Materials Literature
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We discuss the capabilities of continuum (continuous backbone) robot structures in the performance of under-actuated grasping. Continuum robots offer the potential of robust grasps over a wide variety of object classes, due to their ability to adapt their shape to interact with the environment via non-local continuum…
The effect of shear viscosity on taste and mouthfeel perception has been extensively studied; however, the effect of extensional viscosity on sensory perception has been mostly neglected. This may be important as in-mouth processing is complex and probably best described as a superposition of shear and extensional flo…
This paper introduces a static model of a three-degree-of-freedom underactuated finger. The model includes all static forces, namely actuation forces, return forces and gravity. All geometric and static parameters can be freely changed (pulley radius, member's mass, etc.). Hence, the model allows complete static simul…
This paper evaluates the use of lightweight aggregates (LWA), namely perlite (PER) and vermiculite (VER) in cement mortars. The workability of mortars was defined in rheometer and flow table tests. Three distinct LWA levels were added (0 - 3, 4.5 - 7, and 9- 10.5 wt%) requiring the use of distinct water/solids (W/S) r…
This study focuses on the design and analysis of underactuated robotic hands that use tendons and compliant joints to enable passive mechanical adaptation during grasping tasks. We use a quasistatic equilibrium formulation to predict the stability of a given grasp. This method is then used as the inner loop of an opti…
Underactuation as a method of driving prosthetic hands has a long history. The pragmatic requirements of such a device to be light enough to be worn and used regularly have meant that any multi degree of freedom prosthetic hand must have fewer actuators than the usable degrees of freedom. Aesthetics ensures that while…
This paper presents the kinematic design of an abduction mechanism for the fingers of an underactuated anthropomorphic robotic hand. This mechanism will enhance the range of feasible grasps of the underactuated hand without significantly increasing its complexity. The analysis of the link between the index finger and…
The property of form-closure of a grasp, as generally defined in the literature, is based on the assumption that contact points between the hand and the object are fixed in space. However, this assumption is false when considering a grasp exerted by an underactuated hand, since in this case, it is not possible to cont…
In light of technological advances, researchers have lost sight of robotic grippers/end effectors design intent. In a semi-structured environment the biomimetic approach is impractical due to the high complexity of the mechanism and control algorithms. Current industrial grippers are robust, but lack the flexibility t…
This paper presents an experimental study of the rheological behaviour of water-in-oil mixtures without any additive, up to 10 % of mass water concentration, where the mixture is considered to be a Newtonian fluid. The selected oil is a classical turbine mineral oil. Viscosity was measured for five temperatures, rangi…
Given an underactuated tendon-driven finger, the finger posture is underdetermined and can move freely ("flop") in a region of slack tendons. This work shows that such an underactuated finger can be operated in tendon force control (rather than position control) with effective performance. The force control eliminates…
The Delft Hand 2 (DH-2) is an underactuated robot hand meant for industrial applications, having six degrees of freedom (DoF), one actuator (DoA) and no sensors. It was designed to provide a cheap and robust hand to grasp a large range of objects without damaging them. The goal of this paper is to assess the design an…
In this paper, the kinematostatic and the quasi-static models of parallel mechanisms are applied to underactuated mechanisms. Both models are extended to the cases for which the actuated joints are not kinematically independent, and for which the external loads are function of the configuration of the mechanism, the g…
All in a spin: Thermal-driven cis-to-trans supramolecular isomerization was first discovered in a two-dimensional coordination polymer system of [FeII(2,4-bpt)2]⋅xH2O, the spin-crossover properties of which were dramatically changed from a gradual incomplete type to an abrupt complete type.
Abstract Heteroporphyrins resulted from the replacement of one or two pyrrolic nitrogens with other hetero atoms such as O, S, Se and Te possess very interesting and distinct properties compared to tetrapyrrolic porphyrins. Specially, the singlet state energy levels can be fine tuned with suitable modification of porp…
Silicon membranes with highly uniform nanopore sizes fabricated using microelectromechanical systems (MEMS) technology allow for the development of miniaturized implants such as those needed for renal replacement therapies. However, the blood compatibility of silicon has thus far been an unresolved issue in the use of…
In mobile systems, the demand for the energy saving continues to require a low power memory sub-system. During the last decade, the floating-gate flash mem ory has been an indispensable low power memory solution. However, NOR flash memory has begun to show difficulties in scaling due to the device's reliability and yi…
To move to a fusion DEMO power plant after ITER, a Fusion Nuclear Science Facility (FNSF) is needed in addition to ITER and research in operating tokamaks and those under construction. The FNSF will enable research on how to utilize and deal with the products of fusion reactions, addressing such issues as how to extra…
A promising therapy for retinal diseases is to employ biodegradable scaffolds to deliver retinal progenitor cells (RPCs) for repairing damaged or diseased retinal tissue. In the present study, cationic chitosan-graft-poly(ɛ-caprolactone)/polycaprolactone (CS-PCL/PCL) hybrid scaffolds were successfully prepared by elec…