Planning to Minimize the Human Muscular Effort during Forceful Human-Robot Collaboration

This work addresses the problem of planning a robot configuration and grasp to position a shared object during forceful human-robot collaboration, such as a puncturing or a cutting task. Particularly, our goal is to find a robot configuration that positions the jointly manipulated object such that the muscular effort of the human, operating on the same object, is minimized while also ensuring the stability of the interaction for the robot. This raises three challenges. First, we predict the human muscular effort given a human-robot combined kinematic configuration and the interaction forces of a task. To do this, we perform task-space to muscle-space mapping for two different musculoskeletal models of the human arm. Second, we predict the human body kinematic configuration given a robot configuration and the resulting object pose in the workspace. To do this, we assume that the human prefers the body configuration that minimizes the muscular effort. And third, we ensure that, under the forces applied by the human, the robot grasp on the object is stable and the robot joint torques are within limits. Addressing these three challenges, we build a planner that, given a forceful task description, can output the robot grasp on an object and the robot configuration to position the shared object in space. We quantitatively analyze the performance of the planner and the validity of our assumptions. We conduct experiments with human subjects to measure their kinematic configurations, muscular activity, and force output during collaborative puncturing and cutting tasks. The results illustrate the effectiveness of our planner in reducing the human muscular load. For instance, for the puncturing task, our planner is able to reduce muscular load by 69.5\% compared to a user-based selection of object poses.

Position control for haptic device based on discrete-time proportional integral derivative controller

Haptic devices had known as advanced technology with the goal is creating the experiences of touch by applying forces and motions to the operator based on force feedback. Especially in unmanned aerial vehicle (UAV) applications, the position of the end-effector Falcon haptic sets the velocity command for the UAV. And the operator can feel the experience vibration of the vehicle as to the acceleration or collision with other objects through a forces feedback to the haptic device. In some emergency cases, the haptic can report to the user the dangerous situation of the UAV by changing the position of the end-effector which is be obtained by changing the angle of the motor using the inverse kinematic equation. But this solution may not accurate due to the disturbance of the system. Therefore, we proposed a position controller for the haptic based on a discrete-time proportional integral derivative (PID) controller. A Novint Falcon haptic is used to demonstrate our proposal. From hardware parameters, a Jacobian matrix is calculated, which combines with the force output from the PID controller to make the torque for the motors of the haptic. The experiment was shown that the PID has high accuracy and a small error position.

Motor unit buckling in variable recruitment fluidic artificial muscle bundles: implications and mitigations

Fluidic artificial muscles (FAMs) are a popular actuation choice due to their compliant nature and high force-to-weight ratio. Variable recruitment is a bio-inspired actuation strategy in which multiple FAMs are combined into motor units that can be pressurized sequentially according to load demand. In a traditional ‘fixed-end’ variable recruitment FAM bundle, inactive units and activated units that are past free strain will compress and buckle outward, resulting in resistive forces that reduce overall bundle force output, increase spatial envelope, and reduce operational life. This paper investigates the use of inextensible tendons as a mitigation strategy for preventing resistive forces and outward buckling of inactive and submaximally activated motor units in a variable recruitment FAM bundle. A traditional analytical fixed-end variable recruitment FAM bundle model is modified to account for tendons, and the force-strain spaces of the two configurations are compared while keeping the overall bundle length constant. Actuation efficiency for the two configurations is compared for two different cases: one case in which the radii of all FAMs within the bundle are equivalent, and one case in which the bundles are sized to consume the same amount of working fluidvolume at maximum contraction. Efficiency benefits can be found for either configuration for different locations within their shared force-strain space, so depending on the loading requirements, one configuration may be more efficient than the other. Additionally, a study is performed to quantify the increase in spatial envelope caused by the outward buckling of inactive or low-pressure motor units. It was found that at full activation of recruitment states 1, 2, and 3, the tendoned configuration has a significantly higher volumetric energy density than the fixed-end configuration, indicating that the tendoned configuration has more actuation potential for a given spatial envelope. Overall, the results show that using a resistive force mitigation strategy such as tendons can completely eliminate resistive forces, increase volumetric energy density, and increase system efficiency for certain loading cases. Thus, there is a compelling case to be made for the use of tendoned FAMs in variable recruitment bundles.

OPTIMISING THE DESIGN PARAMETERS OF A FILTER RESPIRATOR

Purpose. The optimum length choice of the headband insert for a dust filter respirator. Design/methodology/approach. The method of experimental planning has been applied to determine the interpolation (regression) and optimisation dependencies of the filter respirator process. The dominant variables for the respirator were selected based on experimental studies. Input controlled variables for mathematical model are length of tape insertion and headband tension force, output parameter is volume of contaminated air suction under face mask. A regression power relationship between the variables has been established. The recall function was approximated by a second-order non-linear mathematical model. The method of least squares was applied in determining the coefficients at the control variables. Regression dependencies and additional constraints on protective and ergonomic requirements have been used in the optimisation calculations. Conclusions. The solution of the set tasks were the following results: the nonlinear mathematical model more adequately characterizes the respirator use process compared to the linear model of the first order. Relative error between experimental and calculated values of air intake does not exceed 0.6 %. The optimization task is formulated with the regression model. The target function and constraints have been defined with safety and ergonomic requirements. The target function does not have an extremum within the defined constraints. The optimum insertion length was determined graphically and was 2–3.2 cm, the headband tension force does not exceed 5 H With this parameter. Research limitations/consequences. The proposed method is universal in determining the optimum parameters for all types of personal protective equipment. Practical implications: the choice of respirator design parameters can be made using experimentation-surface fitting. Originality/value. The proposed method makes it possible to decline heuristic design methods and establish analytical relationships between the requirements and parameters of individual elements of personal protective equipment.

