Saccharomyces Cerevisiae (S. cerevisiae) is a fermenting strain that commonly used in the baking and brewing industries and also used as a probiotic for the prevention and treatment of various diarrhea and related dis...
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The development of microengineered hydrogels has opened up unlimited possibilities for designing complex structures at the microscale. In this study, we constructed an origami-inspired tubular structure with controlle...
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The development of microengineered hydrogels has opened up unlimited possibilities for designing complex structures at the microscale. In this study, we constructed an origami-inspired tubular structure with controlled mechanical buckling based on optically induced electrokinetics(OEK). By inducing a stress gradient in the thickness, a tubular structure can be formed from a poly(ethylene glycol) diacrylate(PEGDA) hydrogel film of various shapes that have been custom fabricated. To achieve an ideal three-dimensional(3D) structure, the amplitude of the tubular structure can be controlled by adjusting the aspect ratios or polymerization time. Furthermore, the tubular structure can be manipulated for the collection and transportation of *** summary, we provide an effective method for designing 3D structures at the micro-nano scale. This forming method holds great potential for achieving various functions in tissue engineering, drug packaging, and transportation in the future.
Implementing aerial transportation systems in real-world scenarios is becoming feasible. Due to the ability to dynamically adjust the distance between quadrotor and cargo, the aerial transportation system with variabl...
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This paper investigates a reconfigurable space manipulator's inverse kinematics (IK) with two lockable passive telescopic links (LPTLs). Depending on these LPTLs' locking state, the manipulator includes free-s...
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Accurate prediction of aeroengine Remaining Useful Life (RUL) is critical for ensuring flight safety, minimizing maintenance costs, and improving operational efficiency. This study proposes a novel model, the Fourier-...
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The intrinsic compliance of soft materials endows soft robots with great advantages to achieve large deformation and adaptive interactions in grasping ***,current soft grippers usually focus on the in-plane large defo...
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The intrinsic compliance of soft materials endows soft robots with great advantages to achieve large deformation and adaptive interactions in grasping ***,current soft grippers usually focus on the in-plane large deformation and load capacity but ignore the effect of out-of-plane external loads,which may lead to instability in practical *** problem calls for stiffness design along multiple directions to withstand not only in-plane interacting forces with objects,but also unexpected outof-plane *** this paper,we design a new type of soft finger by embedding an endoskeleton inside the widely-used PneuNets actuator,and the endoskeleton layout is optimized to achieve a remarkable bending deflection and limited lateral deflection under combined external in-plane and out-of-plane *** on the multi-objective topology optimization approach,the key structural features of the optimized endoskeleton are extracted and *** multi-material soft fingers are fabricated by the silicone compound mold *** and dynamic experiment results validate that the soft gripper with endoskeleton embedded exhibits remarkably improved out-of-plane stiffness,without sacrificing the in-plane bending flexibility,and leads to more stable grasping.
Currently, prosthetic hands can only achieve several prespecified and discrete hand motion patterns from popular myoelectric control schemes using electromyography(EMG) signals. To achieve continuous and stable graspi...
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Currently, prosthetic hands can only achieve several prespecified and discrete hand motion patterns from popular myoelectric control schemes using electromyography(EMG) signals. To achieve continuous and stable grasping within the discrete motion pattern, this paper proposes a control strategy using a customized, flexible capacitance-based proximity-tactile sensor. This sensor is integrated at the fingertip and measures the distance and force before and after contact with an object. During the pregrasping phase, each fingertip’s position is controlled based on the distance between the fingertip and the object to make all fingertips synchronously approach the object at the same distance. Once contact is established, the sensor turns to output the tactile information, by which the contact force of each fingertip is finely controlled. Finally, the method is introduced into the human-machine interaction control for a myoelectric prosthetic hand. The experimental results demonstrate that continuous and stable grasping could be achieved by the proposed control method within the subject’s discrete EMG motion mode. The subject also obtained tactile feedback through the transcutaneous electrical nerve stimulation after contact.
Hybrid joint-space control strategy, where some redundant cables are force control, while other cables perform the length control, has the ability to control the robots with small pose errors, and maintain all ca...
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This paper presents a precision centimeter-range positioner based on a Lorentz force actuator using flexure *** additional digital-to-analog converter and an operational amplifier(op amp)circuit together with a suitab...
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This paper presents a precision centimeter-range positioner based on a Lorentz force actuator using flexure *** additional digital-to-analog converter and an operational amplifier(op amp)circuit together with a suitable controller are used to enhance the positioning accuracy to the nanometer ***,a suitable coil is designed for the actuator based on the stiffness of the flexure guide *** flexure mechanism and actuator performance are then verified with finite element *** on these,a means to enhance the positioning performance electronically is presented together with the control ***,a prototype is fabricated,and the performance is *** positioner features a range of 10 mm with a resolution of 10 *** proposed scheme can be extended to other systems.
This paper presents a general method for dynamic modeling of three-dimensional flexible manipulator with multiple degrees of freedom based on Lagrange’s second kind of dynamic equation. Firstly, the dynamic model of ...
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