Design of a Passive Wearable Device Using an Optimized Mechanical Metamaterial for Mirror Therapy

Mirror Therapy (MT) is an effective therapeutic method used in the rehabilitation of hemiplegics. The effectiveness of this method is improved by employing a bi-modal approach which requires the synchronous movement of the affected and unaffected arm. For this purpose, we describe the design of a wearable device using a Mechanical Metamaterial (MM) that is optimized for the specific user to provide passive assistance of wrist flexion-extension and enable synchronous motion of the affected and unaffected arm during MT.

Learning-Based Motion-Intention Prediction for End-Point Control of Upper-Limb-Assistive Robots

The lack of intuitive and active human-robot interaction makes it difficult to use upper-limb-assistive devices. In this paper, we propose a novel learning-based controller that intuitively uses onset motion to predict the desired end-point position for an assistive robot. A multi-modal sensing system comprising inertial measurement units (IMUs), electromyographic (EMG) sensors, and mechanomyography (MMG) sensors was implemented. This system was used to acquire kinematic and physiological signals during reaching and placing tasks performed by five healthy subjects. The onset motion data of each motion trial were extracted to input into traditional regression models and deep learning models for training and testing. The models can predict the position of the hand in planar space, which is the reference position for low-level position controllers. The results show that using IMU sensor with the proposed prediction model is sufficient for motion intention detection, which can provide almost the same prediction performance compared with adding EMG or MMG. Additionally, recurrent neural network (RNN)-based models can predict target positions over a short onset time window for reaching motions and are suitable for predicting targets over a longer horizon for placing tasks. This study's detailed analysis can improve the usability of the assistive/rehabilitation robots.

Soft, lightweight wearable robots to support the upper limb in activities of daily living: a feasibility study on chronic stroke patients

Stroke can be a devastating condition that impairs the upper limb and reduces mobility. Wearable robots can aid impaired users by supporting performance of Activities of Daily Living (ADLs). In the past decade, soft devices have become popular due to their inherent malleable and low-weight properties that makes them generally safer and more ergonomic. In this study, we present an improved version of our previously developed gravity-compensating upper limb exosuit and introduce a novel hand exoskeleton. The latter uses 3D-printed structures that are attached to the back of the fingers which prevent undesired hyperextension of joints. We explored the feasibility of using this integrated system in a sample of 10 chronic stroke patients who performed 10 ADLs.We observed a significant reduction of 30.3 ± 3.5% (mean ± standard error), 31.2 ± 3.2% and 14.0 ± 5.1% in the mean muscular activity of the Biceps Brachii (BB), Anterior Deltoid (AD) and Extensor Digitorum Communis muscles, respectively. Additionally, we observed a reduction of 14.0 ± 11.5%, 14.7 ± 6.9% and 12.8 ± 4.4% in the coactivation of the pairs of muscles BB and Triceps Brachii (TB), BB and AD, and TB and Pectoralis Major (PM), respectively, typically associated to pathological muscular synergies, without significant degradation of healthy muscular coactivation. There was also a significant increase of elbow flexion angle (12.1±1.5°). These results further cement the potential of using lightweight wearable devices to assist impaired users.

A Microfabricated Dual Slip-Pressure Sensor with Compliant Polymer-Liquid Metal Nanocomposite for Robotic Manipulation

Conventional grippers fall behind their human counterparts as they do not have integrated sensing capabilities. Piezoresistive and capacitive sensors are popular choices because of their design and sensitivity, but they cannot measure pressure and slip simultaneously. It is imperative to measure slip and pressure concurrently. We demonstrate a dual slip-pressure sensor based on a thermal approach. The sensor comprises two concentric microfabricated heaters maintained at constant temperature. An elastic dome, with embedded liquid metal droplets, is placed on top of concentric heaters. Heat transfer between sensor and the object in contact occurs through the elastic dome. This heat transfer causes changes in the power absorbed by the sensor to maintain its temperature and allows for measurement of pressure while identifying slip events. Liquid metal droplets contribute to enhanced thermal conductivity (0.37 W/m-K) and reduced specific heat (0.86 kJ/kg-K) of the polymer without compromising on mechanical properties (Young's modulus-0.5 MPa). For pressure monitoring, sensor measures change in power ratio against increase in applied force, demonstrating a highly linear performance, with a high sensitivity of 0.0356 N^-1 (pressure only) and 0.0189 N^-1 (slip with simultaneous pressure applied). The sensor discriminates between different contact types with a 96% accuracy. Response time of the sensor (60-75 ms) matches the measured response time in human skin. The sensor does not get affected by mechanical vibrations paving way for easy integration with robotic manipulators and prosthetics.

