Search Results (363)

Soft manipulators have garnered significant research attention in recent years due to their flexibility and adaptability. However, the inherent flexibility of these manipulators imposes limitations on their load-bearing capacity and stability. To address this, this study compares various variable stiffness technologies and proposes a novel design concept: leveraging the phase-change characteristics of low-melting-point alloys (LMPAs) with distinct melting points to fulfill the variable stiffness requirements of soft manipulators. The pneumatic structure of the manipulator is fabricated via 3D-printed molds and silicone casting. The manipulator integrates a pneumatic working chamber, variable stiffness chambers, heating devices, sensors, and a central channel, achieving multi-stage variable stiffness through controlled heating of the LMPAs. A steady-state temperature field distribution model is established based on the integral form of Fourier’s law, complemented by finite element analysis (FEA). Subsequently, the operational temperatures at which the variable stiffness mechanism activates, and the bending performance are experimentally validated. Finally, stiffness characterization and kinematic performance experiments are conducted to evaluate the manipulator’s variable stiffness capabilities and flexibility. This design enables the manipulator to switch among low, medium, and high stiffness levels, balancing flexibility and stability, and provides a new paradigm for the design of soft manipulators. Full article

Electromagnetic pneumatic microvalves, widely used in knitting machines, typically operate based on a spring-return mechanism. When the coil is energized, the electromagnetic force overcomes the spring force to attract the armature, opening the valve. Upon de-energization, the armature returns to its original position under the restoring force of the spring, closing the valve. However, most existing electromagnetic microvalves adopt a radially asymmetric magnetic yoke design, which generates additional radial forces during operation, leading to armature misalignment or even sticking. Additionally, the inductance effect of the coil causes a significant delay in the armature release response, making it difficult to meet the knitting machine’s requirements for rapid response and high reliability. To address these issues, this paper proposes an improved electromagnetic microvalve design. First, the magnetic yoke structure is modified to be radially symmetric, eliminating unnecessary radial forces and preventing armature sticking during operation. Second, a permanent magnet assist mechanism is introduced at the armature release end to enhance release speed and reduce delays caused by the inductance effect. The effectiveness of the proposed design is validated through electromagnetic numerical simulations, and a multi-objective genetic algorithm is further employed to optimize the geometric dimensions of the electromagnet. The optimization results indicate that, while maintaining the fundamental power supply principle of conventional designs, the new microvalve structure achieves a pull-in time comparable to traditional designs during engagement but significantly reduces the release response time by approximately 80.2%, effectively preventing armature sticking due to radial forces. The findings of this study provide a feasible and efficient technical solution for the design of electromagnetic microvalves in textile machinery applications. Full article

Jujubes have a beautiful taste, and high nutritional and economic value. The planting area of dwarf and densely planted jujubes is large and shows an increasing trend; however, the mechanization level and efficiency of fresh jujube harvesting are low. For this reason, our research group conducted a study on mechanical harvesting technology for fresh jujubes. A pneumatic jujube harvester was designed. This harvester is composed of a self-regulating picking mechanism, a telescopic conveying pipe, a negative pressure generator, a cleaning mechanism, a double-chamber collection box, a single-door shell, a control assembly, a generator, a towing mobile chassis, etc. During the harvest, the fresh jujubes on the branches are picked under the combined effect of the flexible squeezing of the picking roller and the suction force of the negative pressure air flow. They then enter the cleaning mechanism through the telescopic conveying pipe. Under the combined effect of the upper and lower baffles of the cleaning mechanism and the negative-pressure air flow, the fresh jujubes are separated from impurities such as jujube leaves and branches. The clean fresh jujubes fall into the collection box. We considered the damage rate of fresh jujubes, impurity rate, leakage rate, and harvesting efficiency as the indexes, and the negative-pressure suction wind speed, picking roller rotational speed, and the inclination angle of the upper and lower baffles of the cleaning and selection machinery as the test factors, and carried out the harvesting test of fresh jujubes. The test results show that when the negative-pressure suction wind speed was 25 m/s, the picking roller rotational speed was 31 r/min, and the inclination angles of the upper and lower baffle plates for cleaning and selecting were −19° and 19.5°, respectively, the breakage rate of fresh jujube harvesting was 0.90%, the rate of impurity was 1.54%, the rate of leakage was 2.59%, and the efficiency of harvesting was 73.37 kg/h, realizing the high-efficiency and low-loss harvesting of fresh jujubes. This study provides a reference for the research and development of fresh jujube mechanical harvesting technology and equipment. Full article

