Search Results (14)

Campanacci grade III giant cell tumors of the distal radius frequently require en bloc resection to achieve adequate oncologic control. Reconstruction of the resulting defect remains challenging, particularly with respect to preservation of distal radioulnar joint stability and forearm rotation. Although proximal fibular autograft reconstruction is well established, ligamentous stabilization of the distal radioulnar joint is rarely incorporated in oncologic settings. This technical note describes an integrated reconstructive strategy combining proximal fibular autograft with distal oblique bundle reconstruction, illustrated by a representative clinical case. The technique involves segmental en bloc resection of the distal radius followed by reconstruction using an ipsilateral, nonvascularized proximal fibular autograft including the fibular head. Distal radioulnar joint stability is addressed through reconstruction of the distal oblique bundle using an autologous palmaris longus tendon graft. Surgical indications, operative steps, donor site stabilization, and perioperative management are detailed. Functional evolution was assessed using the Musculoskeletal Tumor Society scoring system and range-of-motion measurements. Histopathological examination confirmed negative oncologic margins. Early postoperative events included donor-site common peroneal nerve dysfunction and radiocarpal instability requiring temporary Kirschner wire stabilization. At nine months, the Musculoskeletal Tumor Society score reached 80%, with forearm rotation preserved at 68.8% pronation and 81.3% supination of normal values. Combined osseous and ligamentous reconstruction following distal radius resection is technically feasible and may allow preservation of distal forearm mechanics while maintaining oncologic principles. Broader validation will require application in larger clinical series and longer follow-up. Full article

Continuum joints use structural elastic deformations to enable joint motion, and their intrinsic compliance and inherent mechanical robustness are envisioned for applications in which the robot, the human, and the environment need to be safe during interaction. In particular, the intrinsic compliance makes continuum joints a competitor to soft articulated joints, which require additional integrated spring elements. For soft articulated joints incorporating rigid and soft parts, natural motions have been investigated in robotics research to exploit this energy-efficient motion property for cyclic motions, e.g., locomotion. To the best of the author’s knowledge, there is no robotic system to date that utilizes the natural motion of a continuum joint under periodic excitation. In this paper, the resonant behavior of a tendon-driven continuum joint under periodic excitation of the torsional axis is experimentally investigated in a functional sense. In the experiments, periodic inputs are introduced on the joint side of a tendon driven continuum joint with four tendons. By modulating the pretension of the tendons, both the resonant frequency and the gain can be shifted, from 3 to 4.3 Hz and 2.8 to 1.4, respectively, in the present experimental setup. An application would be the rotation of a humanoid torso, where gait frequencies are synchronized with the resonant frequency of the continuum joint. Full article

Virtual reality technology brings a new experience to human-computer interaction, while wearable force feedback devices can enhance the immersion of users in interaction. This paper proposes a wearable fingertip force feedback device that uses a tendon drive mechanism, with the aim of simulating the stiffness characteristics of objects within virtual scenes. The device adjusts the rotation angle of the torsion spring through a DC motor, and then uses a wire to convert the torque into a feedback force at the user’s index fingertips, with an output force of up to 4 N and a force change rate of up to 10 N/s. This paper introduces the mechanical structure and design process of the force feedback device, and conducts a mechanical analysis of the device to select the appropriate components. Physical and psychological experiments are conducted to comprehensively evaluate the device’s performance in conveying object stiffness information. The results show that the device can simulate different stiffness characteristics of objects, and users can distinguish objects with different stiffness characteristics well when wearing the force feedback device and interacting with the three-dimensional virtual environments. Full article

This research introduces an advanced robotic finger designed for future generalist robots, closely mimicking the natural structure of the human finger. The incorporation of rarely discussed anatomical structures, including tendon sheath, ligaments, and palmar plates, combined with the usage of anatomically proven 3D models of the finger, give rise to the highly accurate replication of human-like soft mechanical fingers. Benefiting from the accurate anatomy of muscle insertions with the utilization of Shape Memory Alloy (SMA) wires’ muscle-like actuation properties, the bonding in-between the flexor tendons and extensor tendons allows for the realization of the central and lateral band of the finger anatomy. Evaluated using the computer vision method, the proposed robotic finger demonstrates a range of motion (ROM) equivalent to 113%, 87% and 88% of the human dynamic ROM for the DIP, PIP and MCP joints, respectively. The proposed finger possesses a soft nature when relaxed and becomes firm when activated, pioneering a new approach in biomimetic robot design and offering a unique contribution to the future of generalist humanoid robots. Full article