Haptic Manipulation of 3D Scans for Geometric Feature Enhancement

Localisation of geometric features like holes, edges, slots, etc. is vital to robotic planning in industrial automation settings. Low-cost 3D scanners are crucial in terms of improving accessibility, but pose a practical challenge to feature localisation because of poorer resolution and consequently affect robotic planning. In this work, we address the possibility of enhancing the quality of a 3D scan by a manual ’touch-up’ of task-relevant features, to ensure their automatic detection prior to automation. We propose a framework whereby the operator (i) has access to both the actual work-piece and its 3D scan; (ii) evaluates the missing salient features from the scan; (iii) uses a haptic stylus to physically interact with the actual work-piece, around such specific features; (iv) interactively updates the scan using the position and force information from the haptic stylus. The contribution of this work is the use of haptic mismatch for geometric update. Specifically, the geometry from the 3D scan is used to predict haptic feedback at a point on the work-piece surface. The haptic mismatch is derived as a measure of error between this prediction and the real interaction forces from physical contact at that point on the work-piece. The geometric update is driven until the haptic mismatch is minimised. Convergence of the proposed algorithm is first numerically verified on an analytical surface with simulated physical interaction. Error analysis of the surface position and orientations were also plotted. Experiments were conducted using a motion capture system providing sub-mm accuracy in position and a 6 axis F/T sensor. Missing features are successfully detected after the update of the scan using the proposed method in an experiment.

Review of Current Spinal Robotic Orthoses

Osteoporotic spine fractures (OSF) are common sequelae of osteoporosis. OSF are directly correlated with increasing age and incidence of osteoporosis. OSF are treated conservatively or surgically. Associated acute pain, chronic disabilities, and progressive deformities are well documented. Conservative measures include a combination of initial bed rest, analgesia, early physiotherapy, and a spinal brace (orthosis), with the aim for early rehabilitation to prevent complications of immobile state. Spinal bracing is commonly used for symptomatic management of OSF. While traditional spinal braces aim to maintain the neutral spinal alignment and reduce the axial loading on the fractured vertebrae, they are well known for complications including discomfort with reduced compliance, atrophy of paraspinal muscles, and restriction of chest expansion leading to chest infections. Exoskeletons have been developed to passively assist and actively augment human movements with different types of actuators. Flexible, versatile spinal exoskeletons are designed to better support the spine. As new technologies enable the development of motorized wearable exoskeletons, several types have been introduced into the medical field application. We have provided a thorough review of the current spinal robotic technologies in this paper. The shortcomings in the current spinal exoskeletons were identified. Their limitations on the use for patients with OSF with potential improvement strategies were discussed. With our current knowledge of spinal orthosis for conservatively managed OSF, a semi-rigid backpack style thoracolumbar spinal robotic orthosis will reduce spinal bone stress and improve back muscle support. This will lead to back pain reduction, improved posture, and overall mobility. Early mobilization is an important part of management of patients with OSF as it reduces the chance of developing complications related to their immobile state for patients with OSF, which will be helpful for their recovery.

Validation of a novel smart drilling system to monitor bone impedance during transpedicular screw placement: a pilot study

Transpedicular screw placement is a high-risk procedure routinely performed in spine surgery. To decrease the rate of complications, it is necessary to find innovative solutions to assist the surgeon during screw insertion so as to avoid the chance of mispositioning. In this study, we developed a new drilling system able to estimate the mechanical properties of drilled tissues. Several investigations show that cortical bone requires a high level of thrust force and torque during drilling compared to trabecular bone. To implement an algorithm for bony breakthrough detection, a new drilling system has been built together with a mechanical support to drill the pedicle along a pre-planned trajectory. The mechanical support is equipped with a smart rotative drill that embeds force and position sensors. Ten human vertebral segments have been used to test the surgical platform, for percutaneous bone drilling. 10 transpedicular holes from L1 to L5 have been performed bilaterally. The holes were further evaluated by computed tomographic scans to measure bone density in the cortical and in the trabecular layers. To compare bone density with the bony mechanical impedance two new parameters (DHU and DPAI) have been introduced. The results show that in 18 out of 20 cases the D values of bone density and mechanical impedance, related to the same bone transition, differ less than 10%. The proposed system is thus able to evaluate the variation of bone density of the cortical and the trabecular layer using impedance. Therefore, it is possible to use the described system to increase the accuracy of transpedicular screw placement.

Multi-Compartment 3D-Cultured Organ-on-a-Chip: Towards a Biomimetic Lymph Node for Drug Development

The interaction of immune cells with drugs and/or with other cell types should be mechanistically investigated in order to reduce attrition of new drug development. However, they are currently only limited technologies that address this need. In our work, we developed initial but significant building blocks that enable such immune-drug studies. We developed a novel microfluidic platform replicating the Lymph Node (LN) microenvironment called LN-on-a-chip, starting from design all the way to microfabrication, characterization and validation in terms of architectural features, fluidics, cytocompatibility, and usability. To prove the biomimetics of this microenvironment, we inserted different immune cell types in a microfluidic device, which showed an in-vivo-like spatial distribution. We demonstrated that the developed LN-on-a-chip incorporates key features of the native human LN, namely, (i) similarity in extracellular matrix composition, morphology, porosity, stiffness, and permeability, (ii) compartmentalization of immune cells within distinct structural domains, (iii) replication of the lymphatic fluid flow pattern, (iv) viability of encapsulated cells in collagen over the typical timeframe of immunotoxicity experiments, and (v) interaction among different cell types across chamber boundaries. Further studies with this platform may assess the immune cell function as a step forward to disclose the effects of pharmaceutics to downstream immunology in more physiologically relevant microenvironments.

