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Enhancing the Versatility and Performance of Soft Robotic Grippers, Hands, and Crawling Robots Through Three-Dimensional-Printed Multifunctional Buckling Joints

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Soft Robotics 2024年第5期11卷 741-754页

作者： Yang, Chih-Wen Ou Yu, Shao-Yi Chan, Che-Wei Tseng, Chien-Yao Cai, Jing-Fang Huang, Han-Pang Juang, Jia-Yang Department of Mechanical Engineering National Taiwan University Taipei Taiwan Department of Mechanical Engineering University of California at Berkeley BerkeleyCA United States Program in Nanoengineering and Nanoscience Graduate School of Advanced Technology National Taiwan University Taipei Taiwan

Soft robotic grippers and hands offer adaptability, lightweight construction, and enhanced safety in human–robot interactions. In this study, we introduce vacuum-actuated soft robotic finger joints to overcome their limitations in stiffness, response, and load-carrying capability. Our design—optimized through parametric design and three-dimensional (3D) printing—achieves high stiffness using vacuum pressure and a buckling mechanism for large bending angles (>90◦) and rapid response times (0.24 s). We develop a theoretical model and nonlinear finite-element simulations to validate the experimental results and provide valuable insights into the underlying mechanics and visualization of the deformation and stress field. We showcase versatile applications of the buckling joints: a three-finger gripper with a large lifting ratio (*96), a five-finger robotic hand capable of replicating human gestures and adeptly grasping objects of various characteristics in static and dynamic scenarios, and a planar-crawling robot carrying loads 30 times its weight at 0.89 body length per second (BL/s). In addition, a jellyfish-inspired robot crawls in circular pipes at 0.47 BL/s. By enhancing soft robotic grippers’ functionality and performance, our study expands their applications and paves the way for innovation through 3D-printed multifunctional buckling joints. © Mary Ann Liebert, Inc.

关键词： Grippers

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Experimental investigation of condensation heat transfer on vertically inclined grooved aluminium surfaces 9

Experimental investigation of condensation heat transfer on ...

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9th European Thermal Sciences Conference, EUROTHERM 2024

作者： Shatskiy, Evgeny Kumavat, Parth S. O'Shaughnessy, Seamus M. Department of Mechanical Manufacturing and Biomedical Engineering Trinity College University of Dublin Ireland

This study details the experimental investigation of surface condensation heat transfer on vertically inclined aluminium surfaces with simple modifications. A bespoke experimental apparatus was constructed to control the saturation conditions inside the condensation chamber where the test surface is located. The degree of subcooling of the test surface was precisely controlled by an external heat exchanger. The meter bar technique was used to evaluate the condensation heat flux. Using distilled water as the working fluid and a plane aluminium test surface as the baseline case, the experimental apparatus was validated by comparison of the determined heat transfer coefficient with Nusselt's model of filmwise condensation on a vertical plane surface, where an excellent agreement was obtained. 7 different aluminium test surfaces were subsequently investigated, each one modified with grooves measuring 0.5mm by 0.5mm (height and width), with a consistent spacing of 0.5mm between them. Groove angles relative to the vertical axis of 0° (180°), 30°, 45°, 60°, 90°, 120°, and 150° were investigated, where grooves were symmetrically mirrored at the centre of each test surface. Results highlighted a significant influence of groove angle on the heat transfer coefficient, with the best-performing sample (150˚) producing a maximum enhancement of 45% and an average enhancement of 34% compared to the baseline test surface over the respective range of subcooling. © Published under licence by IOP Publishing Ltd.

关键词： Heat transfer coefficients

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Effect of Focused Ultrasound on Shear Wave Propagation in Nonlinear Media 4th

Effect of Focused Ultrasound on Shear Wave Propagation in No...

