Search Results (27)

Background/Objectives: the precise application of torque during prosthetic screw tightening is essential to the long-term success and mechanical stability of implant-supported restorations. This study aimed to evaluate the influence of practitioner experience, glove material, screwdriver length, and hand moisture on the maximum torque value (MTV) generated during manual tightening. Methods: thirty participants, comprising 10 experienced professors and 20 senior dental students, performed tightening tasks under six hand conditions (nitrile gloves, latex gloves, and bare hands, each in dry and wet environments) using two screwdriver lengths (21 mm and 27 mm). The torque values were measured using a calibrated digital torque meter, and the results were analyzed using a linear mixed model. Results: professors applied significantly higher torque than students (16.92 Ncm vs. 15.03 Ncm; p = 0.008). Nitrile gloves yielded the highest torque (17.11 Ncm), surpassing bare hands significantly (p = 0.003). No statistically significant differences were found for screwdriver length (p = 0.12) or hand moisture (p = 0.11). Conclusions: these findings underscore the importance of clinical proficiency and glove material in torque delivery, providing evidence-based insights to enhance procedural reliability and training standards in implant prosthodontics. Full article

Bone screws are used in orthopaedic surgery for fracture fixation. Correctly torquing the screws is important for fixation quality. Over-tightening may strip the threads, while under-tightening may result in loosening over time. This paper focuses on testing an approach where strength is estimated using screw insertion data from torque and rotation sensors, and stripping torque is predicted based on this strength. A common type of bone screw was inserted until stripping 10 times each into 8 types of polyurethane surrogate for bone. The torque–rotation data from the insertion was used to identify the material strength and estimate the stripping torque and compared with the experimental maximum torque. A good relationship was found between the estimated/predicted and true stripping torques (r = 0.926, 95% confidence interval (C.I.) [0.886, 0.952]), with a mean error of 18%. Additionally, the intermediate identified strength values were found to be highly correlated with the data-sheet values for the materials (r = 0.977, 95% C.I. [0.964, 0.985]). These outcomes demonstrate the viability and significance of this concept in general, although more development and testing is required for broad clinical applicability; such tests would be extended for more types of bone screws and use a large set of human bone samples to better reflect the natural variability. Full article

This paper presents a method for position correction in collaborative robots, applied to a case study in an industrial environment. The case study is aligned with the GreenAuto project and aims to optimize industrial processes through the integration of various hardware elements. The case study focuses on tightening a specific number of nuts onto bolts located on a partition plate, referred to as “Cloison”, which is mounted on commercial vans produced by Stellantis, to secure the plate. The main challenge lies in deviations that may occur in the plate during its assembly process, leading to uncertainties in its fastening to the vehicles. To address this and optimize the process, a collaborative robot was integrated with a 3D vision system and a screwdriving system. By using the 3D vision system, it is possible to determine the bolts’ positions and adjust them within the robot’s frame of reference, enabling the screwdriving system to tighten the nuts accurately. Thus, the proposed method aims to integrate these different systems to tighten the nuts effectively, regardless of the deviations that may arise in the plate during assembly. Full article

The aim is to investigate the impact of retention type, implant/abutment angulation, and the presence of sealant/antimicrobial agents on screw loosening of implant-supported restorations. Fifty dental implants along with their respective abutments and screws were allocated to five groups (n = 10). The groups were categorized based on type of crown retention (screw-/cement-retained), implant/abutment angulation (0°/20°), and type of disinfectant/sealant as follows: Cem_control (cemented/0°/none), Cem_GP (cemented/0°/gutta-percha), Cem_CHX (cemented/0°/chlorhexidine), Cem_Ang (cemented/20°/none), and Screw (screwed/0°/ none). Abutment screws were tightened (20 Ncm), and CAD/CAM zirconia crowns were fabricated. Glass ionomer cement was used for crown cementation in the cemented groups. Samples were subjected to dynamic loading in a chewing simulator (1,200,000 cycles/98 N). After loading, the reverse torque values (RTVs) of the abutment screws were determined (Ncm) using an electronic screwdriver, and the reverse torque difference (RTD) was subsequently calculated. The lowest RTD was reported in group Cem_GP (−2.22 ± 1.03), whereas the highest RTD was seen in group Screw (−4.65 ± 1.79). Group Screw showed a statistically significant difference from all other groups (p < 0.05). No statistically significant difference between the cemented test groups Cem_GP, Cem_CHX, and Cem_Ang and the control group was found. Screw-retained restorations exhibited significantly greater RTD values compared to cement-retained ones. Implant/abutment angulation and the sealant/disinfectant appeared to have no notable effect on the screw stability of single-implant restorations. Full article