IMU-based assistance modulation in upper limb soft wearable exosuits

Soft exosuits have advantages over their rigid counterparts in terms of portability, transparency and ergonomics. Our previous work has shown that a soft, fabric-based exosuit, actuated by an electric motor and a Bowden cable, reduced the muscular effort of the user when flexing the elbow. This previous exosuit used a gravity compensation algorithm with the assumption that the shoulder was adducted at the trunk. In this investigation, the shoulder elevation angle was incorporated into the gravity compensation control via inertial measurement units (IMUs). We assessed our updated gravity compensation model with four healthy, male subjects (age: $26.2 \pm 1.19$ years) who followed an elbow flexion reference trajectory which reached three amplitudes $(25^{\circ}, 50^{\circ}, 75^{\circ})$ and was repeated at three shoulder angles $(25^{\circ}, 50^{\circ}, 75^{\circ})$. To assess the performance of the exosuit; the smoothness, tracking accuracy and muscle activity were investigated during each motion. We found a reduction of biceps brachii activation (24.3%) in the powered condition compared to the unpowered condition. In addition, there was an improvement in kinematic smoothness (0.83%) and a reduction of tracking accuracy (26.5%) in the powered condition with respect to the unpowered condition. We can conclude that the updated gravity compensation algorithm has increased the number of supported movements by considering the shoulder elevation, which has improved the usability of the device.

Switching Assistance for Exoskeletons During Cyclic Motions

This paper proposes a novel control algorithm for torque-controlled exoskeletons assisting cyclic movements. The control strategy is based on the injection of energy parcels into the human-robot system with a timing that minimizes perturbations, i.e., when the angular momentum is maximum. Electromyographic activity of main flexor-extensor knee muscles showed that the proposed controller mostly favors extensor muscles during extension, with a statistically significant reduction in muscular activity in the range of 10–20% in 60 out of 72 trials (i.e., 83%), while no effect related to swinging speed was recorded (speed variation was lower than 10% in 92% of the trials). In the remaining cases muscular activity increment, when statistically significant, was less than 10%. These results showed that the proposed algorithm reduced muscular effort during the most energetically demanding part of the movement (the extension of the knee against gravity) without perturbing the spatio-temporal characteristics of the task and making it particularly suitable for application in exoskeleton-assisted cyclic motions.

A new surgical positioning system for robotic assisted minimally invasive spine surgery and transpedicular approach to the disc

Minimally Invasive Spine Surgery (MISS) procedures for the treatment of spinal pathologies have experienced exponential growth due to improved techniques and decreased trauma to the patient. Several MISS procedures that require the use of a trans-pedicular cannula as a guiding tool for pedicle screw placement, delivery of biomaterials to the vertebral body or injection of biologics to the disc space have been described. Although these are clear advantages of MISS, the limited dissection and exposure may reduce the accuracy and stability of operation and make spine surgeons rely heavily on intraoperative fluoroscopy, raising concerns over the level of radiation exposure. Robot-assisted minimal invasive surgery has aroused more attention for its high precision and stability, minimizing risks of damage to neurovascular structures and diminishing harmful exposure to ionizing radiation. The aim of this paper is to describe and characterize a new surgical positioning system for for robotic assisted MISS. The system is conceived to be integrated in a surgical platform capable of supporting the surgeon in a new procedure to treat degenerative intervertebral disc disease. For this purpose, it is necessary to orientate a cannula in order to guide the bone drill along a planned route, to access the intervertebral disc through the pedicle and endplate. In particular, we describe a mechanism that percutaneously guides a cannula towards the intervertebral disc based on the acquisition of few fluoroscopic images. The design of the positioning system, with its features and constrains imposed by the presence of instrumentation and medical staff in the operating room, as well as the software for trajectory planning during surgery, are here described.

Self-entrainment to optimal gaits of an underactuated biomimetic swimming robot using adaptive frequency oscillators

Underactuated compliant swimming robots are characterized by a simple mechanical structure, capable to mimic the body undulation of many fish species. One of the design issue for these robots is the generation and control of best performing swimming gaits. In this paper we propose a new controller, based on AFO oscillators, to address this issue. After analyzing the effects of the motion on the robot natural frequencies, we show that the closed loop system is able to generate self-sustained oscillations, at a characteristic frequency, while maximizing swimming velocity.

A miniaturized electrolytic pump sensorized with a strain gauge based on thermoplastic nanocomposite for drug delivery systems

In this paper we present a miniature electrolytic pump sensorized with a novel strain sensor to be used as active component of a drug delivery system. It consists of an electrolytic solution reservoir where inert electrodes are immersed. By polarizing the electrodes, the electrolytic reaction is activated and the produced gases (i.e. oxygen and hydrogen) displace an elastic membrane delimiting the electrolytic solution reservoir. In order to measure and monitor the membrane displacement, and therefore the volume of drug ejected, a strain gauge sensor has been prepared using a conductive thermoplastic nanocomposite elastomer (CTPE). The sensor has been fixed on the deformable membrane. The conductive thermoplastic elastomer is a good candidate for this application because of its high sensitivity. Furthermore, the CTPE allows to customize the resistance of the device in order to obtain low power consumption.

