Examinando por Materia "exoskeleton"

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    Contributions of intermolecular bonding and lubrication to the mechanical behavior of a natural armor
    (ELSEVIER SCI LTD, 2020-01-01) Jiang, H.; Ghods, S.; Weller, E.; Waddell, S.; Ossa, E.A.; Yang, F.; Arola, D.; Jiang, H.; Ghods, S.; Weller, E.; Waddell, S.; Ossa, E.A.; Yang, F.; Arola, D.; Universidad EAFIT. Departamento de Ingeniería de Producción; Materiales de Ingeniería
    Among many dermal armors, fish scales have become a source of inspiration in the pursuit of “next-generation” structural materials. Although fish scales function in a hydrated environment, the role of water and intermolecular hydrogen bonding to their unique structural behavior has not been elucidated. Water molecules reside within and adjacent to the interpeptide locations of the collagen fibrils of the elasmodine and provide lubrication to the protein molecules during deformation. We evaluated the contributions of this lubrication and the intermolecular bonding to the mechanical behavior of elasmodine scales from the Black Carp (Mylopharyngodon piceus). Scales were exposed to polar solvents, followed by axial loading to failure and the deformation mechanisms were characterized via optical mechanics. Displacement of intermolecular water molecules by liquid polar solvents caused significant (p = 0.05) increases in stiffness, strength and toughness of the scales. Removal of this lubrication decreased the capacity for non-linear deformation and toughness, which results from the increased resistance to fibril rotations and sliding caused by molecular friction. The intermolecular lubrication is a key component of the “protecto-flexibility” of scales and these natural armors as a system; it can serve as an important component of biomimetic-driven designs for flexible armor systems. Statement of Significance: The natural armor of fish has become a topic of substantial scientific interest. Hydration is important to these materials as water molecules reside within the interpeptide locations of the collagen fibrils of the elasmodine and provide lubrication to the protein molecules during deformation. We explored the opportunity for tuning the mechanical behavior of scales as a model for next-generation engineering materials by adjusting the extent of hydrogen bonding with polar solvents and the corresponding interpeptide molecular lubrication. Removal of this lubrication decreased the capacity for non-linear deformation and toughness due to an increase in resistance to fibril rotations and sliding as imparted by molecular friction. We show that intermolecular lubrication is a key component of the “protecto-flexibility” of natural armors and it is an essential element of biomimetic approaches to develop flexible armor systems. © 2020 Acta Materialia Inc.
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    Upper limb posture estimation in robotic and virtual reality-based rehabilitation
    (HINDAWI PUBLISHING CORPORATION, 2014-07-08) Cortés C; Ardanza A; Molina-Rueda F; Cuesta-Gómez A; Unzueta L; Epelde G; Ruiz OE; De Mauro A; Florez J; Universidad EAFIT. Departamento de Ingeniería Mecánica; Laboratorio CAD/CAM/CAE
    New motor rehabilitation therapies include virtual reality (VR) and robotic technologies. In limb rehabilitation, limb posture is required to (1) provide a limb realistic representation in VR games and (2) assess the patient improvement. When exoskeleton devices are used in the therapy, the measurements of their joint angles cannot be directly used to represent the posture of the patient limb, since the human and exoskeleton kinematic models differ. In response to this shortcoming, we propose a method to estimate the posture of the human limb attached to the exoskeleton. We use the exoskeleton joint angles measurements and the constraints of the exoskeleton on the limb to estimate the human limb joints angles. This paper presents (a) the mathematical formulation and solution to the problem, (b) the implementation of the proposed solution on a commercial exoskeleton system for the upper limb rehabilitation, (c) its integration into a rehabilitation VR game platform, and (d) the quantitative assessment of the method during elbow and wrist analytic training. Results show that this method properly estimates the limb posture to (i) animate avatars that represent the patient in VR games and (ii) obtain kinematic data for the patient assessment during elbow and wrist analytic rehabilitation. © 2014 Camilo Cortés et al.