The whole-organ, three-dimensional microstructure of murine Achilles tendon entheses was visualized with micro-computed tomography (microCT). Contrast-enhancement was achieved either by staining with phosphotungstic acid (PTA) or by a combination of cell-maceration, demineralization and critical-point drying with low tube voltages and propagation-based phase-contrast (fibrous structure scan). By PTA-staining, X-ray absorption of the enthesial soft tissues became sufficiently high to segment the tendon and measure cross-sectional areas along its course. With the fibrous structure scans, three-dimensional visualizations of the collagen fiber networks of complete entheses were obtained. The characteristic tissues of entheses were identified in the volume data. The tendon proper was marked as a segment manually. The fibers within the tendon were marked by thresholding. Tendon and fiber cross-sectional areas were measured. The measurements were compared between individuals and protocols for contrast-enhancement, using a spatial reference system within the three-dimensional enthesis. The usefulness of the method for investigations of the fibrous structure of collagenous tissues is demonstrated.

A load frame for in situ mechanical testing is developed for the microtomography end stations at the imaging beamline P05 and the high-energy material science beamline P07 of PETRA III at DESY, both operated by the Helmholtz-Zentrum Geesthacht. The load frame is fully integrated into the beamline control system and can be controlled via a feedback loop. All relevant parameters (load, displacement, temperature, etc.) are continuously logged. It can be operated in compression or tensile mode applying forces of up to 1 kN and is compatible with all contrast modalities available at IBL and HEMS i.e. conventional attenuation contrast, propagation based phase contrast and differential phase contrast using a grating interferometer. The modularity and flexibility of the load frame allows conducting a wide range of experiments. E.g. compression tests to understand the failure mechanisms in biodegradable implants in rat bone or to investigate the mechanics and kinematics of the tessellated cartilage skeleton of sharks and rays, or tensile tests to illuminate the structure-property relationship in poplar tension wood or to visualize the 3D deformation of the tendonbone insertion. We present recent results from the experiments described including machine-learning driven volume segmentation and digital volume correlation of tomography sequences under increasing load conditions.

Understanding the biomechanics of tendon entheses is fundamental for surgical repair and tissue engineering but also relevant in biomimetics and paleontology. Examinations into the 3D tissue deformation under load are an important element in this process. However, entheses are difficult objects for microcomputed tomography due to extreme differences in X–ray attenuation. Herein, the ex vivo examination of Achilles tendon entheses from mice using a combination of tensile tests and synchrotron radiation‐based microcomputed tomography is reported. Strains and volume changes are compared between the more proximal free tendon and the distal tendon that wraps around the Tuber calcanei. Tomographic datasets of relaxed and deformed entheses are recorded with propagation‐based phase contrast. The tissue structure is rendered in sufficient detail to enable manual tracking of patterns along the tendon, as well as digital volume correlation in a suitable pair of tomographic datasets. The strains are higher in the distal than in the proximal tendon. These results support the existence of a compliant zone near the insertion. Necessary steps to extend the automatic tracking of tissue displacements to all stages of the deformation experiment are discussed.

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The parallel connection of technical and biological systems with a comparable mechanical behavior offers the possibility of reducing the interaction forces between those systems. Especially in the context of human–robot interaction (e.g., exoskeletons), it can improve user safety and acceptance at the same time. With this aim, we used antagonistic actuators with nonlinear compliance for a modular upper-extremity exoskeleton following biological paragons, mirroring the “blueprint” of its human user. In a test-bed setup, we compared antagonistic compliant actuation with antagonistic stiff, unilateral stiff and unilateral compliant actuation in the artificial “elbow joint” of the exoskeleton test bed. We show that this type of actuation allows the variation of the joint stiffness during motion, independent of the position. With the approach we propose, compliance leads to reduced force peaks and angular jerk, without sacrifices in terms of time constants and overshoot of amplitudes. We conclude that the presented actuation principle has considerable benefits in comparison to other types of exoskeleton actuation, even when using only commercially available and 3D printed components. Based on our work, further investigations into the control of compliant antagonistically actuated exoskeletons become realizable.