A theoretical framework for studying the electromagnetic stimulation of nervous tissue

In this paper we present a model for calculating the electric field, and its spatial derivatives, produced by arbitrarily shaped, oriented and placed coils carrying time-varying currents. The model has been validated by comparing its results with those obtained using FEM simulations. The model provides a simple and fast computation framework to investigate the electromagnetic stimulation of neural tissues. Some example applications are also provided.

An MR-compatible force sensor based on FBG technology for biomedical application

Fiber Bragg Grating (FBG) technology is very attractive to develop sensors for the measurement of thermal and mechanical parameters in biological applications, particularly in presence of electromagnetic interferences. This work presents the design, working principle and experimental characterization of a force sensor based on two FBGs, with the feature of being compatible with Magnetic Resonance. Two prototypes based on different designs are considered and characterized: 1) the fiber with the FBGs is encapsulated in a polydimethylsiloxane (PDMS) sheet; 2) the fiber with the FBGs is free without the employment of any polymeric layer. Results show that the prototype which adopts the polymeric sheet has a wider range of measurement (4200 mN vs 250 mN) and good linearity; although it has lower sensitivity (≈0.1 nm-N(1) vs 7 nm-N(1)). The sensor without polymeric layer is also characterized by employing a differential configuration which allows neglecting the influence of temperature. This solution improves the linearity of the sensor, on the other hand the sensitivity decreases. The resulting good metrological properties of the prototypes here tested make them attractive for the intended application and in general for force measurement during biomedical applications in presence of electromagnetic interferences.

A micro opto-mechanical displacement sensor based on micro-diffraction gratings: design and characterization

A micro opto-mechanical displacement sensor is here presented. It is constituted by a sensing element based on two overlapped micro-diffraction gratings (MDGs). They present a platinum layer (45 nm of thick) on a glass substrate, a period of 525 µm constituted by a width of 150 µm of platinum separated (71.4% duty cycle). The working principle is based on the modulation of light intensity induced by the relative displacement between the MDGs: when a laser light perpendicularly hits the MDGs, the intensity of the transmitted light is a periodic function of the relative displacement between the two MDGs. A fiber optic is used to transport the transmitted light to a photodetector in order to avoid concerns related to the alignment between the optical components. The sensor's output is the ratio between the light intensity measured by the photodetector during the displacement of the MDGs and largest light intensity values measured in the whole range of measurement, therefore, it is lower than 1. The proposed sensor allows to discriminate displacement lower than 10 µm, using a cost effective micro-fabrication process implemented by the technique of Lift-Off. It shows a good linear behaviour in two ranges covering about one half of the MDGs period. Within the linear ranges it shows high sensitivity (about 0.5%/µm) and good accuracy (lower than 4% in the whole range of calibration); furthermore, the results show that a design with a duty cycle of 50% overcomes the marked decrease of sensitivity in a range of measurement corresponding to a grating period.

A smart pill for drug delivery with sensing capabilities

In this paper a novel system for local drug delivery is described. The actuation principle of the micropump used for drug delivery relies on the electrolysis of a water-based solution, which is separated from a drug reservoir by an elastic membrane. The electrolytically produced gases pressurize the electrolytic solution reservoir, causing the deflection of the elastic membrane. Such deflection, in turn, forces the drug out of its reservoir through a nozzle. The proposed system is integrated in a swallowable capsule, equipped with an impedance sensor useful to acquire information on the physiological conditions of the tissue. Such information can be used to control pump activation.

Human-robot interaction tests on a novel robot for gait assistance

This paper presents tests on a treadmill-based non-anthropomorphic wearable robot assisting hip and knee flexion/extension movements using compliant actuation. Validation experiments were performed on the actuators and on the robot, with specific focus on the evaluation of intrinsic backdrivability and of assistance capability. Tests on a young healthy subject were conducted. In the case of robot completely unpowered, maximum backdriving torques were found to be in the order of 10 Nm due to the robot design features (reduced swinging masses; low intrinsic mechanical impedance and high-efficiency reduction gears for the actuators). Assistance tests demonstrated that the robot can deliver torques attracting the subject towards a predicted kinematic status.

Post-human and scientific research: how engineering carried out the project

We start with a definition of robot in order to understand which are legitimate robotics' objectives. Then it is provided an outline of new robot generations and their industrial and biomedical applications. We consider the consequences of this new kind of technology on the notion of intelligence, stressing how the exteroceptive sensor systems provide a new bottom up approach to the AI debate. We consider three challenges Robotics have to face nowadays. First materials and components, which are built with technologies top-down, set huge limits in terms of weight, speed, safety and cost, not to mention reliability and durability. Second the methodological aspects: the challenge concerns the management of complexity. How to achieve intelligent and adaptive behaviours out of the control system of the robot, which must remain intrinsically simple? A third issue we address is the cultural one: the unreasonable expectations of the general public often provoked by a misunderstanding of the notion of intelligence itself. We consider then what makes human specifically human from a broader philosophic point of view, pointing out how the will is strangely absent in the AI debate. We show three advantages connected with this different perspective instead of the classical one intellect centered. First, while intellect is not used only by man, will is. Second, desire involves intellect while the reciprocal is not necessarily true. Third, looking at robotics and more specifically to cybernetics the key concept of these fields are control and governance, whereas both of them are specifically relate to the domain of will rather than intellect. We look then into the concept of participation as essential to the understanding of the notion of will, to overcome some roboethics' issues related to the adoption of the still dominant rationalistic paradigm.

