Current Issue : October-December Volume : 2021 Issue Number : 4 Articles : 5 Articles
When legged robots walk on rugged roads, they would suffer from strong impact from the ground. The impact would cause the legged robots to vibrate, which would affect their normal operation. Therefore, it is necessary to take measures to absorb impact energy and reduce vibration. As an important part of a goat’s foot, the hoof capsule can effectively buffer the impact from the ground in the goat’s running and jumping. The structure of the hoof capsules and its principle of buffering and vibration reduction were studied. Inspired by the unique shape and internal structure of the hoof capsules, a bionic foot was designed. Experimental results displayed that the bionic foot could effectively use friction to consume impact energy and ensured the stability of legged robot walking. In addition, the bionic foot had a lower natural vibration frequency, which was beneficial to a wide range of vibration reduction. This work brings a new solution to the legged robot to deal with the ground impact, which helps it adapt to a variety of complex terrain....
Due to the unclear application scenarios and force analysis of exoskeletons, there exists a research gap in exoskeleton design. This paper presents a design method and realization of an exoskeleton for a specific scenario of lifting a load in situ. Firstly, the lifting motion process and its data were collected based on a 3-D motion capture system and dynamometer treadmill system. Then, the variations of the torque and motion of each joint were obtained from the data analysis, based on which an active assistance mode for upper limbs and a passive assistance mode for lower limbs were demonstrated. In this design, the hydraulic cylinder for shoulder assistance, the motor for elbow assistance, and the spring for lower limb assistance were calculated and selected according to the motion and torque of each joint. Finally, subjective and objective methods were used to evaluate the exoskeleton based on the results of five test participants, and the median oxygen consumption of the whole test by lifting a load ten times with the assistance was found to be reduced by 9.45% as compared with that in the absence of the exoskeleton....
Artificial finger joint design has been developed through different stages through the past. PIP (proximal interphalangeal) and MCP (metacarpophalangeal) artificial finger joints have come to replace the amputation and arthrodesis options; although, these artificial joints are still facing challenges related to reactive tissues, reduced range of motion, and flexion and extension deficits. Swanson silicone artificial finger joints are still common due to the physician’s preferability of silicone with the dorsal approach during operation. Nevertheless, other artificial finger joints such as the pyrocarbon implant arthroplasty have also drawn the interests of practitioners. Artificial finger joint has been classified under three major categories which are constrained, unconstrained, and linked design. There are also challenges such as concerns of infections and articular cartilage necrosis associated with attempted retention of vascularity. In addition, one of the main challenges facing the silicone artificial finger joints is the fracture occurring at the distal stem with the hinge. The aim of this paper is to review the different artificial finger joints in one paper as there are few old review papers about them. Further studies need to be done to develop the design and materials of the pyrocarbon and silicone implants to increase the range of motion associated with them and the fatigue life of the silicone implants....
In this paper, the structural and photochemical properties of a monolithic photochemical diode are discussed. The present structure is composed, from the top to the bottom, of a TiO2 nanowire layer, a TiO2 film, a Ti foil, and a porous layer made of Pt nanoparticles. The synthesis of the nanowires was simply carried out by Au-catalysed-assisted process; the effects of the annealing temperature and time were deeply investigated. Morphological and structural characterizations were performed by scanning electron microscopy and Raman spectroscopy. The analyses showed the rutile structure of the TiO2 nanowires. The photocatalytic properties were studied through the degradation of methylene blue (MB) dye under UV light irradiation. The nanowires induced an enhancement of the photo-degradation rate, compared to TiO2 in a bulk form, due to an increase in the surface area. Moreover, the presence of a nano-porous Pt layer deposited on the rear side of the samples provided a further increase in the MB degradation rate, related to the scavenging effect of Pt nanoparticles. The overall increment of the photo-activity, due to the nano-structuration of the TiO2 and to the presence of the Pt layer, resulted a factor 7, compared to the bulk reference. In addition, photovoltage measurements allowed to assess the effects of TiO2 nano-structuration and Pt nanoparticles on the electron accumulation....
The application of nanopatterned electrode materials is a promising method to improve the performance of thin-film optoelectronic devices such as organic light-emitting diodes (OLEDs) and organic photovoltaics. Light coupling to active layers is enhanced by employing nanopatterns specifically tailored to the device structure. A range of different nanopatterns is typically evaluated during the development process. Fabrication of each of these nanopatterns using electron-beam lithography is time- and cost-intensive, particularly for larger-scale devices, due to the serial nature of electron beam writing. Here, we present a method to generate nanopatterns of varying depth with different nanostructure designs from a single one-dimensional grating template structure with fixed grating depth. We employ multiple subsequent steps of UV nanoimprint lithography, curing, and ion beam etching to fabricate greyscale two-dimensional nanopatterns. In this work, we present variable greyscale nanopatterning of the widely used electrode material indium tin oxide. We demonstrate the fabrication of periodic pillar-like nanostructures with different period lengths and heights in the two grating directions. The patterned films can be used either for immediate device fabrication or pattern reproduction by conventional nanoimprint lithography. Pattern reproduction is particularly interesting for the large-scale, cost-efficient fabrication of flexible optoelectronic devices....
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