Sliding Filament Joint Mechanism: Biomimetic Artificial Joint Mechanism for Artificial Skeletal Muscles

2019 ◽  
Vol 11 (2) ◽  
Author(s):  
Kyeong Ho Cho ◽  
Ho Sang Jung ◽  
Sang Yul Yang ◽  
Youngeun Kim ◽  
Hugo Rodrigue ◽  
...  

Soft linear actuators (SLAs) make linear displacement by shrinkage and relaxation like skeletal muscles, so they can be called as artificial skeletal muscles (ASMs). They deform their body to create displacement. However, the restoring force generated by the deformation of their soft body reduces the force available from the SLA. This actuation structure is a critical drawback in the application of SLAs. In a living body, skeletal muscle is the main actuator to make movement. In order to make meaningful movements, skeletal muscles of a living body require bones and joints. Thus, as well as ASMs, artificial joints are surely required for developing robotic applications such as robotic prosthetics and bionic body parts. This paper introduces a biomimetic artificial joint mechanism that can improve the drawback of SLA. The basic performance and usefulness of the joint mechanism was confirmed by using shape-memory-alloy actuators (called SMA in general). In addition, the joint control strategy of the joint mechanism by adopting the joint control principle of a living body was proposed and its performance was experimentally validated.

2000 ◽  
Author(s):  
L. D. Timmie Topoleski

Abstract Total artificial joint replacements are one of the most effective treatments for arthritis. Artificial joints are used to replace damaged cartilage and act as low-friction articulating materials in joints. During normal human walking, some of the materials used for artificial knee and hip replacements are subjected to both sliding articulation (relative motion) and cyclic loading. A common example is the CoCrMo alloy femoral surface of an artificial knee that articulates against an ultra-high-molecular-weight-polyethylene (UHMWPE) component. Other materials do not experience relative motion (at least not intentionally) and are subjected to only cyclic loading. An example is the poly(methyl methacrylate) or PMMA bone cement used to fix components of artificial joints into bones. In the case of articulating materials, both surfaces are susceptible to wear, from both second-body and third body (in the presence of abrasive particles) mechanisms. Wear of the UHMWPE has received considerable attention recently, since the polymer wear is far more obvious than the metal wear. The Biomaterials field is developing an understanding of the wear mechanisms and how to enhance the wear resistance of UHMWPE. The wear of the metal components has not received as much attention, yet materials wear as a couple; both surfaces play a role in the overall wear. In the UMBC Laboratory for Implantable Materials, we are investigating the mechanisms of CoCrMo alloy wear, and the effect of worn metal components on the wear of UHMWPE. Understanding the wear mechanisms of metal components may help to extend the life of artificial joints by allowing new articulating material combinations and joint designs. For non-articulating materials, fatigue failure is a primary concern. Fatigue of metal components is relatively rare. In the distal portion of an artificial hip, the metal hip stem is fixed into the bone by a layer of PMMA bone cement. The PMMA bone cement is far weaker and less resistant to fracture and fatigue than either the bone or the metal, and thus may be considered the mechanical “weak link” in cemented total joints. We are investigating the fatigue properties of PMMA bone cements, and studying the mechanisms of fatigue crack initiation. If we can determine how fatigue cracks start in bone cement, we may be able to develop, for example, new surgical procedures (e.g., bone preparation) that will reduce the likelihood of fatigue failure. New formulations of bone cement have been developed for both joint fixation, and also for bone repair or replacement. Understanding the failure mechanisms of bone cements may enable safe and effective new uses for new bone cements, and extend the lives of cemented artificial joints.


Author(s):  
S. H. Su ◽  
J. H. Zhang ◽  
D. H. Tao

A new structure of artificial joints with bionic joint capsule was proposed and designed to overcome the feedback of current prostheses that omitted many functions of lubricant and joint capsule. The new structure was composed of three components: therapeutic lubricant, artificial joints and artificial joint capsule. The lubricant sealed by capsule not only can reduce the wear of artificial joints but also can prohibit the wear particles leaking to the body liquid. So the unwilling reactions between the wear particles and liquid may be avoided completely. Meanwhile, a three-dimensional (3-D) finite element analysis (FEA) model was created for the bionic artificial joints with joint capsule. The effects of capsule thickness and the flexion angels on the stress values and distributions were discussed in detail.


2000 ◽  
Vol 005.1 (0) ◽  
pp. 257-258
Author(s):  
Yutaka TANAKA ◽  
Akio GOFUKU ◽  
Mitsuhiro KISHIMOTO

Micromachines ◽  
2021 ◽  
Vol 12 (12) ◽  
pp. 1593
Author(s):  
Shumi Zhao ◽  
Yisong Lei ◽  
Ziwen Wang ◽  
Jie Zhang ◽  
Jianxun Liu ◽  
...  

