Decoupled torque control of tendon-driven fingers with tension management, " Int. Numerically intersecting algebraic varieties via witness sets, " Applied Math.

A paucity of literature exists on quadriceps tendon reruptures. Failed quadriceps tendon repair can cause significant morbidity and disability. Surgical management of quadriceps tendon rerupture can be challenging due to tissue degeneration, tendon retraction, muscle atrophy, and poor bone fixation. A lack of guidance in the literature exists on the appropriate surgical techniques for managing ...

Spontaneous bilateral rupture of Achilles tendon is rare. Rupture of the Achilles tendon has been described in patients on oral corticosteroid therapy. The sudden dorsiflexion of the plantar-flexed foot is the usual mechanism of injury. Spontaneous bilateral rupture is common in the degenerated tendon, which is often seen in patients with long-term corticosteroid therapy. This case is unusual b...

To date, the cell and molecular mechanisms regulating tendon healing are poorly understood. Here, we establish a novel model of tendon regeneration using neonatal mice and show that neonates heal via formation of a 'neo-tendon' that differentiates along the tendon specific lineage with functional restoration of gait and mechanical properties. In contrast, adults heal via fibrovascular scar, abe...

In this paper, we introduce a design principle to develop novel soft modular robots based on tensegrity structures and inspired by the cytoskeleton of living cells. We describe a novel strategy to realize tensegrity structures using planar manufacturing techniques, such as 3D printing. We use this strategy to develop icosahedron tensegrity structures with programmable variable stiffness that ca...

Physiological studies of the human finger indicate that friction in the tendon-pulley system accounts for a considerable fraction of the total output force (9-12%) in a high-load static posteccentric configuration. Such a phenomenon can be exploited for robotic and prosthetic applications, as it can result in (1) an increase of output force or (2) a reduction of energy consumption and actuator ...

We present a general framework for modeling a class of mechanical systems for robotic manipulation, consisting of articulated limbs with redundant tendinous actuation and unilateral constraints. Such systems, that include biomorphically designed devices, are regarded as a collection of rigid bodies, interacting through connections that model both joints and contacts with virtual springs. Method...

Unlike during embryogenesis, the identity of tissue resident progenitor cells that contribute to postnatal tendon growth and natural healing is poorly characterized. Therefore, we utilized 1) an inducible Cre driven by alpha smooth muscle actin (SMACreERT2), that identifies mesenchymal progenitors, 2) a constitutively active Cre driven by growth and differentiation factor 5 (GDF5Cre), a critica...