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4th Structural Integrity Conference and Exhibition, SICE 2022

作者： Sabale, Aniket Rizvi, Mohd Suhail Chinthapenta, Viswanath Eranki, Avinash Department of Biomedical Engineering IIT Hyderabad Kandi502285 India Department of Mechanical and Aerospace Engineering IIT Hyderabad Kandi502285 India

ISBN: (纸本)9789819763665

Focused ultrasound (FUS) is an exciting and emerging technology that can ablate or fractionate tissues and is used to treat solid tumors alone or in combination with other therapies. FUS waves at the focus can produce shear waves that can be used to understand the stiffness of the tissue or track treatment progression or completion. Herein, using finite element model (FEM)-based simulations, we test multiple ultrasound frequencies at different focal pressures, producing shear waves in a nonlinear medium. We quantified the displacements and shear stress produced by the shear wave propagation. We observed that for the 0.75 MPa FUS transducer surface pressure, the peak shear stress production was substantially different between 250 and 500 kHz. Furthermore, the time to peak for shear stress waves was lower for the 250 kHz and 0.75 MPa conditions than the 1 MPa condition at 250 kHz and the 1 MPa condition at 500 kHz. In summary, we have developed a framework to evaluate the effect of different FUS transducers in producing shear waves in nonlinear media. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Shear waves

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Effect of linear friction welding process on microstructure evolution,mechanical properties and corrosion behavior of GH4169 superalloy

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Chinese Journal of Aeronautics 2024年第6期37卷 504-520页

作者： Yu SU Xiawei YANG Tingxi MENG Dong WU Rui XU Haiyu XU Wenya LI Shuo YIN State Key Laboratory of Solidification Processing School of Materials Science and EngineeringNorthwestern Polytechnical UniversityXi’an 710072China Department of Mechanical Manufacturing&Biomedical EngineeringParsons BuildingTrinity College DublinThe University of DublinDublin 2Ireland

Linear Friction Welding(LFW)technology was used to realize the welding of GH4169 superalloy,and the effect of welding parameters on the microstructure,mechanical properties and corrosion behavior of the joint was *** results show that there is a positive correlation between the weld hardness and the tensile *** the gradual increase of heat input and welding pressure,the joint quality is gradually improved,but the heat affected zone is not significantly *** smaller the grain size of the weld,the higher the strength and plasticity of the *** the increase of the joint shortening amount,the corrosion resistance of the weld first gradually ***,when the shortening reaches a certain level,the corrosion resistance of the joint becomes little *** the increase of solution temperature,the corrosion current density increases and the polarization impedance *** higher the corrosion temperature,the worse the corrosion resistance of the *** is no significant correlation between the joint strength and the corrosion *** corrosion resistance of the joint can be enhanced without changing the joint mechanical properties by reducing the welding frequency and amplitude or increasing the welding pressure.

关键词： Linear Friction Welding(LFW) GH4169 superalloy Microstructure mechanical properties Corrosion behavior

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Heat Transfer in Laparoscopic Trocar System: Analytical and Numerical Study

Heat Transfer in Laparoscopic Trocar System: Analytical and ...

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18th International Joint Conference on biomedical engineering Systems and Technologies, BIOSTEC 2025

作者： Al Tahhan, Mohammad Al Amin Salameh, Wassim Shaito, Ali Cherry, Ali Berro, Soumaya Hajj-Hassan, Mohamad Department of Mechanical Engineering Lebanese International University Bekaa Lebanon Department of Mechanical Engineering The International University of Beirut Beirut Lebanon Department of Biomedical Engineering The International University of Beirut Beirut Lebanon Department of Biomedical Engineering Lebanese International University Bekaa Lebanon

In laparoscopic surgeries, CO2 insufflation through a trocar system is required to fill the abdominal or pelvic cavity and provide a working space for the surgeon. The problem arises from the heat loss from the CO2 gas to the surroundings of the trocar since it results in a temperature difference between the entering CO2 and the temperature of the patient’s body, which results in fog formation on the camera lens, blocking the surgeon’s vision. This heat loss occurs by convection between the flowing fluid inside and outside the trocar and by conduction through the trocar’s cannula. The primary objective of this research is to investigate the heat loss of CO2 through the trocar cannula for different materials. These materials should meet specific requirements in order to be used in such surgery. The requirements are biocompatibility, transparency, eco-friendliness, and solid state. The selected materials are PET, PVDF, PEI, PEEK, and PC. Heat transfer and finite element analysis case studies were investigated to observe internal fluid flow behavior for velocity profile and temperature distribution. Then, a model was created and simulated on ANSYS workbench using proper boundary conditions that match real-life conditions. Comparative studies were done using ANSYS for the velocity profile, mean temperature distribution, axial temperature distribution, and radial temperature distribution of CO2. The simulated results showed that PVDF was the best material to be used in the composition of the trocar’s cannula since it resisted the most heat transfer, followed by PC, PET, PEEK, and PEI, respectively. © 2025 by SCITEPRESS– Science and Technology Publications, Lda.

