This paper presents a new geometry-based method to determine if a cable-driven robot operating in a d-degree-of-freedom workspace (2 ≤ d ≤ 6) with n ≥ d cables can generate a given set of wrenches in a given pose, considering acceptable minimum and maximum tensions in the cables.

No abstract

This paper presents a new geometry-based method to determine if a cable-driven robot operating in a d-degree-of-freedom workspace (2 ≤ d ≤ 6) with n ≥ d cables can generate a given set of wrenches in a given pose, considering acceptable minimum and maximum tensions in the cables.

No abstract

Our research group has been investigating the effect of cyclic deformations on the evolution of fibroblast populated collagen gels (FPCG). Since existing traction machines are not designed for such an application, we had to design a cyclic traction machine adapted to tissue culture inside an incubator over an extended period of time. Biocompatible materials were used for fabrication to allow for easy sterilization and to prevent any adverse reaction from the tissue. The traction machine is based on a computer-controlled stepping motor system for easy adjustment of the deformation amplitude and frequency. The maximum stretching speed achieved is around 1 mm/s. The traction machine can measure FPCG mechanical properties and perform rupture tests to determine its ultimate strength. Several FPCGs have been successfully cultured with the machine for up to four weeks without any adverse reaction.