Current trends in the design of scaffolds for computer-aided tissue engineering

Advances introduced by additive manufacturing have significantly improved the ability to tailor scaffold architecture, enhancing the control over microstructural features. This has led to a growing interest in the development of innovative scaffold designs, as testified by the increasing amount of research activities devoted to the understanding of the correlation between topological features of scaffolds and their resulting properties, in order to find architectures capable of optimal trade-off between often conflicting requirements (such as biological and mechanical ones). The main aim of this paper is to provide a review and propose a classification of existing methodologies for scaffold design and optimization in order to address key issues and help in deciphering the complex link between design criteria and resulting scaffold properties.

Muscular activity when walking in a non-anthropomorphic wearable robot

Wearable robots should be designed not to alter human physiological motion. Perturbations introduced by a robot can be quantified by measuring EMG activity. This paper presents tests on the LENAR, an intrinsically back-drivable non-anthropomorphic lower limb wearable robot designed to provide hip and knee flexion/extension assistance. In previous works the robot was demonstrated to exhibit low mechanical impedance and to introduce minor alterations to human kinematic patterns during walking. In this paper muscular activity is assessed, demonstrating small alterations in the EMG patterns during the interaction with the robot, in both unpowered and assistive mode.

Human Hand Motion Analysis and Synthesis of Optimal Power Grasps for a Robotic Hand

Biologically inspired robotic systems can find important applications in biomedical robotics, since studying and replicating human behaviour can provide new insights into motor recovery, functional substitution and human-robot interaction. The analysis of human hand motion is essential for collecting information about human hand movements useful for generalizing reaching and grasping actions on a robotic system. This paper focuses on the definition and extraction of quantitative indicators for describing optimal hand grasping postures and replicating them on an anthropomorphic robotic hand. A motion analysis has been carried out on six healthy human subjects performing a transverse volar grasp. The extracted indicators point to invariant grasping behaviours between the involved subjects, thus providing some constraints for identifying the optimal grasping configuration. Hence, an optimization algorithm based on the Nelder-Mead simplex method has been developed for determining the optimal grasp configuration of a robotic hand, grounded on the aforementioned constraints. It is characterized by a reduced computational cost. The grasp stability has been tested by introducing a quality index that satisfies the form-closure property. The grasping strategy has been validated by means of simulation tests and experimental trials on an arm-hand robotic system. The obtained results have shown the effectiveness of the extracted indicators to reduce the non-linear optimization problem complexity and lead to the synthesis of a grasping posture able to replicate the human behaviour while ensuring grasp stability. The experimental results have also highlighted the limitations of the adopted robotic platform (mainly due to the mechanical structure) to achieve the optimal grasp configuration.

Invasive neural interfaces: the perspective of the surgeon

BACKGROUND

By implanting electrodes inside peripheral nerves, amputee's intentions are picked up and exploited to control novel dexterous sensorized hand prostheses. Under the pretext of presenting surgical technique and clinical outcomes of the implant of invasive peripheral neural interfaces in a human amputee, this article critically comments, from the point of view of the surgeon, strengths and weaknesses of the procedure.

MATERIALS AND METHODS

Four multielectrodes were implanted in the medial and ulnar nerves of a young volunteer, which, following a car-crash, had a left transradial amputation. Both nerves were approached with a single incision in the medial aspect of the upper arm. Four weeks later, the electrodes were removed.

RESULTS

Even if the trauma and the postamputation plastic processes altered the anatomy, electrodes were proficiently implanted with an overall success of 66%. Looking at the procedure from the surgeon's viewpoint unveils few still open issues. Electrodes weaknesses were related to the absence of stabilizing structures, the cable transit through the skin, the implant angle, and the unproven magnetic resonance imaging compatibility. Future investigations are needed to definitely address the better anesthesia, number and sites of incisions, the nerves to implant, and the convenience of performing epineural microdissection.

CONCLUSIONS

Invasive neural interfaces developmental process almost completely relies on the efforts of bioengineers and neurophysiologists; however, the surgeon is responsible for intra and perioperative factors. Therefore, he deserves to play a major role also at the stage of specifying the requirements, to satisfy the requisites of a safe, stable, and long-lasting implant.

A micromachined intensity-modulated fiber optic sensor for strain measurements: working principle and static calibration

This paper describes an intensity-modulated fiber optic sensor for strain measurements. The sensing element is a polydimetilsiloxane (PDMS) micro-diffraction grating, 15 mm long, 2 mm thick, with channels 150 µm wide, spaced apart 200 µm. The working principle of the sensor can be summarized as follows: when the sensing element is strained perpendicularly to the grating plane, light passing through the grating undergoes a modulation caused by the phenomenon of diffraction. Since the grating is interposed between a laser source and a fiber optic, the coupled radiation intensity between these two optical elements can be considered as an indirect measure of strain. A static calibration of the measuring system has been performed, showing that the device, with measuring range of about 0.04, is capable to discriminate strain of 0.005 and it presents a sensitivity increase with strain in the whole range of measurements.

