No abstract

As promising candidates in the field of artificial muscles, ionic‐polymer–metal composites (IPMCs) still cannot simultaneously provide large deformations and fast responses, which has limited their practical applications. In this study, to overcome this issue, a Nafion‐based IPMC with high‐quality metal electrodes is fabricated via novel isopropanol‐assisted electroless plating. The IPMC exhibits a large tip displacement (35.3 mm, 102.3°) under a low direct‐current driving voltage and ultrafast response (>10 Hz) under an alternating‐current (AC) voltage. Furthermore, the simultaneous integration of a large deformation and fast response can be achieved by the IPMC under a high‐frequency (19 Hz) AC voltage, where the largest bending amplitude is 5.9 mm and the highest bending speed reaches 224.2 mm s−1 (596.2° s−1). Additionally, the lightweight IPMC exhibits a decent load capacity and can lift objects 20 times heavier. The outstanding performances of the Nafion IPMC are demonstrated by mimicking biological motions such as petal opening/closing, tendril coiling/uncoiling, and high‐frequency wing flapping. This study paves the way for the fabrication of lightweight actuators with simultaneous large displacements and fast responses for promising applications in biomedical devices and bioinspired robotics.

An inverse dynamics multi-segment model of the body was combined with optimisation techniques to simulate normal walking in the sagittal plane on level ground. Walking is formulated as an optimal motor task subject to multiple constraints with minimisation of mechanical energy expenditure over a complete gait cycle being the performance criterion. All segmental motions and ground reactions were predicted from only three simple gait descriptors (inputs): walking velocity, cycle period and double stance duration. Quantitative comparisons of the model predictions with gait measurements show that the model reproduced the significant characteristics of normal gait in the sagittal plane. The simulation results suggest that minimising energy expenditure is a primary control objective in normal walking. However, there is also some evidence for the existence of multiple concurrent performance objectives.

The structure and motion of elephant limbs are unusual compared with those of other animals. Elephants stand and move with straighter limbs (at least when walking), and have limited speed and gait. We devised novel experiments to examine how the limbs of elephants support and propel their mass and to explore the factors that may constrain locomotor performance in these largest of living land animals. We demonstrate that elephant limbs are remarkably compliant even in walking, which maintains low peak forces. Dogma defines elephant limbs as extremely "columnar" for effective weight support, but we demonstrate that limb effective mechanical advantage (EMA) is roughly one-third of that predicted for their size. EMA in elephants is actually smaller than that in horses, which are only one-tenth their mass; it is comparable to human limb values. EMA drops sharply with speed in elephants, as it does in humans. Muscle forces therefore must increase as the limbs become more flexed, and we show how this flexion translates to greater volumes of muscle recruited for locomotion and hence metabolic cost. Surprisingly, elephants use their forelimbs and hindlimbs in similar braking and propulsive roles, not dividing these functions among limbs as was previously assumed or as in other quadrupeds. Thus, their limb function is analogous to fourwheel-drive vehicles. To achieve the observed limb compliance and low peak forces, elephants synchronize their limb dynamics in the vertical direction, but incur considerable mechanical costs from limbs working against each other horizontally.lephants have unusual limb structure and function. They use walking footfall patterns, have seemingly straightened limbs, and lack an aerial phase in their stride throughout their speed range (1-7). However, at faster speeds, they switch to biomechanical running (i.e., bouncing; refs. 8, 9), without a discrete gait transition (4-7, 10). Elephants also seem unable to exceed speeds of ∼7 ms −1 (15 mph) (1-5). These odd features relate to elephants' massive size and thus have broader comparative relevance, but they remain unexplored in a deeper biomechanical context. These features suggest that elephants do not use their limbs in the same mechanical ways as typical quadrupeds do, perhaps involving considerable limb compliance (11-13). In the present study, we examined how elephant forelimbs and hindlimbs function across a wide range of speeds, and compared these mechanical functions with those of other animals.Furthermore, elephants are particularly relevant to a major biomechanical concept regarding the relationship of body size and the limbs' effective mechanical advantage [EMA; the amount of ground reaction force (GRF) generated at the foot per unit muscle force, or simply "overall leverage"] (Fig. 1A). EMA is proportional to the moment arm of each joint's muscle force divided by the moment arm of the GRF about that joint (14-16). Larger animals tend to increase their EMA mainly by straightening their limbs, thereby reducing GRF moment arms. This helps ...