This study aims to clarify the nonlinear pressure loss patterns of the pneumatic system in a pneumatic seeder under varying pipeline structures and airflow parameters, and to develop a rapid prediction equation for the main pipe’s pressure loss. The studied multi-branch pipeline system consists of a main pipe, a header, and ten branch pipes. The main pipe is vertically installed at the center of the header in a straight-line configuration. The ten branch pipes are symmetrically and evenly spaced along the axial direction of the header, distributed on both sides of the main pipe. The outlet directions of the branch pipes are arranged in a 180° orientation opposite to the inlet direction of the main pipe, forming a symmetric multi-branch configuration. Firstly, this study investigated the flow characteristics within the multi-branch pipeline of the pneumatic system and elaborated on the mechanism of flow division in the pipeline. The key geometric factors affecting airflow were identified. Secondly, from a microscopic perspective, CFD simulations were employed to analyze the fundamental causes of pressure loss in the multi-branch pipeline system. Finally, from a macroscopic perspective, a dimensional analysis method was used to establish an empirical equation describing the relationship between the pressure loss (P) and several influencing factors, including the air density (ρ), air’s dynamic viscosity (μ), closed-end length of the header (Δl), branch pipe 1’s flow rate (Q), main pipe’s inner diameter (D), header’s inner diameter (γ), branch pipe’s inner diameter (d), and the spacing of the branch pipe (δ). The results of the bench tests indicate that when 0.0018 m³·s⁻¹ ≤ Q ≤ 0.0045 m³·s⁻¹, 0.0272 m < d ≤ 0.036 m, 0.225 m < δ ≤ 0.26 m, 0.057 m ≤ γ ≤ 0.0814 m, and 0.0426 m ≤ D ≤ 0.0536 m, the prediction accuracy of the empirical equation can be controlled within 10%. Therefore, the equation provides a reference for the structural design and optimization of pneumatic seeders’ multi-branch pipelines. Full article

To enable the practical application of passive back-support exoskeletons employing pneumatic artificial muscles (PAMs) in tasks such as agricultural work, we evaluated their assistive effectiveness in a half-squatting posture with a staggered stance. In this context, assistive force profiles were adjusted according to body posture to achieve more effective support. The targeted assistive force profile was designed to be continuously active from the standing to the half-squatting position, with minimal variation across this range. The assistive force profile was developed based on a PAM contractile force model and implemented using a cam mechanism. The effectiveness of assistance was assessed by measuring body flexion angles and erector spinae muscle activity during lifting and carrying tasks. The results showed that the assistive effect was greater on the side with the forward leg. Compared to the condition without exoskeleton assistance, the conventional pulley-based system reduced muscle activity by approximately 20% whereas the cam-based system achieved a reduction of approximately 30%. Full article

To address the issues of bulky structure and complex transmission systems in current transplanters, a compact, electric-driven automatic transplanter was designed. Using pepper plug seedlings as the test subject, this study investigated plug tray dimensions and planting patterns. According to the design requirement that the width of the single-row transplanter must be less than 62.5 cm, a three-dimensional transplanter model was constructed. The transplanter comprises a coaxially installed dual-layer seedling conveying device and a sector-expanding automatic seedling picking and depositing device. The structural dimensions, drive configurations, and driving forces of the transplanter were also determined. Finally, the circuit and pneumatic system were designed, and the transplanter was assembled. Both bench and field tests were conducted to select the optimal working parameters. The test results demonstrated that the seedling picking and depositing mechanism met the required operational efficiency. In static seedling picking and depositing tests, at three transplanting speeds of 120 plants/min, 160 plants/min, and 200 plants/min, the success rates of seedling picking and depositing were 100%, 100%, and 97.5%, respectively. In the field test, at three transplanting speeds of 80 plants/min, 100 plants/min, and 120 plants/min, the transplanting success rates were 94.17%, 90.83%, and 88.33%, respectively. These results illustrate that the compact, electric-driven seedling conveying and picking and depositing devices meet the operational demands of automatic transplanting, providing a reference for the miniaturization and electrification of transplanters. Full article

