Simultaneous Control of Passive Stiffness Characteristics and Position with Elastically Constrained Underactuated Mechanisms

2020 ◽  
pp. 419-433
Author(s):  
Takeshi Tawada ◽  
Nobuyuki Iwatsuki ◽  
Ikuma Ikeda
Keyword(s):  
Passive Stiffness ◽  
Simultaneous Control ◽  
Stiffness Characteristics

Passive stiffness characteristics of the volume-overload hypertrophied myocardium

1980 ◽  
Vol 45 (2) ◽  
pp. 434
Author(s):  
Gangaiah Natarajan ◽  
Alfred A. Bove ◽  
Richard L. Coulson ◽  
Rita A. Carey ◽  
James F. Spann
Keyword(s):  
Volume Overload ◽  
Passive Stiffness ◽  
Hypertrophied Myocardium ◽  
Stiffness Characteristics

scholarly journals The passive stiffness of the wrist and forearm

2012 ◽  
Vol 108 (4) ◽  
pp. 1158-1166 ◽  
Author(s):  
Domenico Formica ◽  
Steven K. Charles ◽  
Loredana Zollo ◽  
Eugenio Guglielmelli ◽  
Neville Hogan ◽  
...  
Keyword(s):  
Wrist Joint ◽  
Rehabilitation Robot ◽  
Passive Stiffness ◽  
Ulnar Deviation ◽  
The Past ◽  
Stiffness Matrices ◽  
Flexion Extension ◽  
Stiffness Characteristics ◽  
Wrist Stiffness ◽  
Rotation Dynamics

Because wrist rotation dynamics are dominated by stiffness (Charles SK, Hogan N. J Biomech 44: 614–621, 2011), understanding how humans plan and execute coordinated wrist rotations requires knowledge of the stiffness characteristics of the wrist joint. In the past, the passive stiffness of the wrist joint has been measured in 1 degree of freedom (DOF). Although these 1-DOF measurements inform us of the dynamics the neuromuscular system must overcome to rotate the wrist in pure flexion-extension (FE) or pure radial-ulnar deviation (RUD), the wrist rarely rotates in pure FE or RUD. Instead, understanding natural wrist rotations requires knowledge of wrist stiffness in combinations of FE and RUD. The purpose of this report is to present measurements of passive wrist stiffness throughout the space spanned by FE and RUD. Using a rehabilitation robot designed for the wrist and forearm, we measured the passive stiffness of the wrist joint in 10 subjects in FE, RUD, and combinations. For comparison, we measured the passive stiffness of the forearm (in pronation-supination), as well. Our measurements in pure FE and RUD agreed well with previous 1-DOF measurements. We have linearized the 2-DOF stiffness measurements and present them in the form of stiffness ellipses and as stiffness matrices useful for modeling wrist rotation dynamics. We found that passive wrist stiffness was anisotropic, with greater stiffness in RUD than in FE. We also found that passive wrist stiffness did not align with the anatomical axes of the wrist; the major and minor axes of the stiffness ellipse were rotated with respect to the FE and RUD axes by ∼20°. The direction of least stiffness was between ulnar flexion and radial extension, a direction used in many natural movements (known as the “dart-thrower's motion”), suggesting that the nervous system may take advantage of the direction of least stiffness for common wrist rotations.

Passive stiffness characteristics of ankle plantar flexors in hemiplegia

2000 ◽  
Vol 15 (4) ◽  
pp. 261-270 ◽  
Author(s):  
J. Harlaar ◽  
J.G. Becher ◽  
C.J. Snijders ◽  
G.J. Lankhorst
Keyword(s):  
Passive Stiffness ◽  
Plantar Flexors ◽  
Stiffness Characteristics

Dynamic Damping and Stiffness Characteristics of the Rolling Tire

2001 ◽  
Vol 29 (4) ◽  
pp. 258-268 ◽  
Author(s):  
G. Jianmin ◽  
R. Gall ◽  
W. Zuomin
Keyword(s):  
Dynamic Behavior ◽  
Variable Parameter ◽  
Low Frequency ◽  
Vertical Load ◽  
Frequency Range ◽  
Inflation Pressure ◽  
Vehicle Simulation ◽  
Dynamic Damping ◽  
Speed Range ◽  
Stiffness Characteristics

Abstract A variable parameter model to study dynamic tire responses is presented. A modified device to measure terrain roughness is used to measure dynamic damping and stiffness characteristics of rolling tires. The device was used to examine the dynamic behavior of a tire in the speed range from 0 to 10 km/h. The inflation pressure during the tests was adjusted to 160, 240, and 320 kPa. The vertical load was 5.2 kN. The results indicate that the damping and stiffness decrease with velocity. Regression formulas for the non-linear experimental damping and stiffness are obtained. These results can be used as input parameters for vehicle simulation to evaluate the vehicle's driving and comfort performance in the medium-low frequency range (0–100 Hz). This way it can be important for tire design and the forecasting of the dynamic behavior of tires.

