The concept of in situ 3D bio-printing was previously reported, while its realization has still encountered with several difficulties. present study aimed to report robotic-assisted technology for cartilage regeneration, and explore potential clinical application. A six-degree-of-freedom (6-DOF) robot introduced this study, a fast tool center point (TCP) calibration method developed improve printing accuracy. bio-ink consisted hyaluronic acid methacrylate acrylate-terminated 4-armed...

The traditional clinical treatment of long segmental bone defects usually requires multiple operations and depends on donor availability. 3D bio-printing technology constitutes a great potential therapeutic tool for such an injury. However, in situ remains major challenge.In this study, we report the repair by using robotic manipulator printer swine model.We systematically optimized bio-ink gelation under physiological conditions to achieve desirable mechanical properties suitable...

The problem of the path planning method is regarded as one key bottlenecks in robotic belt grinding system. It has a significant impact on surface quality processed workpieces with complex surfaces. To improve quality, novel proposed this article, which generates containing both position and orientation for an industrial robot. First, theoretical trajectory obtained by selecting contact points 3-D model calculating inverse solutions B-spline curves. Next, based curvature variation rate curve...

Fiber-reinforced soft actuators have great potential for the development of wearable technology. However, its complex structural design, nonlinear material body, fluid-driven dynamics and high manufacturing costs brought huge challenges to system modeling, control application. To improve this situation, a novel fiber-reinforced actuator is designed analyzed. First, hand rehabilitation device based on with three-air-chamber structure designed. Next, using Yeoh model principle virtual work, we...

The uncertainty of the changes in quality raw water, and long lag process coagulation introduce significant difficulties eliminating turbidity during treatment drinking water.

The non-contact driving of soft robots by magnetic fields has potential for practical application. To enable motion untethered in a narrow space, crawling robot with multimodal locomotion was developed. Methods calculating the field intensities generated Helmholtz coils and permanent magnet under ideal conditions were proposed systems based on designed. A driven dipole devised. Furthermore, three locomotive modes (inchworm-like motion, creeping, tumbling) analyzed simulated. Finally, highly...

Aiming at the problems of lack engineering practice in robotic grinding, a belt grinding automation production system for complex surface workpiece is designed and built, which based on application hand-grinding line industrial robot. In order to design grinder, some key parameters such as driving wheel diameter, tension cylinder bore are calculated. On this basis, construction grinder completed. Meanwhile, control set up by using fieldbus serial port. The has constant force module. module,...

Particle-jamming soft robots are characterised by high flexibility in motion and stiffness when executing a task. Regarding particle jamming of robots, the discrete element method (DEM)-finite (FEM) coupling was used for modelling control. At first, real-time particle-jamming actuator proposed integrating advantages driving Pneu-Net driven mechanism. Then, DEM FEM were separately employed to determine force-chain structure mechanism bending deformation performance pneumatic actuator....

In order to realize precise position tracking of a novel circular hydraulic actuator with parameter uncertainties and bounded disturbances, an adaptive sliding mode controller (ASMC) that incorporates fuzzy tuning technique is proposed in this paper. The mechanical structure basic principle the are first introduced, mathematical model its corresponding valve-controlled servo system constructed. Based on Lyapunov stability theory, online estimation design effectively integrated approximate...

Abstract Variable-stiffness soft robots feature high flexibility in motion and stiffness task execution, so they are wide demand. A coupled variable stiffening method actuator structures based on layer jamming particle were developed. The influences of different modes particles layers evaluated, variable-stiffness actuators designed. Then, the finite element was used to simulate multi-airbag driving structure mechanical models established for three optimize parameters influencing stiffness....

In order to solve the problem that current soft robotic glove for hand rehabilitation can only assist movement of fingers in a single direction and output force is insufficient under lower air pressure, pneumatic actuator coupled with granular jamming system designed. First all, based on analysis requirements, design requirements are proposed, structure carried out. Next, deformation performed Yeoh model, simulated by ABAQUS. Finally, manufacturing method given, experiments performance...

Abstract During drinking water treatment, the uncertain changes of raw quality bring great difficulties to control flocculant dosage, especially because feedback information based on effluent turbidimeter sedimentation tank can only be obtained after a long time when influent due large lag characteristics flocculation process. Prediction turbidity effectively solve aforementioned problem. Given that it is difficult for ordinary random forest (RF) model accurately predict complicated quality,...

ABSTRACT The climbing stability of cable‐detecting robots holds important significance for bridge detection. To improve the under cable vibration, a loading mechanism coupling variable stiffness and damping control method were proposed robots. At first, aiming at slip during climbing, influences vibration on robot variable‐stiffness variable‐damping assessed. Then, new coupled was designed, mechanical model established. adjusted according to thus automatically adjusting force robot....

Aiming at the problems of large robot error and difficult coordinate detection, a measurement system parameter identification method based on pull wire sensor are proposed. Firstly, is established. Secondly, Levenberg-Marquarelt algorithm used to solve kinematics parameters robot. Finally, neural network whole connection layer predict optimal compensation amount for secondary compensation. In order verify above theory, built verified five degree freedom experimental platform. The results...

Safety and precision are highly crucial in orthopedic drilling operations, therefore, the study of vibration resistance is essential. Proper clamping fractured bone may be difficult during surgical since surrounded by soft tissues, hence, to prevent this, a model system embedded with regulated pressurized air balloon which serves as damper was developed. Laser sensor attached measure reduced permissible signal resulted from at varying effector drill speeds. The finite element analysis...

Bone drilling processes are often carried out in numerous surgical areas all operational theatre room various hospitals across the world, these includes orthopedic surgeries, which is mending and fixing of broken bones. classed as one most sensitive milling biomedical engineering field. One critical problems encountered during bone high cutting force causes an increase temperature rise more than tolerable limit. Optimum concentration also needed, order to avoid extended cracks due vibration...

Many artificial muscles have been reported in recent years, addition to the most popular pneumatic muscles, there are many other that based on smart materials or composite materials. Artificial usually compliant structure, light weight, high power-to-weight ratio. However, they also expose defects caused by their structure material, moreover not developed line with muscle mechanics. Therefore, Hill model, we proposed a novel tendon-sheath slender and it can meet requirements of robotic...