Three-Dimensional Printable Ball Joints with Variable Stiffness for Robotic Applications Based on Soft Pneumatic Elastomer Actuators

This paper contributes to a new design of the three-dimensional printable robotic ball joints capable of creating the controllable stiffness linkage between two robot links through pneumatic actuation. The variable stiffness ball joint consists of a soft pneumatic elastomer actuator, a support platform, an inner ball and a socket. The ball joint structure, including the inner ball and the socket, is three-dimensionally printed using polyamide−12 (PA12) by selective laser sintering (SLS) technology as an integral mechanism without the requirement of assembly. The SLS technology can make the ball joint have the advantages of low weight, simple structure, easy to miniaturize and good MRI compatibility. The support platform is designed as a friction-based braking component to increase the stiffness of the ball joint while withstanding the external loads. The soft pneumatic elastomer actuator is responsible for providing the pushing force for the support platform, thereby modulating the frictional force between the inner ball, the socket and the support platform. The most remarkable feature of the proposed variable stiffness design is that the ball joint has ‘zero’ stiffness when no pressurized air is supplied. In the natural state, the inner ball can be freely rotated and twist inside the socket. The proposed ball joint can be quickly stiffened to lock the current position and orientation of the inner ball relative to the socket when the pressurized air is supplied to the soft pneumatic elastomer actuator. The relationship between the stiffness of the ball joint and the input air pressure is investigated in both rotating and twisting directions. The finite element analysis is conducted to optimize the design of the support platform. The stiffness tests are conducted, demonstrating that a significant stiffness enhancement, up to approximately 508.11 N·mm reaction torque in the rotational direction and 571.93 N·mm reaction torque in the twisting direction at the pressure of 400 kPa, can be obtained. Multiple ball joints can be easily assembled to form a variable stiffness structure, in which each ball joint has a relative position and an independent stiffness. Additionally, the degrees of freedom (DOF) of the ball joint can be readily restricted to build the single-DOF or two-DOFs variable stiffness joints for different robotic applications.

Characterization of Mechanical and Dielectric Properties of Silicone Rubber

Silicone rubber's silicone-oxygen backbones give unique material properties which are applicable in various biomedical devices. Due to the diversity of potential silicone rubber compositions, the material properties can vary widely. This paper characterizes the dielectric and mechanical properties of two different silicone rubbers, each with a different cure system, and in combination with silicone additives. A tactile mutator (Slacker™) and/or silicone thickener (Thi-vex™) were mixed with platinum-cured and condensation-cured silicone rubber in various concentrations. The dielectric constants, conductivities, and compressive and shear moduli were measured for each sample. Our study contributes novel information about the dielectric and mechanical properties of these two types of silicone rubber and how they change with the addition of two common silicone additives.

A low-cost transradial prosthesis controlled by the intention of muscular contraction

Persons with upper-limb amputations face severe problems due to a reduction in their ability to perform the activities of daily living. The prosthesis controlled by electromyography (EMG) or other signals from sensors, switches, accelerometers, etc., can somewhat regain the lost capability of such individuals. However, there are several issues with these prostheses, such as expensive cost, limited functionality, unnatural control, slow operating speed, complexity, heavyweight, large size, etc. This paper proposes an affordable transradial prosthesis, controlled by the muscular contractions from user intention. A surface EMG sensor was explicitly fabricated for capturing the muscle contraction information from the residual forearm of subjects with amputation. An under actuated 3D printed hand was developed with a prosthetic socket assembly to attach the remaining upper-limb of such subjects. The hand integrates an intuitive closed-loop control system that receives reference input from the designed sensor and feedback input from a force sensor installed at the thumb tip. The performance of the EMG sensor was compared with that of a traditional sensor in detecting muscle contractions from the subjects. The designed sensor showed a good correlation (r > 0.93) and a better signal-to-noise ratio (SNR) feature to the conventional sensor. Further, a successful trial of the developed hand prosthesis was made on five different subjects with transradial amputation. The users wearing the hand prototype were able to perform faster and delicate grasping of various objects. The implemented control system allowed the prosthesis users to control the grasp force of hand fingers with their intention of muscular contractions.

Ultrasensitive Wearable Pressure Sensors Assembled by Surface-Patterned Polyolefin Elastomer Nanofiber Membrane Interpenetrated with Silver Nanowires

Wearable pressure sensors with ultrahigh sensitivity and flexibility have garnered tremendous attention because of their abilities to mimic the human somatosensory system and perceive surrounding pressure distribution. Herein, an ultrasensitive pressure sensor was fabricated with surface-patterned nanofibrous membranes (SPNMs) via a facile replica method from available plain-weaved nylon textiles. The SPNMs were composed of internal three-dimensional interpenetrating polyolefin elastomer nanofibers and silver nanowires (Ag NWs). The effects of the geometry of surface patterns and the density of the Ag NW network on the sensing performance of the assembled pressure sensor were systematically investigated. The results indicated that clavate groove-shaped surface patterns improved the sensitivity and a larger groove spacing contributed to higher sensitivities, whereas denser Ag NWs would reduce the sensing performance. The optimal pressure sensor assembled with SPNMs-45 and a Ag NW fraction of 3.8% showed high sensitivity (19.4 kPa^-1) below the pressure of 2.76 kPa, a low detection limit (<1.6 Pa), fast response (30 and 42 ms), as well as excellent durability. These outstanding performances demonstrated its promising potential for wearable electronic applications, like detecting the spatial pressure distribution and monitoring human muscle motions.