Mass-spring systems have widely and effectively been used for modeling in mal-time deformable objects. Easier to implement and faster than finite elements, these systems, on the other side, suffer from several drawbacks when coming to render physically believable behaviors. Neither isotropic or anisotropic materials can be controlled easily and the large number of springs and mass points compos...

A safe interaction is crucial in wearable robotics in general, while in assistive and rehabilitation applications, robots may also be required to minimally perturb physiological movements, ideally acting as perfectly transparent machines. The actuation system plays a central role because the expected performance, in terms of torque, speed and control bandwidth, must not be achieved at the expen...

We present a hydro-elastic actuator that has a linear spring intentionally placed in series between the hydraulic piston and actuator output. The spring strain is measured to get an accurate estimate of force. This measurement alone is used in PI feedback to control the force in the actuator. The spring allows for high force fidelity, good force control, minimum impedance, and large dynamic ran...

A safe interaction is crucial in wearable robotics in general, while in assistive and rehabilitation applications, robots may also be required to minimally perturb physiological movements, ideally acting as perfectly transparent machines. The actuation system plays a central role because the expected performance, in terms of torque, speed and control bandwidth, must not be achieved at the expen...

Caterpillar crawling is distinct from that of worms and molluscs; it consists of a series of steps in different body segments that can be compared to walking and running in animals with stiff skeletons. Using a three-dimensional kinematic analysis of horizontal crawling in Manduca sexta, the tobacco hornworm, we found that the phase of vertical displacement in the posterior segments substantial...

Ferrogels consist of magnetic colloidal particles embedded in an elastic polymer matrix. As a consequence, their structural and rheological properties are governed by a competition between magnetic particle-particle interactions and mechanical matrix elasticity. Typically, the particles are permanently fixed within the matrix, which makes them distinguishable by their positions. Over time, part...

We obtain an exact solution for the motion of a particle driven by a spring in a Brownian random-force landscape, the Alessandro-Beatrice-Bertotti-Montorsi (ABBM) model. Many experiments on quasistatic driving of elastic interfaces (Barkhausen noise in magnets, earthquake statistics, shear dynamics of granular matter) exhibit the same universal behavior as this model. It also appears as a limit...

RATIONALE The giant protein titin plays key roles in myofilament assembly and determines the passive mechanical properties of the sarcomere. The cardiac titin molecule has 2 mayor elastic elements, the N2B and the PEVK region. Both have been suggested to determine the elastic properties of the heart with loss of function data only available for the N2B region. OBJECTIVE The purpose of this st...