This paper reports mechanical testing and modeling results for the McKibben artificial muscle pneumatic actuator. This device, first developed in the 1950's, contains an expanding tube surrounded by braided cords. We report static and dynamic length-tension testing results and derive a linearized model of these properties for three different models. The results are briefly compared with human m...

This paper reports the mechanical design, structural analysis, and experimental veri cation of a new high performance semi-direct drive robot arm. A design optimization methodology employing nite element analysis (FEA) is reviewed, and a resulting arm design is reported. FEA simulations of the nal design predict high structural vibration frequencies throughout the arms workspace. Extensive stru...

The paper presents a combined experimental and theoretical study to determine the actual dynamic Young’s modulus (Edynamic) for the mechanical structure of a silicon microaccelerometer. The resonance (natural) frequencies of the suspension arms of accelerometer were measured using MSA-500 Micro System Analyzer and, then, introduced in analytical expressions in order to find Edynamic. The obtain...

This paper discusses the design criteria imposed by the capabilities of the human user on the design of force reflecting controllers for hands and arms. A framework of issues regarding human capabilities is presented that maps directly to mechanical design requirements. The state of knowledge for each capability is briefly summarized along with presentation of new experimental measurements. Fin...

Robotic surgery is an exciting technology that allows the surgeon to sit at a computer console near the operating table, using mechanical arms with surgical instruments attached to them. This type of surgery is minimally invasive, and the procedure is performed through tiny incisions. This technology is widely used in the United States and is expected to evolve over time with an increase in the...

To resist these forces, dentistry has developed a wide variety of mechanical attachments that include circumferential clasps, bar clasps, indirect retainers, ring clasps, reverse loop clasps, hybrid clasps; and an assortment of precision attachments that include springs, flanges, snaps, latches, plungers and retentive arms. Despite dramatic differences in design, virtually all of these retentio...

Mechanosensitive ion channels convert external mechanical stimuli into electrochemical signals for critical processes including touch sensation, balance, and cardiovascular regulation. The best understood mechanosensitive channel, MscL, opens a wide pore, which accounts for mechanosensitive gating due to in-plane area expansion. Eukaryotic Piezo channels have a narrow pore and therefore must ca...

Light-weight robots are robots especially designed for mobility and interaction with a priori unknown environments and with humans. These applications pose the requirements of a light-weight design with high load to weight ratio and high motion velocity (close to the approximately 1:1 ratio of human arms at a tip velocity of 6m/s). Further, they require a modular, integrated mechanical and elec...