently, starting from an analysis of the biomechanical properties of fruits and vegetables, the relationship between mechanical damage and the intrinsic parameters of produce is elucidated. On the other hand, practical and efficient finite element analysis has been applied to various stages of end-effector research, such as structural design and grasping force estimation. Given the importance of compliance control, this paper explores the current research status of various control methods. It emphasizes that while hybrid force–position control often suffers from frequent controller switching, which directly affects real-time performance, active admittance control and impedance control directly convert external forces or torques into the robot’s reference position and velocity, resulting in more stable and flexible external control. To enable a unified comparison of end-effector performance, this review proposes a progressive comparison framework centered on control philosophy, comprising the ontological characteristic layer, physical interaction layer, feedback optimization layer, and task layer. Additionally, in response to the current lack of scientific rigor and systematization in performance evaluation systems for end-effectors, performance evaluation criteria (harvest success rate, harvest time, and damage rate) are defined to standardize the characterization of end-effector performance. Finally, this paper summarizes the challenges faced in the development of end-effectors and analyzes their causes. It highlights how emerging technologies, such as digital twin technology, can improve the control accuracy and flexibility of end-effectors. Full article