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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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Development of the Limb Synovial Joints01:07

Development of the Limb Synovial Joints

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Joints form during embryonic development in conjunction with the formation and growth of the associated bones. The embryonic tissue that gives rise to all bones, cartilage, and connective tissues of the body is called mesenchyme.
The mesenchymal stem cells differentiate into chondrocytes that form the hyaline cartilage, and later the cartilaginous model of the bone. This model further transforms into a bone. This process is known as endochondral ossification.
During development, the limbs...
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Deformation in a Circular Shaft01:10

Deformation in a Circular Shaft

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One of the distinctive characteristics of circular shafts is their ability to maintain their cross-sectional integrity under torsion. In other words, each cross-section continues to exist as a flat, unaltered entity, simply rotating like a solid, rigid slab. To understand the distribution of shearing stress within such a shaft, consider a cylindrical section inside this circular shaft. This section has a length of L and a radius of R, with one end fixed. The radius of the cylindrical section is...
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Support Reactions in Three Dimensions01:27

Support Reactions in Three Dimensions

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Support reactions in three dimensions help maintain the stability and equilibrium of various structures and systems. These reactions prevent the system from translating and rotating, ensuring the design can withstand external forces and perform its intended function efficiently and safely. Some of the supports providing support reactions in three dimensions are discussed below:
Ball and Socket Joint is one of the supports allowing free rotation about any axis. This freedom of rotation is...
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Plastic Deformation in Circular Shafts01:20

Plastic Deformation in Circular Shafts

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When materials are subjected to forces that surpass their yield strength, they undergo a process known as plastic deformation. This results in a permanent alteration or strain in their structure. This concept can be specifically applied to circular shafts, where the deformation leads to a change in its shape. The precise evaluation of this plastic deformation requires understanding the stress distribution within the circular shaft, which is achieved by calculating the maximum shearing stress in...
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Circular Shafts - Elastoplastic Materials01:24

Circular Shafts - Elastoplastic Materials

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The study of solid circular shafts under stress shows that within the elastic limit, stress increases directly to the distance from the shaft's center. This relationship holds until the shaft reaches a critical point of stress, beyond which it begins to yield, marking the transition from elastic to plastic deformation. At this crucial juncture, the maximum torque the shaft can endure without permanent deformation is determined, signifying the limit of its elastic behavior.
As torque on the...
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A Friction Testing-Bioreactor Device for Study of Synovial Joint Biomechanics, Mechanobiology, and Physical Regulation
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A Friction Testing-Bioreactor Device for Study of Synovial Joint Biomechanics, Mechanobiology, and Physical Regulation

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A Novel Pressure-Controlled Revolute Joint with Variable Stiffness.

Canberk Sozer1,2, Linda Paternò1,2, Giuseppe Tortora1,2

  • 1The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy.

Soft Robotics
|July 28, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces a novel fluidic-driven variable stiffness revolute joint (VSRJ) for soft robotics. The hybrid soft-rigid design enhances controllability and predictability in human-machine interactions.

Keywords:
fluidic drivenhybrid soft-rigid robotlocking mechanismrevolute jointsilicone rubber frictionvariable stiffness

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Soft robotics offer safe human-machine interaction but face controllability challenges.
  • Traditional rigid-body robots require complex control systems.
  • Adjustable compliance is crucial for advanced robotic applications.

Purpose of the Study:

  • To propose a novel fluidic-driven variable stiffness revolute joint (VSRJ).
  • To address controllability and predictability challenges in soft robotics.
  • To achieve adjustable compliance using a hybrid soft-rigid approach.

Main Methods:

  • Developed a VSRJ using a silicone rubber cylinder within a closed compartment formed by rigid links.
  • Applied fluidic pressure to modulate the joint's stiffness.
  • Investigated stiffness enhancement through friction and a locking mechanism.
  • Validated experimental results with finite element analysis.

Main Results:

  • Achieved an 8-fold increase in rotational stiffness with 0-5 bar pressure.
  • Demonstrated stiffness control within a -30° to +30° rotation angle.
  • Modular design allows for scalable variable stiffness structures.
  • Characterized VSRJ repeatability, torque, and stiffness.

Conclusions:

  • The proposed VSRJ effectively enhances rotational stiffness and offers adjustable compliance.
  • This hybrid soft-rigid approach presents an efficient alternative to traditional variable-stiffness linkages.
  • The modular design facilitates the creation of adaptable variable stiffness robotic structures.