Search Results (11)

Multirotor drones are widely used in fields such as environmental monitoring, agricultural inspection, and package delivery, but they still face numerous challenges in durability and aerial operation capabilities. To address these issues, this paper presents a biomimetic leg-claw mechanism (LCM) inspired by the biomechanics of birds. The claw of the LCM adopts a bistable gripper design that can rapidly close through external impact or actively close via the coordination of internal mechanisms. Additionally, its foldable, parallelogram-shaped legs bend under external forces, stretching the main tendon. A ratchet and pawl mechanism at the knee joint locks the leg in the bent position, thereby enhancing the gripping force of the claw. This paper calculates and experimentally verifies the degrees of freedom in different states, the forces required to open and close the gripper, the application scenarios of active and passive grasping, and the maximum load capacity of the mechanism. Furthermore, perching experiments demonstrate that the LCM enables the drone to perch stably on objects of varying diameters. Full article

In this paper, the mechanical properties and internal stress condition of the reinforcing bar sleeve connectors with ferro-tailed mineral sand cementitious grout as filler material were analyzed as research objects. Firstly, an experimental study was carried out on the reinforcing bar sleeve connectors of iron tailing sand grout with a 40% substitution rate of mechanism sand to analyze the mechanical properties of different grout types, age, and reinforcement diameters under unidirectional tensile, high stress, and large deformation of repeated tensile and compressive stresses. Next, five groups of sleeve joints with different anchorage lengths were set up for unidirectional tensile tests. The results show that, with the decrease of the diameter of the reinforcement, the grip force and bond strength of the iron tailing sand grout on the internal reinforcement gradually increase. Under conditions of large deformation and high stress due to repeated tensile loading, the residual deformation and total elongation of iron tailing sand grout sleeve joints are satisfactory. Additionally, the restraining anchorage effect of iron tailing sand grout in the end section is small. The utilization rate and integrity of iron tailing sand grout in the initial anchorage section are better. Full article

Although bolted joints may appear simple and are easy to manipulate, they are challenging to model and analyze due to their complex structural patterns and statically indeterminate nature. Ensuring the structural integrity of these joints requires maintaining proper bolt preload and clamping force, which is crucial for preventing failures such as overload, excessive bearing stress, fatigue, and stripping caused by seizing or galling. Achieving the necessary clamping force involves carefully controlling the input tightening torque, which is divided into the pitch torque and the friction torques at the bolt or nut bearing surfaces and in the engaged threads. The resulting clamping force is critical for generating the required force within the bolt. However, the achieved bolt force depends on several factors, such as friction at the joint’s contact surfaces, grip length, and the relative rotation between the bolt and nut during tightening. Friction at the contact surfaces, particularly beneath the bolt head or nut and between the threads, consumes a significant portion of the applied tightening torque—approximately 90%. This paper explores the three existing bolt internal pitch, bearing, and thread friction torques that are generated by the external applied torque in a bolted joint, as well as their contributions and variations throughout a loading cycle composed of three phases: tightening, settling, and untightening. An analytical model is developed to determine these torque components, and its results are compared with those obtained from finite element (FE) modeling and experimental testing from previous studies. Finally, this study examines the torque–tension relationship during bolt tightening, offering insights into the required accuracy of bolt and clamped member stiffness. The bolt samples used in this study include M12 × 1.75 and M36 × 4 hex bolts. Full article

Background: Proximal humerus fractures are common fractures of the elderly population which can lead to long-term compromise of a patient’s shoulder function. Closed reduction and internal fixation with intramedullary nailing is a well-established surgical technique yielding good outcomes, as perceived by patients, obtained via Patient-Reported Outcome Measures, and objectified by clinical shoulder testing. Apart from conventional range-of-motion testing and clinical shoulder tests, strength testing of the shoulder is a yet-neglected but meaningful and standardizable outcome parameter. In this study, isometric shoulder strength is evaluated in relation to fracture morphology/postoperative reduction quality as well as with patient-reported outcomes. Methods: 25 patients (mean age 73.2 ± 10.5 years) underwent isometrics strength-testing of the shoulder joint in the scapular plane (abduction) as well as in the sagittal plane (flexion) as well as hand-grip strength-testing at 4.5 ± 1.88 years follow-up. Pre- and postoperative radiographs were analysed. Patients completed ASES and CMS questionnaires. Results: Patients exhibited a decrease in abduction and flexion force (−24.47% and −25.30%, respectively, p < 0.001) using the contralateral, uninjured arm as reference. Abduction force tended to be decreased in three- and four-part fractures. Patient satisfaction correlated negatively with the relatively reduced force of the affected arm. Varus-angulated humeral heads produced significantly lower abduction force output than valgus- or physiologic angulation (p = 0.014), whereas flexion force was unaffected (p = 0.468). The anatomical reduction had no influence on shoulder strength. Conclusions: Proximal humerus fractures may cause a significant reduction in shoulder function, both reported by patients and objectified by shoulder strength testing. Varus head angulation demonstrated the greatest loss of shoulder strength and should be avoided to ensure proper functioning. Further, strength testing seems a valuable outcome parameter for a thorough shoulder examination with easy obtainability. Full article