The aim of translucency-enhancing liquids (TEL) is to locally influence the phase composition of zirconia in order to increase its translucency. This study aimed to determine the influence of TEL on 3Y- and 4Y-TZP zirconia concerning roughness, hardness, wear, flexural strength, dynamic stability and fracture force of fixed dental prostheses after thermal cycling and mechanical loading. Two zirconia materials (4Y-TZP; 3Y-TZP-LA, n = 8 per material and test) were investigated with and without prior application of TEL. Two-body wear tests were performed in a pneumatic pin-on-block design (50 N, 120,000 cycles, 1.6 Hz) with steatite balls (r = 1.5 mm) as antagonists. Mean and maximum vertical loss as well as roughness (Ra, Rz) were measured with a 3D laser-scanning microscope (KJ 3D, Keyence, J). Antagonist wear was determined as percent area of the projected antagonist area. Martens hardness (HM; ISO 14577-1) and biaxial flexural strength (BFS; ISO 6872) were investigated. The flexural fatigue limit BFSdyn was determined under cyclic loading in a staircase approach with a piston-on-three-ball-test. Thermal cycling and mechanical loading (TCML: 2 × 3000 × 5 °C/55 °C, 2 min/cycle, H₂O dist., 1.2 × 10⁶ force á 50 N) was performed on four-unit fixed dental prostheses (FDPs) (n = 8 per group) and the fracture force after TCML was determined. Statistics: ANOVA, Bonferroni test, Kaplan–Meier survival, Pearson correlation; α = 0.05. TEL application significantly influences roughness, hardness, biaxial flexural strength, dynamic performance, as well as fracture force after TCML in 3Y-TZP. For 4Y-TZP, a distinct influence of TEL was only identified for BFS. The application of TEL on 3Y- or 4Y-TZP did not affect wear. TEL application has a strong effect on the mechanical properties of 3Y-TZP and minor effects on 4Y-TZP. All effects of the TEL application are of a magnitude that is unlikely to restrict clinical application. Full article

Introduction: Strength training, essential for health and performance, often uses free weights for greater stabilization demands and pulleys for easier load adjustment and progression. Methods: The aim of the study was to analyze the differences in force application using gravitational and pneumatic resistances. Twenty experienced subjects participated in the study (age: 21.9 ± 3.8 years; body mass: 76.3 ± 9.4 kg; height: 177.4 ± 7.5 cm), performing four exercises with each type of resistance: bench press, lat pulldown, chest fly, and single-arm row. The participants performed 8 repetitions per exercise. Peak and mean force were measured with a 100 Hz load cell (SUIFF S2 Pro) during the concentric phase of the lifts. Differences between resistance types were analyzed using one-way ANOVA and paired t-tests. Results: Peak force was higher with gravitational resistance across all exercises (p < 0.001; d = 2.1–4.7). Average force with gravitational resistance was also higher in the bench press and lat pulldown (p < 0.05; d = 0.7–1.4), but not in the chest fly or single-arm row. Conclusions: Gravitational resistance may better enhance peak strength, while pneumatic resistance supports consistent force and neuromuscular control. These results allow us to select the resistance type based on specific mechanical characteristics. Full article

