Grasshopper Knee Joint – Inverse Kinematic Modeling and Simulation of Ionic Polymer Metal Composites (IPMC) Actuators

Biomimetic is the field of engineering in which biological structures and functions are analyzed and are used as the basis for the design and manufacturing of machines. Insects are the most populated creature and present everywhere in the world and can survive the most hostile environmental situations. IPMC is a smart material which has exhibited a significant bending and tip force after the application of a low voltage. It is light-weighted, flexible, easily actuated, multi-directional applicable and requires simple manufacturing.In this paper,five different contributions are made. Firstly, a two link grasshopper knee joint physical model is presented in which the actuation force required for moving the knee is provided by the IPMC material. This material constitutes one link of the linkage. Secondly,inverse kinematic modelhas been developed for the linkage. Thirdly, the system of equations is solved by proposing solutions to the known transcendental functions with unknown coefficients. Fourthly, wolfram mathematica is employed for thesimulationof the model. Finally,angles, velocity and accelerationof the links are analyzed based on the simulation results. The simulation results show that the tibia is displaying a lag in time from the femur verifying that it is operated by the force provided by the femur (IPMC). Also, it verified the flexible nature of the IPMC material through multiple peaks and troughs in the graphs. The angles range of the tibia is found quite admirable and it is believed that the IPMC material can add a new horizon to the manufacturing of small biomimetic equipment and low force actuated manipulators.

Advances on Biomedical Titanium Surface Interactions

When used as an implanted material, titanium (Ti) surface controls the subsequent biological reactions and leads to tissue integration. Cells interactions with the surface, through a protein layer that is being formed from the moment Ti surface comes in contact with blood and its components, and indeed this protein layer formation, are regulated by surface properties such as topography, chemistry, charge and surface energy. Currently, the implementation of nanotechnology, in an attempt to support mimicking the natural features of extracellular matrix, has provided novel approaches for understanding and translating surface mechanisms whose modification and tailoring are expected to lead to enhanced cell activity and improved integration. Despite the fact that there has been extensive research on this subject, the sequence of interactions that take place instantly after the exposure of the implanted material into the biologic microenvironment are not well documented and need further investigation as well as the optimization of characteristics of Ti surface. This review, including theoretical and experimental studies, summarizes some of the latest advances on the Ti surface concerning modifications on surface properties and how these modifications affect biomolecular reactions and also attempts to present the initial adsorption mechanism of water and protein molecules to the surface.

Comparative In Vivo Study of Biocompatibility of Apatites Incorporated with 1% Zinc or Lead Ions versus Stoichiometric Hydroxyapatite

Hydroxyapatite is the main ceramic material that has being used in bone repair, although its physico-chemical and in vivo behavior should be better understood. A method to improve the biocompatibility of HA is the substitution of calcium with divalent cations which enhance mechanic resistance and can modulate inflammatory response against implanted material. In this study we analyzed the biocompatibility of HA doped with one per cent of Zn2+ or Pb2+. The first one has being described as an inflammation modulator and the second would be a model for chronic toxicity assay. Biocompatibility of the both materials was studied in vivo following the ISO 10993-6 standard. HA cylinders (ZnHA, PbHA and stoichiometric HA as positive control) were implanted into subcutaneous tissue of 45 Balb-c mice and after 1, 3 and 9 weeks the animals were euthanized (5 for each experimental condition). Necropsies of the skin containing reactional tissue were removed, fixed in 10% formaldehyde and followed the histological processing for paraffin embedding and staining with Hematoxylin-Eosine and Picrosirius red. Microscopic analysis showed for all groups moderate inflammatory response, decreasing throughout the experimental periods, with ZnHA group showing more intense response. Similar presence of macrophages, fibrosis and angiogenesis were observed among the groups. Thereby, we can conclude that ZnHA and PbHA are biocompatible and not bioresorbable, being the ZnHA potentially indicated as bone graft. Detailed studies are required to better understand the role of PbHA as chronic model for lead toxicity.

Effect of Unilateral Non-Rhythmical Stimulation on Bilateral Cerebral Cortex and Muscle Activation in People

Effects of conventional exercise training of robot to stroke patients are not too satisfying, and efficient methods of training are unclear. To test how the non-rhythmical load stimulation affects cerebral cortex by analyzing the coherence between electroencephalographic signals (EEGs) and electromyographic signals (EMGs). Ten healthy subjects, all subjects have no history of neurological diseases (6 men and 4 women, mean age: 24.5 years, range: 22-28). Subjects lay on the experimental platform 75°with respect to the ground, feet on support plates and close to the ground. When non-rhythmical stimulation was performed randomly, one hinge was released and the respected braced force between the foot and support plate disappeared, which caused the corresponding ankle to extend suddenly without relative displacement between the foot and the support plate. Surface EMG signals from tibialis anterior (TA) muscles and EEG signals from cerebral cortex area Cz were recorded, and coherence between them were analyzed. The mean maximum EEG-EMG coherence of the non-rhythmical stimulation side of the ten subjects was consistent across all (9 of 10) within β range (13-30 Hz), and the average value of all in the stimulated side was 23.581Hz. While the mean maximum EEG-EMG coherence of the still side were consistent across all (9 of 10) within α range (8-13 Hz). Our findings suggest that non-rhythmical stimulation to lower limb can stimulate effectively the corresponding area of the cerebral cortex, and this idea could be applied in rehabilitation of central nervous system diseases like stroke.