关键词： Laparoscopy

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Development of a Lightweight Real-Time Application for Dynamic Hand Gesture Recognition 20

Development of a Lightweight Real-Time Application for Dynam...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Yusuf, Oluwaleke Habib, Maki Program Department of Mechanical Engineering Cairo Egypt

ISBN: (纸本)9798350320831

Hand Gesture Recognition (HGR) is a form of perceptual computing with applications in human-machine interaction, virtual/augmented reality, and human behavior analysis. Within the HGR domain, several frameworks have been developed with different combinations of input modalities and network architectures with varying levels of efficacy. Such frameworks maximized performance at the expense of increased hardware and computational requirements. These drawbacks can be tackled by transforming the relatively complex dynamic hand gesture recognition task into a simpler image classification task. This paper presents a skeleton-based HGR framework that implements data-level fusion for encoding spatiotemporal information from dynamic gestures into static representational images. Said static images are subsequently processed by a custom, end-to-end trainable multi-stream CNN architecture for gesture classification. Our framework reduces the hardware and computational requirements of the HGR task while remaining competitive with the state-of-the-art on the CNR, FPHA, LMDHG, SHREC2017, and DHG142S benchmark datasets. We demonstrated the practical utility of our framework by creating a lightweight real-time application that makes use of skeleton data extracted from RGB video streams captured by a standard inbuilt PC webcam. The application operates successfully with minimal CPU and RAM footprint while achieving 93.46% classification accuracy with approximately 2s latency at 15 frames per second. © 2023 IEEE.

关键词： Network architecture

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Optical sectioning methods in three-dimensional bioimaging

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Light(Science & Applications) 2025年第1期14卷 47-74页

作者： Jing Zhang Wei Qiao Rui Jin Hongjin Li Hui Gong Shih-Chi Chen Qingming Luo Jing Yuan Britton Chance Center for Biomedical Photonics Wuhan National Laboratory for OptoelectronicsHuazhong University of Science and TechnologyWuhanChina MoE Key Laboratory for Biomedical Photonics Innovation InstituteHuazhong University of Science and TechnologyWuhanChina Hong Kong Center for Cerebro-Cardiovascular Health Engineering N.THong KongChina Department of Biomedical Engineering City University of Hong KongHong KongChina HUST-Suzhou Institute for Brainsmatics SuzhouChina Department of Mechanical and Automation Engineering The Chinese University of Hong KongShatinN.T.Hong KongChina School of Biomedical Engineering Hainan UniversityHaikouChina

In recent advancements in life sciences,optical microscopy has played a crucial role in acquiring high-quality three-dimensional structural and functional ***,the quality of 3D images is often compromised due to the intense scattering effect in biological tissues,compounded by several issues such as limited spatiotemporal resolution,low signal-to-noise ratio,inadequate depth of penetration,and high *** various optical sectioning techniques have been developed to address these challenges,each method adheres to distinct imaging principles for specific *** a result,the effective selection of suitable optical sectioning techniques across diverse imaging scenarios has become crucial yet *** paper comprehensively overviews existing optical sectioning techniques and selection guidance under different imaging ***,we categorize the microscope design based on the spatial relationship between the illumination and detection axis,i.e.,on-axis and *** classification provides a unique perspective to compare the implementation and performances of various optical sectioning ***,we integrate selected optical sectioning methods on a custom-built off-axis imaging system and present a unique perspective for the future development of optical sectioning techniques.

关键词： illumination intense integrate

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Enhancing Early Detection of Diabetes Using Machine Learning Algorithms 1

Enhancing Early Detection of Diabetes Using Machine Learning...

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1st International Conference on Innovative engineering Sciences and Technological Research, ICIESTR 2024

作者： Saeed, Atiqa Ajmal, Hafiz Muhammad Salman Khan, Muhammad Umair Ahmad Toor, Waqas Tariq Nust School of Mechanical and Manufacturing Engineering Department of Biomedical Engineering Islamabad Pakistan Uet Lahore Department of Biomedical Engineering Narowal Campus Narowal Pakistan UET Lahore Department of Electrical Engineering Narowal Campus Narowal Pakistan