To precisely achieve a series of daily finger bending motions, a soft robotic finger corresponding to the anatomical range of each joint was designed in this study with multi-material pneumatic actuators. The actuator as a biomimetic artificial joint was developed on the basis of two composite materials of different shear modules, and the pneumatic bellows as expansion parts was restricted by frame that made from polydimethylsiloxane (PDMS). A simplified mathematical model was used for the bending mechanism description and provides guidance for the multi-material pneumatic actuator fabrication (e.g., stiffness and thickness) and structural design (e.g., cross length and chamber radius), as well as the control parameter optimization (e.g., the air pressure supply). An actuation pressure of over 70 kPa is required by the developed soft robotic finger to provide a full motion range (MCP = 36°, PIP = 114°, and DIP = 75°) for finger action mimicking. In conclusion, a multi-material pneumatic actuator was designed and developed for soft robotic finger application and theoretically and experimentally demonstrated its feasibility in finger action mimicking. This study explored the mechanical properties of the actuator and could provide evidence-based technical parameters for pneumatic robotic finger design and precise control of its dynamic air pressure dosages in mimicking actions. Thereby, the conclusion was supported by the results theoretically and experimentally, which also aligns with our aim to design and develop a multi-material pneumatic actuator as a biomimetic artificial joint for soft robotic finger application.


2020 ◽  
pp. 472-531
Author(s):  
Jonathan Herring

This chapter examines legal and ethical aspects of organ donation and body part ownership. Topics discussed include the Human Tissue Act 2004; liability for mishaps from organ transplant; the shortage of organs for transplant; xenotransplantation; selling organs; face transplants; and the living body as property. Running through this chapter is a discussion of whether it is preferable to see the body and parts of the body as property or whether they need their own system of legal protection through a statute. This debate ties into broader discussions about the nature of the self and what makes bodies valuable.


Author(s):  
Jonathan Herring

This chapter examines legal and ethical aspects of organ donation and body part ownership. Topics discussed include the Human Tissue Act 2004; liability for mishaps from organ transplant; the shortage of organs for transplant; xenotransplantation; selling organs; face transplants; and the living body as property. Running through this chapter is a discussion of whether it is preferable to see the body and parts of the body as property or whether they need their own system of legal protection through a statute. This debate ties into broader discussions about the nature of the self and what makes bodies valuable.


2008 ◽  
Vol 594 ◽  
pp. 72-77 ◽  
Author(s):  
Chien Wei Liu ◽  
Wen Lung Li ◽  
Chen Tung Yu ◽  
Chia Chi Lo

The development of artificial joints is now considered quite mature, and the main treatment for osteoarthritis. However, in recent unicompartmental knee arthroplasty (UKA) clinical follow-ups, complications due to wear of polyethylene (PE) tibial components still exist. Therefore, this study focused on the possibility of avoiding and minimizing damage to the PE tibial component. Currently, the most common problem in the application of UKA is the malresection of the tibial plateau, often resulting in malpositioning of the tibial implant. This positioning problem may be the main reason for advanced wear and dislocation of a PE tibial component. In this study, finite element analysis (FEA) was used to study the stress change of malpositioned PE tibial components in order to better understand the damaging mechanism on PE tibial components. It was found that anatomically designed unicompartmental knee prostheses (UKP) allowed more positioning error in varus tilt than symmetrically designed ones. And both should avoid any positional error greater than 10° valgus tilt. Otherwise, increased wear of PE tibial components would result in shortened lifetime of the artificial joint.


2021 ◽  
Vol 14 ◽  
Author(s):  
Shura Suzuki ◽  
Takeshi Kano ◽  
Auke J. Ijspeert ◽  
Akio Ishiguro

Quadruped animals achieve agile and highly adaptive locomotion owing to the coordination between their legs and other body parts, such as the trunk, head, and tail, that is, body–limb coordination. This study aims to understand the sensorimotor control underlying body–limb coordination. To this end, we adopted sprawling locomotion in vertebrate animals as a model behavior. This is a quadruped walking gait with lateral body bending used by many amphibians and lizards. Our previous simulation study demonstrated that cross-coupled sensory feedback between the legs and trunk helps to rapidly establish body–limb coordination and improve locomotion performance. This paper presented an experimental validation of the cross-coupled sensory feedback control using a newly developed quadruped robot. The results show similar tendencies to the simulation study. Sensory feedback provides rapid convergence to stable gait, robustness against leg failure, and morphological changes. Our study suggests that sensory feedback potentially plays an essential role in body–limb coordination and provides a robust, sensory-driven control principle for quadruped robots.


1997 ◽  
Vol 22 (1) ◽  
pp. 84-89 ◽  
Author(s):  
G. LUNDBORG ◽  
P. I. BRÅNEMARK

Five patients with rheumatoid arthritis (age 28–60 years) underwent wrist joint arthroplasty with individually designed artificial joint mechanisms, anchored to bone using the osseointegration principle. We report on the result from a 4 to 6.5 year follow-up with special emphasis on the fixation of the prosthesis to bone. There was no bone resorption or loosening of screws. Osseointegration of the titanium screws occurred in all cases and persisted throughout the observation period, although scattered lytic zones could sometimes be seen around the screws. The clinical results were satisfactory with pain relief and maintenance of a functional range of movement. The principle has prospects for fixation of a wrist joint mechanism to bone, although the presently used joint mechanism requires further refinement.


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