This work explores enhancing rear cabin suspension in vehicles using hydro-pneumatic shock absorbers to maintain the cabin position regardless of load and improve safety by mitigating oscillation impacts. Advanced solutions employ pneumatic elastic elements with automatic adjustment, addressing classic suspension disadvantages like variable cab position and natural frequency with load changes. The experimental analysis of reinforced rubber samples from the air socket material involved tensile testing and scanning electron microscopy. The tensile results showed a clear trend: weak reinforced samples (L, T) were ductile but had a lower strength, while the ones on the reinforcing direction (D_45, D_60) exhibited a significantly increased strength and stiffness, with D_60 being the strongest but least ductile. Stress–strain curves visually confirmed these mechanical behaviors. Crucially, SEM images of fracture surfaces consistently revealed widespread fiber pull out. This indicates that weak interfacial adhesion between the reinforcing fibers and the rubber matrix is a primary limiting factor for the composite′s overall strength. Full article

Aiming at the problems of complex control processes, strong model dependence, and difficult engineering application when the existing active suspension control strategy is applied to multi-axle vehicles, an active suspension control strategy based on the inverse position solution of a parallel mechanism is proposed. First, the active suspension of the three-axle emergency rescue vehicle is grouped and interconnected within the group, and it is equivalently constructed into a 3-DOF parallel mechanism. Then, the displacement of each equivalent suspension actuating hydraulic cylinder is calculated by using the method of the inverse position solution of a parallel mechanism, and then the equivalent actuating hydraulic cylinder is reversely driven according to the displacement, thereby realizing the effective control of the attitude of the vehicle body. To verify the effectiveness of the proposed control strategy, a three-axis vehicle experimental platform integrating active suspension and hydro-pneumatic suspension was built, and a pulse road experiment and gravel pavement experiment were carried out and compared with hydro-pneumatic suspension. Both types of road experimental results show that compared to hydro-pneumatic suspension, the active suspension control strategy based on the inverse position solution of a parallel mechanism proposed in this paper exhibits different degrees of advantages in reducing the peak values of the vehicle vertical displacement, pitch angle, and roll angle changes, as well as suppressing various vibration accelerations, significantly improving the vehicle’s driving smoothness and handling stability. Full article

Soft-growing robots based on the eversion principle are renowned for their ability to rapidly extend along their longitudinal axis, allowing them to access remote, confined, or otherwise inaccessible spaces. Their inherently compliant structure enables safe interaction with delicate environments, while their simple actuation mechanisms support lightweight and low-cost designs. Despite these benefits, implementing effective navigation mechanisms remains a significant challenge. Previous research has explored the use of pneumatic artificial muscles mounted externally on the robot’s body, which, when contracting, induce directional bending. However, this method only offers limited bending performance. To enhance maneuverability, pneumatic artificial muscles embedded in between the walls of double-walled eversion robots have also been considered and shown to offer superior bending performance and force output as compared to externally attached muscle. However, their adoption has been hindered by the complexity of the current manufacturing techniques, which require individually sealing the artificial muscles. To overcome this multi-stage fabrication approach in which muscles are embedded one by one, we propose a novel single-step method. The key to our approach is the use of non-heat-sealable inserts to form air channels during the sealing process. This significantly simplifies the process, reducing production time and effort and improving scalability for manufacturing, potentially enabling mass production. We evaluate the fabrication speed and bending performance of robots produced in this manner and benchmark them against those described in the literature. The results demonstrate that our technique offers high bending performance and significantly improves the manufacturing efficiency. Full article

Effective bone tissue regeneration remains pivotal in implant dentistry, particularly for edentulous patients with compromised alveolar bone due to atrophy and sinus pneumatization. Biomaterials are essential for promoting regenerative processes by supporting cellular recruitment, vascularization, and osteogenesis. This study presents the development and characterization of a novel lithography-printed ceramic β-TCP scaffold, with a macro/micro-porous lattice, engineered to optimize osteoconduction and mechanical stability. Morphological, structural, and biomechanical assessments confirmed a reproducible microarchitecture with suitable porosity and load-bearing capacity. The scaffold was also employed for maxillary sinus augmentation, with postoperative evaluation using micro computed tomography, synchrotron imaging, histology, and Fourier Transform Infrared Imaging analysis, demonstrating active bone regeneration, scaffold resorption, and formation of mineralized tissue. Advanced imaging supported by deep learning tools revealed a well-organized osteocyte network and high-quality bone, underscoring the scaffold’s biocompatibility and osteoconductive efficacy. These findings support the application of these 3D-printed β-TCP scaffolds in regenerative dental medicine, facilitating tissue regeneration in complex jawbone deficiencies. Full article