Damping Micromechanisms for Bones above Room Temperature

The wide damping maximum which is reported to appear in bones, involving both cortical and cancellous parts, between around 280 K and 420 K; has been determined to be a composition of different processes taking place at different temperatures in cancellous and cortical parts. In fact, in the present work the mechanical response of cow ribs bones has been analysed by coupling mechanical spectroscopy, differential scanning calorimetry, thermogravimetry and scanning electron microscopy studies. Cancellous part develops two damping maxima at around 320 K and 350 K. Cortical part exhibits a wide maximum in damping between around 310 K and 410 K and another damping relaxation between 390 K and 410 K. The physical-chemical driving force giving rise to the above relaxation processes are discussed.

Effects of Cell Density on Mechanical Properties of Alginate Hydrogel Tissue Scaffolds

Cell-seeded hydrogel scaffolds have been widely used in various tissue engineering applications due to their excellent biocompatibility and biomimetic properties. One of the critical issues in successful use of hydrogel scaffolds is their mechanical properties. Since cells and hydrogels are physically different materials, the cells encapsulated in the hydrogels can change profoundly the mechanical properties of the hydrogel scaffolds. In this research, the effects of Schwann cell density on mechanical properties of alginate hydrogel scaffolds were investigated. It was found that increase of cell density decreases the strength of the scaffolds. It was also found that the Ogden model can best describe the mechanical properties of the scaffolds under the strain of 45% at varying cell densities. Based on the cell density-dependant mechanical properties, a simulation was performed to study the local stresses of on cells when cells are subjected to loading. Simulation shows that at the same strain, the stress concentration on cells decreases as the cell density increases. The experimental and simulation results obtained in this paper will allow one to rigorously design scaffolds with desired mechanical properties and provide a clue to avoid mechanical cell injury.

Strong and Bioactive Tri-Calcium Phosphate Scaffolds with Tube-Like Macropores

Calcium phosphate ceramic scaffolds have been widely investigated for bone tissue engineering due to their excellent biocompatibility and biodegradation. Unfortunately, they have low mechanical properties, which inversely restrict their wide applications in load-bearing bone tissue engineering. In this study, porous Si-doped tri-calcium phosphate (TCP) ceramics with a high porosity (~65%) and with interconnected macrotubes (~0.8mm in diameter) and micropores (5-100 μm) were prepared by firing hydroxyapatite (HA)/ bioactive glass-impregnated acrylontrile butadiene styrene (ABS) templates at 1400 °C. Results indicated that the cylindrical scaffolds had a higher compressive strength than the cubic scaffolds and the smallest cylindrical scaffold had a highest compressive strength (14.68+0.2MPa). Additional studies of cell attachment and MTT cytotoxicity assay proved the bioactivity and biocompatibility of the Si-doped TCP scaffolds.

Synthesis and Characterization of Hydroxyapatite Powder from Natural Bovine Bone

Hydroxyapatite was synthesized from bovine cortical bone by thermal decomposition method. The chemically cleaned bone was heated to 160 °C for 48 hour to remove moisture and any organic contents followed by decomposition in muffle furnace at 850 °C for 6 hours. The so-obtained white powder was characterized by Fourier Transform Infrared (FT-IR) spectroscopy and X-Ray Diffraction (XRD), SEM and EDX method. The FT-IR results proved the existence of hydroxyl (OH-) and phosphate (PO4-3) groups in the powder. XRD analysis was in support to the FT-IR spectrum, however, an additional phase of tri-calcium phosphate (TCP) was also observed as an impurity, SEM shows the surface morphology & EDX gives the Calcium (Ca) to Phosphorous (P) ratio. Key Words: Hydroxyapatite; Thermal Decomposition, Calcination

Resorbable Polymer Membranes for Medical Applications

A bioresorbable polymer poly-ε-caprolactone (PCL) was tested in order to obtain porous materials suitable for membranes. The commercial PCL with various molecular weights (2kDa, 60kDa, 80 kDa) but similar polydispersity has been chosen. The membranes were produced by the casting method and the membrane materials underwent microstructure investigation (SEM) to assess the size of pores and an average porosity of the membranes. The membranes permeability was established by means of ultrafiltration. Also wettabilility and basic mechanical properties (such as: tensile strength Rm, Youngs modulus, E) were established. The membranes durability was tested in in vitro conditions (PBS/37°C) by monitoring of changes by means of ion conductivity measurement and changes in the molecular weight (the Ubbelohde method). The porous materials were tested towards biocompatibility, i.e. the membrane was contacted with the osteoblast line of NHOst cells (viability test, cells morphology). Non-perforated PCL foil was used as a reference material. The best physicochemical, mechanical and biological properties of the membranes were observed in case of application of PCL with molecular weight of 60 kDa.

Grasshopper Knee Joint - Torque Analysis of Actuators Using Ionic Polymer Metal Composites (IPMC)

Biomimetic is the field of engineering which involves analyzing the biological beings and incorporating their designs and systems for manufacturing mechanical systems. An Ionic Polymer metal composite (IPMC) is a smart material that displays a significant bending and tip force after the application of a low voltage. It is light-weighted, flexible, easily actuated, multi-directional applicable and requires simple manufacturing. In this paper, a two-link biomimetic knee joint mechanism of a grass hopper is presented. Secondly, an IPMC pair of strips is proposed as a link that enables the actuating force which is modeled on the basis of the grass hopper's leg. Thirdly, dynamic model is developed for the proposed mechanism through Lagrangian mechanics. Fourthly, power series is utilized for the solution of the non-linear transcendental model. Wolfram mathematica is employed for the simulation of the model. Finally, the effect of torque is analyzed by varying the actuating torque. It is concluded that actuating torque is directly proportional to the angles moved and inversely proportional to the potential energies of the linkage. Furthermore, a stiffer and more vibrant linkage is observed as per simulation results. These results are validated theoretically. Our simulation results indicate that the proposed IPMC has the potential for utilization in small biomimetic applications like insects robots joints activation, underwater fish fins, surgical grippers, synthetic ventricular muscles and human catheter system for endoscopic surgery and diagnostics etc.