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Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-022-0696-0

摘要： The loss of hand functions in upper limb amputees severely restricts their mobility in daily life. Wearing a humanoid prosthetic hand would be an effective way of restoring lost hand functions. In a prosthetic hand design, replicating the natural and dexterous grasping functions with a few actuators remains a big challenge. In this study, a function-oriented optimization design (FOD) method is proposed for the design of a tendon-driven humanoid prosthetic hand. An optimization function of different functional conditions of full-phalanx contact, total contact force, and force isotropy was constructed based on the kinetostatic model of a prosthetic finger for the evaluation of grasping performance. Using a genetic algorithm, the optimal geometric parameters of the prosthetic finger could be determined for specific functional requirements. Optimal results reveal that the structure of the prosthetic finger is significantly different when designed for different functional requirements and grasping target sizes. A prosthetic finger was fabricated and tested with grasping experiments. The mean absolute percentage error between the theoretical value and the experimental result is less than 10%, demonstrating that the kinetostatic model of the prosthetic finger is effective and makes the FOD method possible. This study suggests that the FOD method enables the systematic evaluation of grasping performance for prosthetic hands in the design stage, which could improve the design efficiency and help prosthetic hands meet the design requirements.

关键词： function-oriented tendon driven prosthetic hand optimization humanoid underactuated

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Seismic performance of fabricated continuous girder bridge with grouting sleeve-prestressed tendon composite

《结构与土木工程前沿（英文）》页码 827-854 doi: 10.1007/s11709-023-0954-1

摘要： The seismic performance of a fully fabricated bridge is a key factor limiting its application. In this study, a fiber element model of a fabricated concrete pier with grouting sleeve-prestressed tendon composite connections was built and verified. A numerical analysis of three types of continuous girder bridges was conducted with different piers: a cast-in-place reinforced concrete pier, a grouting sleeve-fabricated pier, and a grouting sleeve-prestressed tendon composite fabricated pier. Furthermore, the seismic performance of the composite fabricated pier was investigated. The results show that the OpenSees fiber element model can successfully simulate the hysteresis behavior and failure mode of the grouted sleeve-fabricated pier. Under traditional non-near-fault ground motions, the pier top displacements of the grouting sleeve-fabricated pier and the composite fabricated pier were less than those of the cast-in-place reinforced concrete pier. The composite fabricated pier had a good self-centering capability. In addition, the plastic hinge zones of the grouting sleeve-fabricated pier and the composite fabricated pier shifted to the joint seam and upper edge of the grouting sleeve, respectively. The composite fabricated pier with optimal design parameters has good seismic performance and can be applied in high-intensity seismic areas; however, the influence of pile-soil interaction on its seismic performance should not be ignored.

关键词： seismic performance continuous girder bridge grouting sleeve-prestressed tendon composite connections grouted sleeve connection design parameters

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Tissue engineering of cartilage, tendon and bone

null

《医学前沿（英文）》 2011年第5卷第1期页码 61-69 doi: 10.1007/s11684-011-0122-1

摘要：

Tissue engineering aims to produce a functional tissue replacement to repair defects. Tissue reconstruction is an essential step toward the clinical application of engineered tissues. Significant progress has recently been achieved in this field. In our laboratory, we focus on construction of cartilage, tendon and bone. The purpose of this review was to summarize the advances in the engineering of these three tissues, particularly focusing on tissue regeneration and defect repair in our laboratory. In cartilage engineering, articular cartilage was reconstructed and defects were repaired in animal models. More sophisticated tissues, such as cartilage in the ear and trachea, were reconstructed both in vitro and in vivo with specific shapes and sizes. Engineered tendon was generated in vitro and in vivo in many animal models with tenocytes or dermal fibroblasts in combination with appropriate mechanical loading. Cranial and limb bone defects were also successfully regenerated and repaired in large animals. Based on sophisticated animal studies, several clinical trials of engineered bone have been launched with promising preliminary results, displaying the high potential for clinical application.

关键词： Tissue engineering cartilage bone tendon recent advances

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Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger

Francesco PENTA,Cesare ROSSI,Sergio SAVINO

《机械工程前沿（英文）》 2016年第11卷第2期页码 184-194 doi: 10.1007/s11465-016-0385-y

摘要：

This study aims to optimize the geometrical parameters of an under-actuated mechanical finger by conducting a theoretical analysis of these parameters. The finger is actuated by a flexion tendon and an extension tendon. The considered parameters are the tendon guide positions with respect to the hinges. By applying such an optimization, the correct kinematical and dynamical behavior of the closing cycle of the finger can be obtained. The results of this study are useful for avoiding the snap-through and the single joint hyperflexion, which are the two breakdowns most frequently observed during experimentation on prototypes. Diagrams are established to identify the optimum values for the tendon guides position of a finger with specified dimensions. The findings of this study can serve as guide for future finger design.

关键词： tendon-driven fingers mechanical finger design under-actuated mechanical systems

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面向机器人微创手术的新型遥控柔性机器人 Article

李峥, Jan Feiling, 任洪亮, Haoyong Yu

《工程（英文）》 2015年第1卷第1期页码 73-78 doi: 10.15302/J-ENG-2015011

摘要：

本文介绍了基于约束型蛇形拉线机构（CTSM）的新型柔性机器人系统。与达芬奇外科手术机器人和传统柔性机器人相比，基于CTSM的机器人具有更大的工作空间，更高的灵巧度以及刚度可控的优点。该机器人采用Novint Falcon触觉设备进行远程操控，包括两种操作模式——直接映射模式和增量模式。在每一种模式下，该机器人都可以采用“最大刚度”方案或“最小运动”方案来操控。CTSM的以上优点在仿真模拟和实验中均得以验证。

关键词：外科手术机器人柔性机械臂拉线机构机器人微创手术