ISBN: (纸本)9798350348637

Diabetes mellitus, a chronic metabolic disorder, presents a significant global health problem with increasing prevalence. Early detection of disease is crucial for effective management and the prevention of complications. This research investigates the application of machine learning (ML) algorithms in diabetes prediction, to assess their effectiveness through analysis of a diverse dataset of 2000 individuals. Numerous ML techniques are used in this study, such as Naive Bayes, Logistic Regression, Support Vector Machine, Random Forest, K-Nearest Neighbors, and Gradient Boosting. The dataset goes through appropriate preprocessing, data classification, and model building. Evaluation metrics include accuracy, receiver operating characteristic - area under the curve (ROC AUC), and interpretability of the models. The results demonstrate varied performance across algorithms. Random Forest emerged as the most successful, achieving 94.2% accuracy and a robust ROC-AUC of 92.1%. Logistic Regression and SVM exhibit moderate performance, while KNN and Gradient Boosting show notable improvements. The study contributes to understanding ML's role in diabetes prediction and emphasizes the importance of model selection in healthcare analytics. © 2024 IEEE.

关键词： Adversarial machine learning

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Effect of Force Field Direction on Elongation of Myoblast 14

Effect of Force Field Direction on Elongation of Myoblast

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14th International Multi-Conference on Complexity, Informatics and Cybernetics, IMCIC 2023

作者： Hashimoto, Shigehiro Kishimoto, Kazuya Biomedical Engineering Department of Mechanical Engineering Kogakuin University Tokyo1638677 Japan

ISBN: (纸本)9781950492718

The effect of force field on elongation of a cell has been studied in vitro. The stripe-pattern ridges (0.7 μm height, 3 μm width, and 3 μm interval) was made on the surface of the scaffold plate. Variation was made on the angle between the longitudinal direction of the ridge and the direction of the force field by centrifuge: 0 degrees, 45 degrees, and 90 degrees. Myoblast (C2C12: mouse myoblast cell line) was used in the experiment. After the centrifugation of 50 G or 100 G for 5 hours, the behavior of each cell (migration velocity, rate of area change, and length including pseudopodia) has been tracked by the microscopic time-lapse two-dimensional projected images for 200 minutes. Every cell made elongation along the stripe-pattern ridges. Experimental results show relatively low activity of cell elongation in the 0 degrees region. The results would be applied to accelerate the formation of engineered tissues. © 2023 Proceedings IMCIC - International Multi-Conference on Complexity, Informatics and Cybernetics.

关键词： Cell culture

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Biodegradable WE43 Mg alloy/hydroxyapatite interpenetrating phase composites with reduced hydrogen evolution

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Bioactive Materials 2024年第12期42卷 519-530页

作者： Lenka Drotarova Karel Slamecka Tomas Balint Michaela Remesova Radovan Hudak Jozef Zivcak Marek Schnitzer Ladislav Celko Edgar B.Montufar Central European Institute of Technology Brno University of TechnologyPurkynova 123Brno61200Czech Republic Faculty of Mechanical Engineering Brno University of TechnologyTechnicka 2Brno 61669Czech Republic Department of Biomedical Engineering and Measurement Faculty of Mechanical EngineeringTechnical University of KosiceLetna 9Kosice04200Slovakia

Biodegradable magnesium implants offer a solution for bone repair without the need for implant ***,concerns persist regarding peri-implant gas accumulation,which has limited their widespread clinical ***,there is a need to minimise the mass of magnesium to reduce the total volume of gas generated around the *** porosity is a direct approach to reducing the mass of the implants,but it also decreases the strength and degradation *** study demonstrates that the infiltration of a calcium phosphate cement into an additively manufactured WE43 Mg alloy scaffold with 75% porosity,followed by hydrothermal treatment,yields biodegradable magnesium/hydroxyapatite interpenetrating phase composites that generate an order of magnitude less hydrogen gas during degradation than WE43 *** enhanced degradation resistance results from magnesium passivation,allowing osteoblast proliferation in indirect contact with ***,the composites exhibit a compressive strength 1.8 times greater than that of the scaffolds,falling within the upper range of the compressive strength of cancellous *** results emphasise the potential of the new biodegradable interpenetrating phase composites for the fabrication of temporary osteosynthesis *** cement hardening and magnesium passivation during hydrothermal processing is crucial for achieving both high compressive strength and low degradation rate.

关键词： Magnesium Biodegradable metal Calcium phosphate cement Hydroxyapatite Composite

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