The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we studied how the tendons pull mid-foot bones around the talocrural and subtalar axes. We proposed a hybrid serial-parallel mechanism analogous to the ankle. Then, using screw theory, we synthesized a cable-driven robot with the human ankle in the closed-loop kinematics. We incorporated a draw-wire sensor to measure the axes’ pose and compute the product of exponentials. We also reconfigured the cables to balance the tension and pressure forces using the axis projection on the base and platform planes. Furthermore, we computed the workspace to show that the reconfigurable design fits several sizes. The data used are from anthropometry and statistics. Finally, we validated the robot’s statics with MuJoCo for various cable length groups corresponding to the axes’ range of motion. We suggested a platform adjusting system and an alignment method. The design is lightweight, and the cable-driven robot has advantages over rigid parallel robots, such as Stewart platforms. We will use compliant actuators for enhancing human–robot interaction. Full article

Underwater robots are becoming increasingly important in various fields. Fish robots are attracting attention as an alternative to the screw-type robots currently in use. We developed a compact robot with a high swimming performance by mimicking the anatomical structure of fish. In this paper, we focus on the red muscles, tendons, and vertebrae used for steady swimming of fish. A robot was fabricated by replacing the red muscle structure with shape memory alloy wires and rigid body links. In our previous work, undulation motions with various phase differences and backward quadratically increasing inter-vertebral bending angles were confirmed in the air, while the swimming performance in insulating fluid was poor. To improve the swimming performance, an improved robot was designed that mimics the muscle contractions of mackerel using a pulley mechanism, with the robot named UEC Mackerel. In swimming experiments using the improved robot, a maximum swimming speed of 25.8 mm/s (0.11 BL/s) was recorded, which is comparable to that of other soft-swimming robots. In addition, the cost of transport (COT), representing the energy consumption required for robot movement, was calculated, and a minimum COT of 0.08 was recorded, which is comparable to that of an actual fish. Full article

Soft continuum robots are compliant mechanisms that rely on a deformable structure in order to achieve a desired posture. One of the challenges in designing and controlling this type of robot is to obtain the necessary proprioceptive information without resorting to external sensors, like cameras or 3D positioning devices. This requires a reliable and repeatable sensor that can be embedded in the highly deformable structure, distributed along its length, without imposing a significant change to the overall stiffness. This paper presents design considerations and practical results of estimating the tip position of a soft continuum manipulator module using embedded linear magnetic encoders. Three flexible scales with incremental tracks and a magnetic pole pitch of 2 mm are embedded in the robot structure as passive tendons, and six pairs of Hall effect linear sensors are used to measure the relative displacement between points along the outer surface of the structure. The curvature and tip position are then estimated from these measurements. Results are compared with the ground truth measurement of the tip position provided by a commercial optical tracker system. Average error estimates lower than 2.0 mm, with 8.7 mm peak value, were obtained for a robot module with a motion span of approximately 100 mm. Full article

An exosuit is a wearable robot that assists the muscular strength of a human that wears it by using multiple wires with similar functions to human muscles. This study focuses on the development of a series elastic tendon actuator (SETA) for the actuation of an exosuit. A gait analysis was performed for walking on stairs to deduce the design requirements of SETA, and the necessary performances were then determined based on these requirements. The SETA is designed to assign compliance to rigid wires using linear springs. The deformation in linear springs generated during tension was measured through an encoder to calculate the human robot interaction (HRI) force. By utilizing the HRI force as feedback of an admittance controller, the SETA was capable of providing wire tensions required by an exosuit. The performance of the SETA was verified through series elastic component (SEC) deformation and force control experiments. The SEC deformation increased from 0 to 3.86 mm when the wire tension increased from 0 to 100 N. This force controller demonstrated a slight vibration owing to the mechanical properties of the springs constituting the SEC during the step input; however, the value gradually converged to 100 N. The developed SETA was applied to an exosuit system for supporting knee strength of the elderly when walking on stairs. Full article

Samples of skin, tendons, muscles, and knitwear composed of NiTi wire are studied by uniaxial cyclic tension and stretching to rupture. The metal knitted mesh behaves similar to a superelastic material when stretched, similar to soft biological tissues. The superelasticity effect was found in NiTi wire, but not in the mesh composed of it. A softening effect similar to biological tissues is observed during the cyclic stretching of the mesh. The mechanical behavior of the NiTi mesh is similar to the biomechanical behavior of biological tissues. The discovered superelastic effects allow developing criteria for the selection and evaluation of mesh materials composed of titanium nickelide for soft tissue reconstructive surgery. Full article

