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Related Concept Videos

Structural Joints: Synovial Joints01:16

Structural Joints: Synovial Joints

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Synovial joints are the most common type of joint in the body. A key structural characteristic for a synovial joint is the presence of a joint cavity. This fluid-filled space is where the articulating surfaces of the bones contact each other. Also, unlike fibrous or cartilaginous joints, the articulating bone surfaces at a synovial joint are not directly connected to each other with fibrous connective tissue or cartilage. This gives the bones of a synovial joint the ability to move smoothly...
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Structural Joints: Fibrous Joints01:03

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Fibrous joints are a type of joint where the bones are connected by fibrous connective tissue. These joints provide stability and minimal to no movement between the articulating bones. There are three types of fibrous joints.
Suture
All the bones of the skull, except for the mandible, are joined to each other by a fibrous joint called a suture. The fibrous connective tissue found at a suture strongly unites the adjacent skull bones and thus helps to protect the brain and form the face. In...
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Structural Joints: Cartilaginous Joints01:17

Structural Joints: Cartilaginous Joints

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As the name indicates, at a cartilaginous joint, the adjacent bones are united by cartilage, a tough but flexible type of connective tissue. Unlike synovial joints, these types of joints lack a joint cavity and involve bones joined together by either hyaline cartilage or fibrocartilage.
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Joints01:26

Joints

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Joints, also called articulations or articular surfaces, are points at which ligaments or other tissues connect adjacent bones. Joints permit movement and stability, and can be classified based on their structure or function.
Structural joint classifications are based on the material that makes up the joint as well as whether or not the joint contains a space between the bones. Joints are structurally classified as fibrous, cartilaginous, or synovial.
Fibrous Joints Are Immovable
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Hand hygiene01:23

Hand hygiene

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Asepsis is the practice of preventing or breaking the chain of infection. The nurse employs aseptic techniques to prevent the spread of microorganisms and reduce the risk of diseases. Hand hygiene is the cornerstone of aseptic techniques and is classified into medical and surgical asepsis. Medical asepsis includes hand hygiene and the use of gloves. Surgical asepsis, or the sterile technique, refers to practices that render and keep objects and areas free of microorganisms.
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Method of Joints

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The method of joints is a commonly used technique to analyze the forces in structural trusses. The method is based on the principle of equilibrium, which assumes that the truss members are connected by frictionless pins. The forces at each joint can be determined by considering the equilibrium of the forces acting on that joint.
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A multi-jointed underactuated robot hand with fluid-driven stretchable tubes.

Yuangen Wei1, Yini Ma2, Wenzeng Zhang1

  • 11Department of Mechanical Engineering, Tsinghua University, Beijing, 100084 China.

Robotics and Biomimetics
|June 29, 2018
PubMed
Summary
This summary is machine-generated.

Researchers developed a novel self-adaptive underactuated finger (OS finger) inspired by octopus tentacles. This robotic finger offers versatile grasping capabilities, combining rigid and form-fitting grips for service robotics applications.

Keywords:
Artificial muscleBiologically inspired roboticsMulti-fingered robot handSelf-adaptive mechanism

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Area of Science:

  • Robotics
  • Biomimetics
  • Mechanical Engineering

Background:

  • Traditional exoskeletons lack adaptability.
  • Octopus tentacles exhibit remarkable flexibility and grasping ability.

Purpose of the Study:

  • To propose a novel self-adaptive underactuated finger mechanism (OS finger).
  • To combine the benefits of rigid and form-fitting grasps.
  • To enable versatile grasping for service robotics.

Main Methods:

  • Design of the OS finger with an artificial muscle, serial-hinged joints, and a force-changeable assembly.
  • Kinematic analysis of the finger mechanism.
  • Experimental validation using an OS robot Hand with four OS fingers.

Main Results:

  • The OS finger demonstrates self-adaptive grasping for various object shapes and sizes.
  • The OS robot Hand achieves precise pinching, encompassing grasps, and wide-ranging, controllable forces.
  • The mechanism integrates features of both rigid and flexible grasping.

Conclusions:

  • The OS finger offers high self-adaptation, diverse grasp configurations, and adjustable forces.
  • The OS Hand is suitable for service robotics requiring flexible manipulation.
  • This technology advances robotic grasping for general tasks.