Gunshot wound morphology and gunshot residues (GSRs) evaluation have been poorly investigated in veterinary forensic pathology. The aims of the present study were to assess the gunshot wound morphology in animals and evaluate the detectability of lead deriving from GSRs using colorimetric techniques. To these aims, cadavers were divided into four different groups. Group A comprised eight animals who died from firearm-related injuries, while groups B and C included dog limbs shot using different shooting ranges; group D comprised dog limbs stabbed with a screwdriver. Morphological analysis was performed on all entry gunshot wounds. Lead residues were investigated using a Bullet Hole Testing Kit (BTK) and Rhodizonate Sodium histochemical staining (NaR-s). Gunshot wounds in group A showed an abrasion ring associated with hemorrhages and tissue necrosis. Groups B and C showed injuries related to the shooting range. NaR-s showed positive results in both animals that died from gunshot wounds and experimentally shot limbs. However, the number of positive cases and the pattern of lead distribution varied with the shooting range. Positive results by BTK were limited to close-contact shots in group B limbs. Our results suggest that both pathological examination and NaR tests represent valid tools for investigating gunshot wounds in veterinary pathology. Full article

The design of the work area of a robotic cell is currently an iterative process of trial and improvement, where, in the best cases, the user places the workstations and robotic manipulators in a 3D virtual environment to then semi-automatically verify variables such as the robot’s reach, cycle time, geometric interferences, and collisions. This article suggests using an evolutionary computation algorithm (genetic algorithm) as a tool to solve this optimization problem. Using information about the work areas and the robot’s reach, the algorithm generates an equipment configuration that minimizes the cell area without interference between the stations and, therefore, reduces the distances the robotic manipulator must travel. The objective is to obtain an optimized layout of the workstations and to validate this optimization by comparing the transfer times between stations with the actual times of an existing screwdriving cell. As a result, the transfer time was reduced by 9%. It is concluded that the algorithm can optimize the layout of a robotic cell, which can lead to significant improvements in efficiency, quality, and flexibility. Full article

Screws are a versatile method of fixation and are often used in orthopaedic surgery. Various specialised geometries are often used for bone screws to optimise their fixation strengths in limited spaces at the expense of manufacturing costs. Additionally, ongoing research is looking to develop systems/models to automatically optimise bone screw tightening torques. For both applications, it is desirable to have a test rig for inserting screws in a regulated, instrumented, and repeatable manner. This work presents such a test rig primarily used for the validation of optimal torque models; however, other applications like the above are easily foreseeable. Key features include controllable insertion velocity profiles, and a high rate measurement of screw torque, angular displacement, and linear displacement. The test rig is constructed from mostly inexpensive components, with the primary costs being the rotational torque sensor (approx. 2000 €), and the remainder being approximately 1000 €. This is in comparison to a biaxial universal testing machine which may exceed 100,000 €. Additionally, the firmware and interface software are designed to be easily extendable. The angular velocity profiling and linear measurement repeatability of the test rig is tested and the torque readings are compared to an off-the-shelf static torque sensor. Full article

Recently, several ATP-binding cassette (ABC) importers have been found to adopt the typical fold of type IV ABC exporters. Presumably, these importers would function under the transport scheme of “alternating access” like those exporters, cycling through inward-open, occluded, and outward-open conformations. Understanding how the exporter-like importers move substrates in the opposite direction requires structural studies on all the major conformations. To shed light on this, here we report the structure of yersiniabactin importer YbtPQ from uropathogenic Escherichia coli in the occluded conformation trapped by ADP-vanadate (ADP-Vi) at a 3.1 Å resolution determined by cryo-electron microscopy. The structure shows unusual local rearrangements in multiple helices and loops in its transmembrane domains (TMDs). In addition, the dimerization of the nucleotide-binding domains (NBDs) promoted by the vanadate trapping is highlighted by the “screwdriver” action at one of the two hinge points. These structural observations are rare and thus provide valuable information to understand the structural plasticity of the exporter-like ABC importers. Full article

Since musculoskeletal disorders are one of the most common work-related diseases for assemblers and machine operators, it is crucial to find new ways to alleviate the physical load on workers. Support systems such as exoskeletons or handheld power tools are promising technology to reduce the physical load on the humans. The development of such systems requires consideration of the interactions between human and technical systems. The physical relief effect of the exoskeleton can be demonstrated in experimental studies or by simulation with the digital human model (DHM). For the digital development of these support systems, an application-oriented representation of the workload is necessary. To facilitate digital development, an application-oriented workload model (ApOL model) of an overhead working task is presented. The ApOL model determines the load (forces, torques) onto the DHM during an overhead screw-in task using a cordless screwdriver, based on experimental data. The ApOL model is verified by comparing the simulated results to the calculated values from a mathematical model, using experimental data from three participants. The comparison demonstrates successful verification, with a maximum relative mean-absolute-error (rMAE) of the relevant load components at 11.4%. The presented ApOL model can be utilized to assess the impact of cordless screwdriver design on the human workload and facilitate a strain-based design approach for support systems e.g., exoskeletons. Full article