Design, Development and Scaling Analysis of a Variable Stiffness Magnetic Torsion Spring

In this paper we report on the design, modeling, experimental testing and scaling analysis of a novel MAgnetic Variable stiffnEess spRIng-Clutch (MAVERIC) device, which may be used as the elastic element of Variable Stiffness Actuators (VSAs). The device, comprising two co-axial diametrically magnetized hollow cylinders, has two degrees of freedom: a rotation of the two cylinders around the common axis and a relative translation along the same axis. For small rotations, the torque arising from the magnetic interaction of the two cylinders is almost linearly proportional to their relative rotation, as in mechanical torsion springs. In addition, the stiffness of the equivalent spring can be varied continuously from a maximum value down to exactly zero by changing the axial overlap of the two cylinders. In this way the proposed device can be used both as a clutch (i.e., perfectly compliant element) and as a variable stiffness torsion spring. A prototype, designed after magnetostatic FEM simulations, has been built and experimentally characterized. The developed MAVERIC has an experimentally determined maximum transmissible torque of 109.81mNm, while the calculated maximum stiffness is 110.2mNmrad−1. The amplitude of the torque-angle characteristic can be tuned linearly with a sensitivity of 12.63mNmmm−1 rad−1. Further simulations have been computed parameterizing the geometry and the number of pole pairs of the magnets. The maximum torque density reached for one pole pair is 47.21 · 103 Nm m−3, whereas for a fixed geometry similar to that of the developed prototype, the maximum torque is reached for seven pole pairs. Overall, compared to mechanical springs, MAVERIC has no fatigue or overloading issues. Compared to other magnetic couplers, torsion stiffness can be varied continuously from a maximum value down to exactly zero, when the device acts as a disengaged clutch, disconnecting the load from the actuator.

Design and Characterization of a Novel High-Power Series Elastic Actuator for a Lower Limb Robotic Orthosis

A safe interaction is crucial in wearable robotics in general, while in assistive and rehabilitation applications, robots may also be required to minimally perturb physiological movements, ideally acting as perfectly transparent machines. The actuation system plays a central role because the expected performance, in terms of torque, speed and control bandwidth, must not be achieved at the expense of lightness and compactness. Actuators embedding compliant elements, such as series elastic actuators, can be designed to meet the above-mentioned requirements in terms of high energy storing capacity and stability of torque control. A number of series elastic actuators have been proposed over the past 20 years in order to accommodate the needs arising from specific applications. This paper presents a novel series elastic actuator intended for the actuation system of a lower limb wearable robot, recently developed in our lab. The actuator is able to deliver 300 W and has a novel architecture making its centre of mass not co-located with its axis of rotation, for an easier integration into the robotic structure. A custom-made torsion spring with a stiffness of 272.25 N·m·rad–1 is directly connected to the load. The delivered torque is calculated from the measurement of the spring deflection, through two absolute encoders. Testing on torque measurement accuracy and torque/stiffness control are reported.

Dynamic Characterization and Interaction Control of the CBM-Motus Robot for Upper-Limb Rehabilitation

This paper presents dynamic characterization and control of an upper-limb rehabilitation machine aimed at improving robot performance in the interaction with the patient. An integrated approach between mechanics and control is the key issue of the paper for the development of a robotic machine with desirable dynamic properties. Robot inertial and acceleration properties are studied in the workspace via a graphical representation based on ellipses. Robot friction is experimentally retrieved by means of a parametric identification procedure. A current-based impedance control is developed in order to compensate for friction and enhance control performance in the interaction with the patient by means of force feedback, without increasing system inertia. To this end, servo-amplifier motor currents are monitored to provide force feedback in the interaction, thus avoiding the need for force sensors mounted at the robot end-effector. Current-based impedance control is implemented on the robot; experimental results in free space as well as in constrained space are provided.

Experimental characterization of a flexible thermal slip sensor

Tactile sensors are needed for effectively controlling the interaction between a robotic hand and the environment, e.g., during manipulation of objects, or for the tactile exploration of unstructured environments, especially when other sensing modalities, such as vision or audition, become ineffective. In the case of hand prostheses, mainly intended for dexterous manipulation of daily living objects, the possibility of quickly detecting slip occurrence, thus avoiding inadvertent falling of the objects, is prodromal to any manipulation task. In this paper we report on a slip sensor with no-moving parts, based on thermo-electrical phenomena, fabricated on a flexible substrate and suitable for integration on curved surfaces, such as robotic finger pads. Experiments performed using a custom made test bench, which is capable of generating controlled slip velocities, show that the sensor detects slip events in less than 50 ms. This response time is short enough for enabling future applications in the field of hand prosthetics.