Nonmuscle myosin IIA dynamically guides regulatory light chain phosphorylation and assembly of nonmuscle myosin IIB

Nonmuscle myosin II minifilaments have emerged as central elements for force generation and mechanosensing by mammalian cells. Each minifilament can have a different composition and activity due to the existence of the three nonmuscle myosin II isoforms A, B and C and their respective phosphorylation pattern. We have used CRISPR/Cas9-based knockout cells, quantitative image analysis and mathematical modelling to dissect the dynamic processes that control the formation and activity of heterotypic minifilaments and found a strong asymmetry between isoforms A and B. Loss of NM IIA completely abrogates regulatory light chain phosphorylation and reduces the level of assembled NM IIB. Activated NM IIB preferentially co-assembles into pre-formed NM IIA minifilaments and stabilizes the filament in a force-dependent mechanism. NM IIC is only weakly coupled to these processes. We conclude that NM IIA and B play clearly defined complementary roles during assembly of functional minifilaments. NM IIA is responsible for the formation of nascent pioneer minifilaments. NM IIB incorporates into these and acts as a clutch that limits the force output to prevent excessive NM IIA activity. Together these two isoforms form a balanced system for regulated force generation.

Effects of a Single Session of Floss Band Intervention on Flexibility of Thigh, Knee Joint Proprioception, Muscle Force Output, and Dynamic Balance in Young Adults

The floss band (FB) has been correlated with increases in the joint range of motion (ROM). However, the literature on FB effectiveness in knee joint ROM and athletic performance remains sparse. This study investigated the effects of FB on the flexibility of the quadriceps and hamstrings, knee joint proprioception, muscle force output, and dynamic balance in men. Thirty recreationally active men without musculoskeletal disorders were randomized to receive FB (Lime Green; Sanctband flossband) and elastic bandage (EB) intervention on the dominant knee joint. Participants received two interventions on two occasions with 2 days of rest between interventions. The primary outcome was the flexibility of the quadriceps and hamstrings; the secondary outcomes were knee proprioception (joint reposition angle error), knee muscle force output, and dynamic balance. Preintervention and postintervention (immediately following band removal and 20 min later) measurements were obtained. After FB intervention, hamstring flexibility (immediately: p < 0.001; 20 min later: p < 0.001) and quadriceps flexibility (immediately: p < 0.001; 20 min later: p < 0.001), quadriceps muscle force output (immediately: p = 0.007; 20 min later: p < 0.001), and dynamic balance (both immediately and 20 min later, p < 0.001) were significantly improved. Compared with EB intervention, FB intervention significantly improved knee extension ROM (immediately and 20 min later, both p < 0.001), knee flexion ROM (immediately, p = 0.01; 20 min later, p = 0.03), hamstrings muscle force output (20 min later, p = 0.022) and dynamic balance (immediately, p = 0.016; 20 min later, p = 0.004). Regarding proprioception, no significant difference among time points and conditions was observed. In conclusion, FB intervention can significantly improve the flexibility of the quadriceps and hamstrings, quadriceps muscle force output, and dynamic balance without impeding knee proprioception. Physiotherapists or athletic professionals may consider FB intervention as a potential tool as a warmup to enhance the flexibility of the quadriceps and hamstrings, quadriceps muscle force output, and dynamic balance in young adults.

Optimization Parameter for Micro-Gripper Based on Triple-Stair Compliant Mechanism Using GTs-TOPSIS

In manipulating the assembly of micro-components, the symmetrical microgripper mechanism often causes destruction, damaging the micro-components during manipulation. The reason is due to the phenomenon of non-uniform clamping force output of the clamp. From this disadvantage, a new asymmetric microgripper structure is proposed with stable output clamping force. The asymmetric microgripper structure will have a smaller output displacement than the symmetric structure. Therefore, to increase the output displacement gain, a flexible hinge with a triple stair half bridge-style mechanism is adopted to design the amplifier of the asymmetrical microgripper. The finite element method is applied to analyze the displacement and stress. The optimization process is performed based on the geometric parametric properties of the structure. Using the technology for order preference by similarity to ideal solution (TOPSIS) based on the grey relationship analysis (GRA) obtained the maximal displacement output and minimal stress. The results show that the maximum output displacement is 5,818 mm, stress after analysis is 2,432MPa. The test is conducted to verify the optimal results and the effectiveness of the optimization method. Finally, experimental experiments were performed, with a 4.8% difference from the FEA results. The results from the experimental test verify that the microgripper's maximum displacement amplification ratio is approximately 58.2 times.

Temporally stable beta sensorimotor oscillations and cortico-muscular coupling underlie force steadiness

As humans, we seamlessly hold objects in our hands, and may even lose consciousness of these objects. This phenomenon raises the unsettled question of the involvement of the cerebral cortex, the core area for voluntary motor control, in dynamically maintaining steady muscle force. To address this issue, we measured magnetoencephalographic brain activity from healthy adults who maintained a steady pinch grip. Using a novel analysis approach, we uncovered fine-grained temporal modulations in the ~20-Hz sensorimotor brain rhythm and its coupling with muscle activity, with respect to several aspects of muscle force (rate of increase/decrease or plateauing high/low). These modulations preceded changes in force features by ~40 ms and possessed behavioral relevance, as less salient or absent modulation predicted a more stable force output. These findings have consequences for the existing theories regarding the functional role of cortico-muscular coupling, and suggest that steady muscle contractions are characterized by a stable rather than fluttering involvement of the sensorimotor cortex.