The study of bio-inspired structures and their reproduction has always fascinated humans. The advent of soft robotics, thanks to soft materials, has enabled considerable progress in this field. Over the years, polyps, worms, cockroaches, jellyfish, and multiple anthropomorphic structures such as hands or limbs have been reproduced. These structures have often been used for gripping and handling delicate objects or those with complex unknown a priori shapes. Several studies have also been conducted on grippers inspired by the seahorse tail. In this paper, a novel biomimetic soft pneumatic actuator inspired by the tail of the seahorse Hippocampus reidi is presented. The actuator has been developed to make a leg to sustain a multi-legged robot. The prototyping of the actuator was possible by combining a 3D-printed reinforcement in thermoplastic polyurethane, mimicking the skeletal apparatus, within a silicone rubber structure, replicating the functions of the external epithelial tissue. The latter has an internal channel for pneumatic actuation that acts as the inner muscle. The study on the anatomy and kinematic behaviour of the seahorse tail suggested the mechanical design of the actuator. Through a test campaign, the actuator prototype was characterized by isotonic tests with an external null load, isometric tests, and activation/deactivation times. Specifically, the full actuator distension of 154.5 mm occurs at 1.8 bar, exerting a maximum force of 11.9 N, with an activation and deactivation time of 74.9 and 94.5 ms, respectively. Full article

The task of gripping has been identified as the rate-limiting step in the development of tree-fruit harvesting systems. There is, however, no set of universally adopted ‘specifications’ with standardized measurement procedures for the characterization of gripper performance in the harvest of soft tree fruit. A set of metrics were defined for evaluation of the performance of end effectors used in soft tree-fruit harvesting based on (i) laboratory-based trials using metrics termed ‘picking area’, which was the cross-sectional area in a plane normal to the direction of approach of the gripper to the fruit in which a fruit was successfully harvested by the gripper; ‘picking volume’, which was the volume of space in which fruit was successfully harvested by the gripper; and ‘grasp force’, which was the peak force involved in removing a fruit from the grasp of a gripper; (ii) orchard-based trials using metrics termed ‘detachment success’ and ‘harvest success’, i.e., the % of harvest attempts of fruit on tree (of a given canopy architecture) that resulted in stalk breakage and return of fruit to a receiving area, respectively; and (iii) postharvest damage in terms of a score based on the percentage of fruit and severity of the damage. Evaluations were made of external (skin) damage visible 1 h after gripping and of internal (flesh) damage after ripening of the fruit. The use of the metrics was illustrated in an empirical evaluation of nine gripper designs in the harvest of mango fruit in the context of fruit weight and orientation to the gripper. A design using six flexible fingers achieved a picking area of ~150 cm² and a picking volume of 467 cm³ in laboratory trials involving a 636 g phantom fruit as well as detachment and harvest efficiency rates of 74 and 65%, respectively, in orchard trials with no postharvest damage associated with the harvest of unripe fruit. Additional metrics are also proposed. Use of these metrics in future studies of fruit harvesting is recommended for literature–performance comparisons. Full article

Assessing and monitoring shoulder strength is extremely important during rehabilitation. A fixed dynamometer represents a valid and inexpensive assessment method. However, it has not been studied whether posture and grip modality influence shoulder muscle strength. The aim of this study was to compare shoulder strength values between sitting and standing positions and between the handle and cuff grip modalities. A total of 40 volunteers were divided into a posture (PG) and a handle-cuff group (HCG). Participants in the PG were asked to perform a maximum voluntary isometric contraction (MVIC) for shoulder flexion, extension, ab-adduction, and intra-extra rotation in standing and sitting positions. The HCG participants were tested in a standing position while holding a handle or with a cuff around their wrist. PG showed higher forces in the standing position for shoulder flexion (p = 0.009); internal rotation showed higher values in the sitting position (p = 0.003). ER/IR ratio was significantly higher in the standing position (p < 0.001). HCG showed higher significant forces during cuff modality in all positions and grip modalities, including the ER/IR ratio (p < 0.05). Different body positions and grip modalities influenced the assessment of shoulder strength as recorded by a fixed dynamometer; therefore, these factors should be carefully considered when carrying out a shoulder strength assessment, and we encourage the development of assessment guidelines to make future clinical trial results comparable. Full article