Enhancing the design of bone screw head sockets to prevent stripping and improve the torque required for smooth unscrewing is a significant challenge in orthopedic applications. This research aims to establish a quantitative methodology by integrating mechanical testing with finite element (FE) simulations to determine a safe limitation depth for the screwdriver when engaging with the hexagonal socket, thus avoiding stripped screw heads. A FE model was developed to investigate the biomechanical responses of the screw head design. Five custom-made hexagonal sockets were manufactured, and single load torsional tests were conducted to assess the mechanical performance of the screws and drivers. The results from the mechanical tests were compared with the FE simulations, demonstrating a close agreement and confirming the model’s validity. Furthermore, additional FE models were created to study the impact of manufacturing tolerances on the socket width and screwdriver width. The findings revealed that the maximum torque to failure for the four designs was lower than the margins specified in ISO 6475. Additionally, increasing the depth of the screwdriver led to higher maximum torque values. This research suggests that the technique of screw insertion, specifically the depth of the driver tool within the screw socket, holds greater importance in preventing stripped screw heads than the design and manufacturing width of the bone screw’s hexagonal socket and screwdriver. This confirms the importance of screwdriver engagement inside the bone screw socket to prevent stripped screw heads and sheds light on the added value of maximum torque prediction for future design modifications. Full article

In order to analyse the exposure-response relationship between hand–arm-vibration exposure and the risk of musculoskeletal disorders (MSDs) of upper extremities in an epidemiological case-control study, a database was established to provide technical characteristics such as vibration exposure data and its frequency component measured at workplaces. This hand-arm vibration database consists of over 730 technical tools and devices, whereas 422 devices were used for exposure assessment in the epidemiological case-control study. The devices used were divided into a total of 13 device groups: hammers, grinding machines, compactors, screwdrivers and saws were the most frequently used devices. Full article

When working in different directions, factors such as awkward postures can lead to different physical stresses, which can have an influence on the effects of hand–arm vibrations. In this regard, the individual forces can have an influence on the hand–arm-vibration (HAV). In this context, a force plate can be used to determine the feed force. In the case of different working directions, the measured values determined in this way can lead to misinterpretations if the force direction is not considered correctly. Within the scope of the study, screwdriving activities were carried out using an impact wrench in different working directions by 5 test subjects. In addition to the HAV, the feed force, body posture and muscle activity were recorded and evaluated. The results showed that there was a significantly different load for similar HAV. Full article

The paper suggests a new approach to calibration of a micromechanical inertial measurement unit. The data are collected on a simple rotating turntable with horizontal (or close to) rotation axis. For such a turntable, an electric screwdriver with fairly low rotation rate can be used. The algorithm is based on the Fourier transform applied to the rotation experimental data, implemented as FFT. The frequencies and amplitudes of the spectral peaks are calculated and collected in a small set of data, and calibration is done explicitly with these data. Calibration of an accelerometer triad and choosing the IMU coordinate frame are reduced to approximating the collected data with an ellipsoid in three dimensions. With rotation frequency calculated as the peak frequency of accelerometer readings, calibration of the gyros is a straightforward linear least square problem. The algorithm is purely algebraic, requires no iterations and no initial guess on the parameters, and thus encounters no convergence problems. The algorithm was tested both with simulated and experimental data, with some promising results. Full article

Repetitive overhead work with a heavy load increases the risk for work-related shoulder disorders. Occupational exoskeletons supporting arm elevation are potential solutions to reduce that risk by lowering the physical strains on the shoulder. Many studies have reported a reduction in shoulder stress in various overhead tasks by using such exoskeletons. However, the support demand can vary in each phase of motion as well as in each individual task. This paper presents a laboratory study with five participants to evaluate the influence of the support level of an active shoulder exoskeleton in different motion phases (e.g., arm lifting, screw-in, and arm lowering of two overhead tasks) to identify the potential optimization of support at each phase. Results show that the support level of the exoskeleton should be adapted to the motion phase of the two chosen tasks. A higher support force is desired for the screw phase compared to the arm lifting and lowering phases, and the support level needs to be reduced immediately for arm lowering after the screw phase. The time for switching the support levels can be recognized by the electric current of the screwdriver. Full article

This paper presents a method to include unmodeled dynamics of load or a robot’s end-effector into algorithms for collision detection or general understanding of a robot’s operation context. The approach relies on the application of a previously developed modification of the Dynamic Time Warping algorithm, as well as a universally applicable algorithm for identifying kinematic parameters. The entire process can be applied to arbitrary robot configuration, and it does not require identification of dynamic parameters. The paper addresses the two main categories of contact tasks with unmodelled dynamics, which are determined based on whether the external contact force has a consistent profile in the end effector or base coordinate. Conclusions for representative examples analysed in the paper are applicable to tasks such as load manipulation, press bending, and crimping for the first type of forces and applications such as drilling, screwdriving, snap-fit, bolting, and riveting assembly for the latter category. The results presented in the paper are based on realistic testing with measurements obtained from an industrial robot. Full article