An innovative method for prestressing structural elements through the use of shape memory alloys (SMAs) is gaining increasing attention in research as this method does not require the use of mechanical anchorages for tendons. The activation of the memory effect by means of temperature variations (Joule effect) in effect produces high stresses in SMA components attached to concrete components as reported in the literature. This paper presents the work performed for the purpose of prestressing concrete hollow cylinders with the use of nickel–titanium (Ni–Ti) SMA wires. In the tests, a variety of hollow cylinders were made using the same concrete mix and with the same wall thickness (20 mm), but with different external diameters (200 mm, 250 mm, and 300 mm). Their prestressing was achieved by the means of Ni-Ti SMA wires of different diameters (1 mm, 2 mm, and 3 mm) wrapped around the cylinders. Longitudinal and circumferential strain during the thermal activation of the SMA wires by Joule heating was measured using gauges located on the internal surface of the hollow cylinders. The experimental protocol, recorded observations, and discussion of the effectiveness of the prestressing of concrete elements as a function of the test parameters are included in the text in detail. Comments on the conditions for effective prestressing of concrete cylinders with SMA wires are proposed in the conclusions of the paper. Full article

This paper presents the bio-mimetic design approach, the dynamic model, and potential applications for a hybrid soft actuator. The proposed hybrid soft actuator consists of two main parts: a cylinder-shaped rigid core and soft silicone spikes wrapped around the core’s surface. The key idea of the proposed design approach is to mimic the movement of a grass-spike at a functional level by converting the vibration force generated by a small electric motor with a counterweight in the rigid core into a propulsion force produced by the elastic restoration of the spikes. One advantage of this design approach is that the hybrid soft actuator does not need to be tethered by a tube line from an air compressor and is more amenable to fine control. In addition, the hybrid soft actuator can be modularized with a wire and a tubular passage, which in turn work as a linear actuator. The dynamic model of the hybrid soft actuator can be derived by applying Lagrangian mechanics, and unknown system parameters can be identified by the optimization process based on the empirical data. Two applications—an elbow manipulator and a robotic hand grasper—demonstrate the feasibility of the proposed actuator to perform a muscle-tendon action successfully. Full article

The corrosion of prestressing steel in prestressed concrete bridges is a critical issue for bridge maintenance. To assess structures with corroded strands, it is necessary to define the mechanical properties of the strands and their influence on the structural behavior. In this study, corroded strands were taken from external tendons in existing post-tensioned concrete bridges and tested to determine the effects of corrosion on their tensile properties. Empirical equations for the tensile strength and ductility of the corroded strands were proposed using test results. The most corroded wire governs the mechanical properties of the strand. Experiments on prestressed concrete beams with a single corroded strand were conducted to investigate their structural behavior. A reduction in the flexural strength and maximum deformation was observed in these experiments. According to the section loss of a wire in a strand and its location in a beam, the flexural capacity can be evaluated using the proposed equation. The reduced ultimate strain of the corroded strand can be the governing factor of the flexural strength. Full article

The structural integrity of post-tensioning prestressed concrete structures with tendon ducts highly depends on the grouting quality in construction. This paper proposes a real-time approach to monitoring the grouting compactness in tendon ducts using the multi-sensing electro-mechanical impedance (EMI) method. When Lead Zirconate Titanate (PZT) transducers with different pre-selected dimensions are serially connected and mounted on a structure at distributed locations, each PZT provides unique resonance frequency coupled with the local structural physical property. Therefore, the impedance with multiple peaks of the serially connected multiple PZTs can be captured during a single measurement, which significantly simplifies the measurement procedure and reduces the data processing time. In addition, the wiring for the PZT sensors is also simplified. In this research, the feasibility of the proposed method was experimentally and numerically investigated to monitor the grouting compactness in a tendon duct specimen. The 3-dB mean absolute percentage deviation (MAPD) was applied to quantify the variations of the impedance signatures measured from five different grouting levels. Both experimental and numerical results verify the feasibility of using the proposed method for monitoring the grouting compactness in tendon ducts. Full article

It is typically difficult for engineers to detect the tension force of prestressed tendons in concrete structures. In this study, a smart bar is fabricated by embedding a Fiber Bragg Grating (FBG) in conjunction with its communication fiber into a composite bar surrounded by carbon fibers. Subsequently, a smart composite cable is twisted by using six outer steel wires and the smart bar. Given the embedded FBG, the proposed composite cable simultaneously provides two functions, namely withstanding tension force and self-sensing the stress state. It can be potentially used as an alternative to a prestressing reinforcement tendon for prestressed concrete (PC), and thereby provide a solution to detecting the stress state of the prestressing reinforcement tendons during construction and operation. In the study, both the mechanical properties and sensing performance of the proposed composite cable are investigated by experimental studies under different force standing conditions. These conditions are similar to those of ordinary prestressed tendons of a real PC components in service or in a construction stage. The results indicate that the proposed smart composite cable under the action of ultra-high pretension stress exhibits reliable mechanical performance and sensing performance, and can be used as a prestressed tendon in prestressed concrete structures. Full article