Design of a rotary passive viscoelastic joint for wearable robots

In the design of wearable robots that strictly interact with the human body and, in general, in any robotics application that involves the human component, the possibility of having modular joints able to produce a viscoelastic behaviour is very useful to achieve an efficient and safe human-robot interaction and to give rise to emergent dynamical behaviors. In this paper we propose the design of a compact, passive, rotary viscoelastic joint for assistive wearable robotics applications. The system integrates two functionally distinct sub-modules: one to render a desired torsional stiffness profile and the other to provide a desired torsional damping. Concepts and design choices regarding the overall architecture and the single components are presented and discussed. A viscoelastic model of the system has been developed and the design of the joint is presented.

Optimization of kinetic energy harvesters design for fully implantable Cochlear Implants

Fully implantable Cochlear Implants (CIs) would represent a tremendous advancement in terms of quality of life, comfort and cosmetics, for patients with profound sensorineural deafness. One of the main challenges involved in the development of such implants consists of finding a power supply means which does not require recharging. To this aim an inertial Energy Harvester (EH), exploiting the kinetic energy produced by vertical movements of the head during walking, has been investigated. Compared to existing devices, the EH needs to exploit very low frequency vibrations (<2.5 Hz) with small amplitude (<9 m/s(2)). In order to maximize the power transduced, an optimization method has been developed, which is the objective of this paper. The method consists in calculating the dynamical behavior of the EH using discrete transforms of experimentally measured acceleration profiles. It is shown that the quick integration of the second order dynamical equation allows the use of computationally intensive optimization techniques, such as Genetic Algorithms (GAs). The robustness of the solution is also evaluated.

Energetic analysis for self-powered cochlear implants

Cochlear implants (CIs) are used for compensating the so-called deep sensorineural deafness. CIs are usually powered by rechargeable or long-lasting batteries. In this paper, the feasibility of a fully implanted stand-alone device able to provide the electric power required for stimulating the auditory nerve, without external recharging, is investigated. At first, we demonstrate that the sound wave entering the ear is not a sufficient power source. Then, we propose a solution exploiting the mechanical energy associated to head vibration during walking. The energetic feasibility of this approach is demonstrated based on experimental measurements of head motions. Preliminary considerations on the technical feasibility of a fully implanted energy harvester are finally presented.

ODEs model of foreign body reaction around peripheral nerve implanted electrode

The foreign body reaction that the neural tissue develops around an implanted electrode contributes to insulate the probe and enhances the electrical and mechanical mismatch. It is a complex interaction among cells and soluble mediators and the knowledge of this phenomenon can benefits of formal and analytical methods that characterize the mathematical models. This work offers a lumped component model, described by ordinary differential equations, that taking into account the main geometrical (size, shape, insertion angle) and chemical (coating surface) properties of the implant predict the thickness of the fibrotic capsule in a time frame when the reaction stabilizes. This tool allows to evaluate different hypothetical solutions for accounting the tissue-electrode mismatch.

Graph-based methodology for the kinematic synthesis of wearable assistive robots for the lower limbs

Non-anthropomorphic wearable robots (WRs) give good grounds for expecting advantageous performances over traditional anthropomorphic solutions from both the standpoints of ergonomics and of the dynamical interaction with the human body.

Interfacing insect brain for space applications

Insects exhibit remarkable navigation capabilities that current control architectures are still far from successfully mimic and reproduce. In this chapter, we present the results of a study on conceptualizing insect/machine hybrid controllers for improving autonomy of exploratory vehicles. First, the different principally possible levels of interfacing between insect and machine are examined followed by a review of current approaches towards hybridity and enabling technologies. Based on the insights of this activity, we propose a double hybrid control architecture which hinges around the concept of "insect-in-a-cockpit." It integrates both biological/artificial (insect/robot) modules and deliberative/reactive behavior. The basic assumption is that "low-level" tasks are managed by the robot, while the "insect intelligence" is exploited whenever high-level problem solving and decision making is required. Both neural and natural interfacing have been considered to achieve robustness and redundancy of exchanged information.

Dispensing an enzyme-conjugated solution into an ELISA plate by adapting ink-jet printers

The rapid and precise delivery of small volumes of bio-fluids (from picoliters to nanoliters) is a key feature of modern bioanalytical assays. Commercial ink-jet printers are low-cost systems which enable the dispensing of tiny droplets at a rate which may exceed 10(4) Hz per nozzle. Currently, the main ejection technologies are piezoelectric and bubble-jet. We adapted two commercial printers, respectively a piezoelectric and a bubble-jet one, for the deposition of immunoglobulins into an ELISA plate. The objective was to perform a comparative evaluation of the two classes of ink-jet technologies in terms of required hardware modifications and possible damage on the dispensed molecules. The hardware of the two printers was modified to dispense an enzyme conjugate solution, containing polyclonal rabbit anti-human IgG labelled with HRP in 7 wells of an ELISA plate. Moreover, the ELISA assay was used to assess the functional activity of the biomolecules after ejection. ELISA is a common and well-assessed technique to detect the presence of particular antigens or antibodies in a sample. We employed an ELISA diagnostic kit for the qualitative screening of anti-ENA antibodies to verify the ability of the dispensed immunoglobulins to bind the primary antibodies in the wells. Experimental tests showed that the dispensing of immunoglobulins using the piezoelectric printer does not cause any detectable difference on the outcome of the ELISA test if compared to manual dispensing using micropipettes. On the contrary, the thermal printhead was not able to reliably dispense the bio-fluid, which may mean that a surfactant is required to modify the wetting properties of the liquid.