Soft gripping, in which the gripper adapts to differently shaped objects, is in great demand for use in unknown or dynamically changing environments and is one of the main research subjects in soft robotics. Several systems have already been created, one of which is a passive shape-adaptable finger based on the FinRay effect. The geometric shape of this finger ensures that the finger wraps around the object it grips. FinRay fingers have been studied in several studies, which have changed the internal structure and examined how gripping force’s dependence on finger deformation changes. So far, however, no specific way has been determined to evaluate the proposed finger regarding its ability to wrap around the object. This work comes up with a new and simple method to evaluate the finger’s wrapping around the object mathematically. Based on this evaluation method, several different patterns of the internal structure of FinRay fingers were tested. The fingers were first tested in a simulation program, which simulated a steel roller indentation with a diameter of 20 mm in the middle of the finger’s contact surface. Based on the simulation results, selected types of structure were made by the Fused Filament Fabrication method from a flexible filament and tested on a real test rig to verify the results of the simulation and compare it with the real behaviour. According to the methodology used, the results show that the most suitable structure of the selected tested fingers from the point of view of wrapping the finger around the object is a structure without internal filling. Designers can simply use the new evaluation method to compare their designed finger variants and select the most suitable one according to the ability to wrap around the gripped object. They can also use graphs from this work’s results and determine the finger’s dimensions without internal filling according to the required forces and deflection. Full article

The biomechanics of a golf swing have been of interest to golfers, instructors, and biomechanists. In addition to the complexity of the three-dimensional (3D) dynamics of multi-segments of body, the closed-chain body posture as a result of both hands holding a club together makes it difficult to fully analyze the 3D kinetics of a golf swing. To identify the hand-grip joint force and torque applied by each hand, we directly measured the 3D internal grip force of nine registered professional golfers using an instrumented grip. A six-axis force-torque sensor was connected to a custom-made axially separated grip, which was then connected to a driver shaft using a manufactured screw thread. Subjects participated in two sessions of data collection featuring five driver swings with both a regular and customized sensor-embedded grip, respectively. Internal grip force measurement and upper limb kinematics were used to calculate the joint force and torque of the nine-linkage closed-chain of the upper limb and club using 3D inverse dynamics. Direct measurement of internal grip forces revealed a threefold greater right-hand torque application compared to the left hand, and counterforce by both hands was also found. The joint force and torque of the left arm tended to precede that of the right arm, the majority of which had peaks around the impact and showed a larger magnitude than that of the left arm. Due to the practical challenge of measuring internal force, heuristic estimation methods based on club kinematics showed fair approximation. Our results suggest that measuring the internal forces of the closed-chain posture could identify redundant joint kinetics and further propose a heuristic approximation. Full article

Background: Cardiorespiratory and musculoskeletal fitness are important health indicators that support optimal physical functioning. Understanding the relationship between body mass index and these health markers may contribute to the development of evidence-based interventions to address obesity-related complications. The relationship between body mass index, cardiorespiratory and musculoskeletal fitness has not been well explored, particularly in female adolescents. The aim of this study was to investigate the association between body mass index, cardiorespiratory and musculoskeletal fitness among South African adolescent girls in low-income communities. Methods: This cross-sectional study included 151 adolescent girls, aged 13–16 years. Cardiorespiratory fitness was measured using the 20 m shuttle run test and musculoskeletal fitness was assessed using a variety of field-based tests. Height and weight were measured with standardised procedures and body mass index (BMI) was derived by the formula [BMI = weight (kg)/height (m)²]. Participants were categorised into three BMI groups using the International Obesity Task Force age- and gender-specific cut-off points. Pearson correlations were used to determine the association between body mass index, cardiorespiratory fitness and measures of musculoskeletal fitness at p ≤ 0.05. Results: Overweight and obese girls were found to have lower cardiorespiratory fitness, decreased lower extremity muscular strength, greater grip strength, and more hypermobile joints compared to normal-weight peers. BMI was negatively associated with cardiorespiratory fitness and lower extremity muscular strength. Conclusions: The findings indicate that increased body mass correlates with decreased cardiorespiratory and musculoskeletal fitness. Interventions should be developed to target these important components of physical fitness in this demographic group. Full article

This paper proposes a simple and compact compliant gripper, whose gripping stiffness can be thermally controlled to accommodate the actuation inaccuracy to avoid or reduce the risk of breaking objects. The principle of reducing jaw stiffness is that thermal change can cause an initial internal compressive force along each compliant beam. A prototype is fabricated with physical testing to verify the feasibility. It has been shown that when a voltage is applied, the gripping stiffness effectively reduces to accommodate more inaccuracy of actuation, which allows delicate or small-scale objects to be gripped. Full article