Background/Objectives: Radial artery occlusion (RAO) following hemostasis after coronary procedures is the most common complication, with a highly variable incidence (1–33%). While it is well established that the patent hemostasis technique reduces RAO rates, it remains unclear which device should be preferred. The wide variety of available radial hemostasis devices makes it necessary to identify those associated with a lower incidence of complications. Methods: Literature from 2016 to 2021 was reviewed through a systematic search in PubMed, CINAHL, Cochrane, and Embase databases. Only randomized controlled trials (RCTs) involving adult patients undergoing percutaneous transradial coronary procedures were included. Devices considered included pneumatic compression devices, manual compression, elastic bandages, and hemostatic dressings. The review process followed PRISMA guidelines. Two random-effects frequentist network meta-analyses were conducted to compare the effects of 16 and 9 radial hemostasis devices on RAO incidence at 24 h and 30 days after the procedure. Results: A total of 17 RCTs were included. The network meta-analysis (NMA) showed a protective effect at the 24 h endpoint for both double-balloon devices and pneumatic compression devices adjusted to mean arterial pressure. At the 30-day endpoint, significant differences were observed among pneumatic compression, chitosan-based PADs, mechanical compression devices, and adjustable elastic bandages. Conclusions: Although some treatments with specific devices significantly differ from the reference treatment, the limited availability of data to assess RAO at 30 days and a certain heterogeneity between devices indicate the need for further investigation. Full article

This article presents a series of innovative systems developed through student laboratory projects, comprising two autonomous vehicles, a quadrupedal walking robot, an active ankle-foot orthosis, a ball-on-beam balancing mechanism, a ball-on-plate system, and a manipulator arm, all actuated by pneumatic artificial muscles (PAMs). Due to their flexibility, low weight, and compliance, fluidic muscles demonstrate substantial potential for integration into various mechatronic systems, robotic platforms, and manipulators. Their capacity to generate smooth and adaptive motion is particularly advantageous in applications requiring natural and human-like movements, such as rehabilitation technologies and assistive devices. Despite the inherent challenges associated with nonlinear behavior in PAM-actuated control systems, their biologically inspired design remains promising for a wide range of future applications. Potential domains include industrial automation, the automotive and aerospace sectors, as well as sports equipment, medical assistive devices, entertainment systems, and animatronics. The integration of self-constructed laboratory systems powered by PAMs into control systems education provides a comprehensive pedagogical framework that merges theoretical instruction with practical implementation. This methodology enhances the skillset of future engineers by deepening their understanding of core technical principles and equipping them to address emerging challenges in engineering practice. Full article

Adaptive vehicle control systems are crucial for enhancing safety, performance, and efficiency in modern transportation, particularly as vehicles become increasingly automated and responsive to dynamic environments. This review explores the advancements in bio-inspired actuators and their potential applications in adaptive vehicle control systems. Bio-inspired actuators, which mimic natural mechanisms such as muscle movement and plant tropism, offer unique advantages, including flexibility, adaptability, and energy efficiency. This paper categorizes these actuators based on their mechanisms, focusing on shape memory alloys, dielectric elastomers, ionic polymer–metal composites, polyvinylidene fluoride-based electrostrictive actuators, and soft pneumatic actuators. The review highlights the properties, operating principles, and potential applications for each mechanism in automotive systems. Additionally, it investigates the current uses of these actuators in adaptive suspension, active steering, braking systems, and human–machine interfaces for autonomous vehicles. The review further outlines the advantages of bio-inspired actuators, including their energy efficiency and adaptability to road conditions, while addressing key challenges like material limitations, response times, and integration with existing automotive control systems. Finally, this paper discusses future directions, including the integration of bio-inspired actuators with machine learning and advancements in material science, to enable more efficient and responsive adaptive vehicle control systems. Full article