In-Plane Bending and Shear Deformation of Belt Contributions on Tire Cornering Stiffness Characteristics

2020 ◽  
Author(s):  
Gibin Gil ◽  
Sujin Lee
Keyword(s):  
Mathematical Model ◽  
Shear Deformation ◽  
Beam Theory ◽  
Slip Angle ◽  
Wear Properties ◽  
Angle Change ◽  
Foundation Model ◽  
Plane Bending ◽  
Stiffness Characteristics ◽  
Brush Model

ABSTRACT In radial tires, belt structure plays a role of minimizing the lateral deflection of carcass, which has a significant influence on the cornering and wear properties of a tire. The deflection of carcass affects the magnitude of tread block deformation when the tire is under the slip angle. As a result, it can change the cornering stiffness characteristics of the tire, especially when the vertical load is high. During tire development, a tire design engineer tries to find the optimal belt ply angle that satisfies the various performance requirements simultaneously, but it is not an easy task because the effect of belt angle change is different depending on the size of the tire. There have been many attempts to construct a mathematical model that represents the structural properties of the belt package, including the string-based model and the beam on elastic foundation model. But, in many cases, only the in-plane bending of belt is considered and the shear deformation is not taken into consideration. In this study, the effect of belt angle change on belt stiffness is analyzed using a mathematical model based on the Timoshenko beam theory. This model can account for the in-plane bending and shear deformation of the belt structure at the same time. The results of the analysis show how the contribution of bending and shear is changed depending on a tire design parameter, herein the belt cord angle. The effect of belt ply angle change on cornering stiffness is investigated by means of the brush model including belt flexibility. The prediction by the brush model is compared with the measurement using a Flat-trac machine, and the validity of the model is discussed.

Flow Chemistry Controls Both Self-Assembly and the Entrapped Oscillatory Cargo in Belousov-Zhabotinsky Driven Polymerization-Induced Self-Assembly

2019 ◽  
Author(s):  
Liman Hou ◽  
Marta Dueñas-Diez ◽  
Rohit Srivastava ◽  
Juan Perez-Mercader
Keyword(s):  
Self Assembly ◽  
Flow Chemistry ◽  
Batch Reactors ◽  
Equilibrium Conditions ◽  
One Pot ◽  
Bz Reaction ◽  
Polymer Vesicles ◽  
Simultaneous Control ◽  
Novel Method ◽  
Continuously Stirred Tank Reactor

<p></p><p>Belousov-Zhabotinsky (B-Z) reaction driven polymerization-induced self-assembly (PISA), or B-Z PISA, is a novel method for the autonomous one-pot synthesis of polymer vesicles from a macroCTA (macro chain transfer agent) and monomer solution (“soup”) containing the above and the BZ reaction components. In it, the polymerization is driven (and controlled) by periodically generated radicals generated in the oscillations of the B-Z reaction. These are inhibitor/activator radicals for the polymerization. Until now B-Z PISA has only been carried out in batch reactors. In this manuscript we present the results of running the system using a continuously stirred tank reactor (CSTR) configuration which offers some interesting advantages.Indeed, by controlling the CSTR parameters we achieve reproducible and simultaneous control of the PISA process and of the properties of the oscillatory cargo encapsulated in the resulting vesicles. Furthermore, the use of flow chemistry enables a more precise morphology control and chemical cargo tuning. Finally, in the context of biomimetic applications a CSTR operation mimics more closely the open non-equilibrium conditions of living systems and their surrounding environments.</p><p></p>

scholarly journals AE propagation velocity calculation for stiffness estimation in Pier Luigi Nervi’s concrete structures

2021 ◽  
Vol 8 (1) ◽  
pp. 109-118
Author(s):  
Erica Lenticchia ◽  
Amedeo Manuello Bertetto ◽  
Rosario Ceravolo
Keyword(s):  
Propagation Velocity ◽  
Concrete Structures ◽  
P Wave ◽  
Wave Propagation Velocity ◽  
Damage Level ◽  
Stiffness Characteristics ◽  
Vertical Bearing ◽  
The Relationship ◽  
Ae Signals ◽  
Elastic Characteristics

Abstract In the present paper, the acoustic emission (AE) device is used with an innovative approach, based on the calculation of P-wave propagation velocity (vp ), to detect the stiffness characteristics and the diffused damage of in-service old concrete structures. The paper presents the result of a recent testing campaign carried out on the slant pillars composing the vertical bearing structures designed by Pier Luigi Nervi in one of his most iconic buildings: the Hall B of Torino Esposizioni. In order to investigate the properties of these inclined pillars, localizations of artificial sources (hammer impacts), by the triangulation procedure, were performed on three different inclined elements characterized by stiffness discrepancies due to different causes: the casting procedures, executed in different stages, and the enlargement of the hall happened a few years later the beginning of the construction. In the present work, the relationship between the velocity of AE signals and the elastic characteristics (principally elastic modulus, E) is evaluated in order to discriminate the stiffness level of the slanted pillars. The procedure presented made it possible to develop an innovative investigation method able to estimate, by means of AE, the state of conservation and the elastic properties and the damage level of the monitored concrete and reinforced concrete structures.

Experimental and numerical investigations on novel models for mechanical behaviors of the elastic ring in aero-engine

2021 ◽  
pp. 095440622110130
Author(s):  
Zhong Luo ◽  
Lei Li ◽  
Yang Yang ◽  
Xiaojie Hou ◽  
Jiaxi Liu ◽  
...  
Keyword(s):  
3D Model ◽  
Maximum Stress ◽  
Simple Structure ◽  
Experimental Testing ◽  
Axial Direction ◽  
Elastic Ring ◽  
Load Range ◽  
Aero Engine ◽  
Stiffness Characteristics ◽  
First Time

The elastic ring is widely used in elastic support structures of aero-engine because of its simple structure and convenient manufacturing. In this paper, two elastic ring models, 3D and 2D models, are proposed, where the fillets between the bulges and ring are considered. The 2D model is more efficient for the calculation of stiffness characteristics. The 3D model can be used to obtain the maximum stress position in the axial direction. Then the experimental testing is carried out to verify the accuracy and effectiveness of the proposed models. Based on the proposed models, the stiffness nonlinearity and critical load of the elastic ring are found for the first time, which can be used to determine the normal working load range. Moreover, the elastic ring models with and without fillets are developed, and the effect of the fillets on stress is discussed. The results show that the stress is reduced by considering the fillets, which are not considered in the existing literature.

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