Design of a bio-inspired contact-aided compliant wrist

Bilancia, Pietro; Baggetta, Mario; Berselli, Giovanni; Bruzzone, Luca; Fanghella, Pietro

doi:10.1016/j.rcim.2020.102028

Cited by 37 publications

(5 citation statements)

References 36 publications

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“…Assuming that the CAFH is subject to a certain load without contact constraints, the deformation in Stage 1 can be predicted by using equations ( 1)- (5). The trajectory of the tenon (Node C) can be obtained by using equations ( 1)-( 7), as shown in figure 6.…”

Section: Non-contact Modelingmentioning

confidence: 99%

“…between different parts of the elastic body or between an elastic body and a rigid surface, while retaining the advantages of scalability and ease of manufacture that are associated with CMs [2]. CCMs are widely used in aerial vehicles for a nonlinear bending stiffness and asymmetric kinematics [3], medical devices for enhanced stiffness, range-of-motion and joint compactness [4], and robotics for biomimetic performances [5], etc. Nevertheless, relative motion will occur between two associated bodies at the contact interface.…”

Section: Introductionmentioning

confidence: 99%

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Design and analysis of a contact-aided flexure hinge (CAFH) with variable stiffness

Dai,

Hao,

Qiu

2024

Smart Mater. Struct.

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This paper presents a novel contact-aided flexure hinge (CAFH) with variable stiffness, which consists of a contact-aided segment, a flexible segment and a rigid part. The proposed CAFH can facilitate a compact design and provide an alternative for stiffness-variable designs under any loading conditions. With a mortise-tenon structure, the CAFH is trivially affected by friction. The design and deformation procedures of the CAFH are described in detail, followed by its theoretical kinetostatic modeling using the chained beam-constraint model (CBCM). The deformation of all segments is considered in the kinetostatic model, which expands the space of design parameters for stiffness-variable designs. Then, the accuracy of the theoretical model and the variable stiffness design are verified by nonlinear finite element analysis (FEA) and experimental tests. In term of stiffness, the maximum relative errors of the theoretical model are 0.76% in Stage 1 and 0.70 % in Stage 2, as compared with FEA, respectively. Further, the parameter sweep is carried out, followed by sensitivity analysis to identify the main test error sources. Finally, the multi-material scenarios are investigated preliminarily, and some outlooks are discussed.

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Section: Non-contact Modelingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and analysis of a contact-aided flexure hinge (CAFH) with variable stiffness

Dai,

Hao,

Qiu

2024

Smart Mater. Struct.

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“…CMs have the potential to be utilized in hand orthoses; they contribute to compliant joints and actuators to produce counterforces, in order to decrease tremors and design vibration absorption mechanisms. A compliant actuator was fabricated via AM with polypropylene (PP) to passively suppress hand tremors based on friction [124]. In 2017, Choi et al proposed a 3D-printed compliant finger with an embedded pressure sensor that is lightweight and inexpensive [125].…”

Section: Compliant Mechanismmentioning

confidence: 99%

4D printing of soft orthoses for tremor suppression

et al. 2022

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Tremor is an involuntary and oscillatory movement disorder that makes daily activities difficult for affected patients. Hand tremor-suppression orthoses are noninvasive, wearable devices designed to mitigate tremors. Various studies have shown that these devices are effective, economical, and safe; however, they have drawbacks such as large weight, awkward shape, and rigid parts. This study investigates different types of tremor-suppression orthoses and discusses their efficiency, mechanism, benefits, and disadvantages. First, various orthoses (with passive, semi-active, and active mechanisms) are described in detail. Next, we look at how additive manufacturing (AM) has progressed recently in making sensors and actuators for application in tremor orthoses. Then, the materials used in AM are further analyzed. It is found that traditional manufacturing problems can be solved with the help of AM techniques, like making orthoses that are affordable, lighter, and more customizable. Another concept being discussed is using smart materials and AM methods, such as four-dimensional (4D) printing, to make orthoses that are more comfortable and efficient. Graphic abstract

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“…From the litany of potential mechanism designs that constrain motion in all degrees of freedom except a single axis of rotation [2], [3], [4], the crossaxis flexural pivot (x-pivot), [see Fig. 1(a)] [11], [12] is uniquely able to achieve large angular displacement with relatively little parasitic motion [13], [14], [15], [16], [17], [18]. X-pivots also stand out in their ability to withstand large uniaxial loads in tension or, if the mechanism is inverted, in compression [13], [19].…”

Section: Introductionmentioning

confidence: 99%

Cross-Axis Flexural Pivots in Mechatronic Applications: Stress-Based Design for Combined Tension and Bending

Peterson,

Hardin,

Pomeroy

et al. 2024

IEEE/ASME Trans. Mechatron.

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Cross-axis flexural pivots (x-pivots) hold immense promise as precise, frictionless bearing elements in mechatronic systems. In real-world settings, where bearings are called upon to bear nontrivial loads orthogonal to the axis of rotation, kinematic and stiffness-based design approaches are insufficient to ensure longevity. Stressbased design, which is the norm in conventional rollingor sliding-contact bearing selection, allows for direct calculation of expected fatigue lifetime, as well as performance in acute overload scenarios. However, the principles that guide stress-based design for flexural bearings are distinct from those that govern contact bearings, and have not yet been clearly described. In this article, we present three physical principles that came to light as we applied stressoriented finite element analysis to design x-pivots for large angular deformation and heavy tensile loads. Specifically, we describe cross-blade anticlastic effects, loading scenarios that can lead to buckling when the mechanism is in tension, and nonlinear stress effects that emerge in combined tension and bending. These principles have an outsized impact on the mechanism's stress profile, and are not well represented in existing x-pivot models. We also discuss ways to leverage gross mechanism geometry and blade profile to mitigate or avoid these effects. We expect that this work will help facilitate the design of x-pivots for applications in real-world mechatronic systems.

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Design of a bio-inspired contact-aided compliant wrist

Cited by 37 publications

References 36 publications

Design and analysis of a contact-aided flexure hinge (CAFH) with variable stiffness

Design and analysis of a contact-aided flexure hinge (CAFH) with variable stiffness

4D printing of soft orthoses for tremor suppression

Cross-Axis Flexural Pivots in Mechatronic Applications: Stress-Based Design for Combined Tension and Bending

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