A micro flow-meter for closed-loop management of biological samples

The closed-loop management of biological samples in &#956;TAS requires proper flow-sensors to be inserted in the hydraulic path. The optimal choice between hybrid mounting and monolithic fabrication depends on several design variables, one of which is the technological compatibility between the sensor and the pumping mechanism. Monolithic integration appears to be the eligible solution if both pumps and sensors can be fabricated with the same technological process. In this paper we show that it is actually possible to fabricate a flow-sensor, based on streaming potential detection, with the same soft-lithographic process used for the fabrication of electroosmotic pumps. The device has been fabricated in PDMS and experimentally tested, showing a good linearity. Finally, its time-varying response, related to the aging of the PDMS surface, is discussed.

Design and development of a miniaturized 2-axis force sensor for tremor analysis during locomotion in small-sized animal models

This work represents a first step towards the development of a sensorised environment for behavioral phenotyping of animal models. In particular, this paper focuses on tremor analysis in reeler mice, an emerging potential animal model for anatomical and behavioral traits observed in autism. Ground Reaction Force (GRF) sensing is indeed the most direct means of measuring tremor. Although force platforms have extensively been used for large size animals, only few attempts have been made to measure GRF at a single paw for animals as small as mice or rats. Under the hypothesis that in-plane GRF components are directly connected to tremor, a small size, low-cost, 2-axis force sensor for measuring the in-plane components of GRF was designed and developed. Special care was paid to allow self-aligned assembly for repeatability and modularity for combining multiple platforms for a sensorised floor. Preliminarily testing was performed with both reeler and wildtype mice. Fourier analysis was deployed to extract information due to tremor, validating the hypothesis of a direct connection between tremor and in-plane GRFs.

Complex Ohmic conductance of electrolytes in rectangular microchannels

Motivated by the interest that microelectrolytic systems are gaining in the development of the so-called lab-on-a-chip systems, i.e., miniature microfluidic devices for biochemical analysis, we present an analytical study of Ohmic conduction in rectangular charged microchannels filled with electrolytic solution. The study complements a previous one [M. Campisi et al., J. Chem. Phys. 123, 204724 (2005)], concerning ac electro-osmosis. The problem is framed within the theory of nonequilibrium thermodynamics and is based on the solution of the incompressible Navier-Stokes equation with an electrical body force due to the interaction of the applied electric field with the charged electric double layer (EDL) which forms at the solid-liquid interface. We analyze in detail the dependence of the system complex conductance on the ratio linear dimensions over Debye length with an eye on finite EDL effects, and compare its scaling properties with those of electrokinetic and hydraulic complex conductances.

ac electroosmosis in rectangular microchannels

Motivated by the growing interest in ac electroosmosis as a reliable no moving parts strategy to control fluid motion in microfluidic devices for biomedical applications, such as lab-on-a-chip, we study transient and steady-state electrokinetic phenomena (electroosmosis and streaming currents) in infinitely extended rectangular charged microchannels. With the aid of Fourier series and Laplace transforms we provide a general formal solution of the problem, which is used to study the time-dependent response to sudden ac applied voltage differences in case of finite electric double layer. The Debye-Huckel approximation has been adopted to allow for an algebraic solution of the Poisson-Boltzmann problem in Fourier space. We obtain the expressions of flow velocity profiles, flow rates, streaming currents, as well as expressions of the complex hydraulic and electrokinetic conductances. We analyze in detail the dependence of the electrokinetic conductance on the extension of linear dimensions relative to the Debye length, with an eye on finite electric double layer effects.

A novel microstructural approach in tendon viscoelastic modelling at the fibrillar level

Novel applications in rehabilitation, surgery and tissue engineering require the knowledge of the mechanical behaviour of the tissues at microstructural level. The aim of this work is to investigate the viscoelastic properties of the tendon from the interaction of its biological constituents in the fibrillar network. Traction, relaxation and creep in-vitro tests have been performed on porcine flexor digital tendons. A viscoelastic constitutive equation at finite deformation is presented. The fibrillar deformation modes are described through a network of adaptive links between collagen type I and decorin. The theoretical predictions fit accurately the experimental data. The results of the model demonstrate the mechanical importance of glycosaminoglycan chains of decorin for the differential recruitment and the activation of fibrillar collagen.

Biomechanical analysis of Oligochaeta crawling

Hydrostatic skeletons, such as that of Oligochaeta and Hirudinea, allow the locomotion of animals with soft segmented bodies. In this paper crawling of Oligochaeta, and in particular that of earthworm (Lumbricus terrestris), is analyzed from a biomechanical point of view, starting from the experimental kinematic description of deformations coupled with a simple friction model. The analysis is able to predict crawling velocity with an error of about 15% with respect to the experimental measured values. Also muscular stress during locomotion is evaluated and found to be compatible with biological values.