Adaptive control of stiffness to stabilize hand position with large loads.

The goal of this work was to investigate stability in relation to the magnitude and direction of forces applied by the hand. The endpoint stiffness and joint stiffness of the arm were measured during a postural task in which subjects exerted up to 30% maximum voluntary force in each of four directions while controlling the position of the hand. All four coefficients of the joint stiffness matrix were found to vary linearly with both elbow and shoulder torque. This contrasts with the results of a previous study, which employed a force control task and concluded that the joint stiffness coefficients varied linearly with either shoulder or elbow torque but not both. Joint stiffness was transformed into endpoint stiffness to compare the effect on stability as endpoint force increased. When the joint stiffness coefficients were modeled as varying with the net torque at only one joint, as in the previous study, we found that hand position became unstable if endpoint force exceeded about 22 N in a specific direction. This did not occur when the joint stiffness coefficients were modeled as varying with the net torque at both joints, as in the present study. Rather, hand position became increasingly more stable as endpoint force increased for all directions of applied force. Our analysis suggests that co-contraction of biarticular muscles was primarily responsible for the increased stability. This clearly demonstrates how the central nervous system can selectively adapt the impedance of the arm in a specific direction to stabilize hand position when the force applied by the hand has a destabilizing effect in that direction.

Reflex contributions to the directional tuning of arm stiffness

It has been shown that during arm movement, humans selectively change the endpoint stiffness of their arm to compensate for the instability in an unstable environment. When the direction of the instability is rotated with respect to the direction of movement, it was found that humans modify the antisymmetric component of their endpoint stiffness. The antisymmetric component of stiffness arises due to reflex responses suggesting that the subjects may have tuned their reflex responses as part of the feedforward adaptive control. The goal of this study was to examine whether the CNS modulates the gain of the reflex response for selective tuning of endpoint impedance. Subjects performed reaching movements in three unstable force fields produced by a robotic manipulandum, each field differing only in the rotational component. After subjects had learned to compensate for the field, allowing them to make unperturbed movements to the target, the endpoint stiffness of the arm was estimated in the middle of the movements. At the same time electromyographic activity (EMG) of six arm muscles was recorded. Analysis of the EMG revealed differences across force fields in the reflex gain of these muscles consistent with stiffness changes. This study suggests that the CNS modulates the reflex gain as part of the adaptive feedforward command in which the endpoint impedance is selectively tuned to overcome environmental instability. © 2008 Springer-Verlag Berlin Heidelberg.

Measuring stiffness during arm movements in various dynamic environments

The technique presented in this paper enables a simple, accurate and unbiased measurement of hand stiffness during human arm movements. Using a computer-controlled mechanical interface, the hand is shifted relative to a prediction of the undisturbed trajectory. Stiffness is then computed as the restoring force divided by the position amplitude of the perturbation. A precise prediction algorithm insures the measurement quality. We used this technique to measure stiffness in free movements and after adaptation to a linear velocity dependent force field. The subjects compensated for the external force by co-contracting muscles selectively. The stiffness geometry changed with learning and stiffness tended to increase in the direction of the external force.

ZnO-Based FBAR resonators with carbon nanotube electrodes

Film bulk acoustic resonator (FBAR) devices with carbon nanotube (CNT) electrodes directly grown on a ZnO film by thermal chemical vapor deposition have been fabricated. CNT electrodes possess a very low density and high acoustic impedance, which reduces the intrinsic mass loading effect resulting from the electrodes' weight and better confines the longitudinal acoustic standing waves inside the resonator, in turn providing a resonator with a higher quality factor. The influence of the CNTs on the frequency response of the FBAR devices was studied by comparing two identical sets of devices; one set comprised FBARs fabricated with chromium/ gold bilayer electrodes, and the second set comprised FBARs fabricated with CNT electrodes. It was found that the CNTs had a significant effect on attenuating traveling waves at the surface of the FBARs' membranes because of their high elastic stiffness. Three-dimensional finite element analysis of the devices fabricated was carried out, and the numerical simulations were consistent with the experimental results obtained. © 2011 IEEE.

Permeability and stiffness of sands at very low effective stresses

Loose saturated sandy soils may undergo liquefaction under cyclic loading, generating positive excess pore pressures due to their contractile nature and inability to dissipate pore pressures rapidly during earthquake loading. These liquefied soils have a near-zero effective stress state, and hence have very low strength and stiffness, causing severe damage to structures founded upon them. The duration for which this near-zero effective stress state persists is a function of the rate of reconsolidation of the liquefied soil, which in turn is a function of the permeability and stiffness of the soil at this very low effective stress. Existing literature based on observation of physical model tests suggests that the consolidation coefficient C v associated with this reconsolidation of liquefied sand is significantly lower than that of the same soil at moderate stress levels. In this paper, the results of a series of novel fluidisation tests in which permeability k and coefficient of consolidation C v were independently measured will be presented. These results allow calculation of the variation of stiffness E 0 and permeability k with effective stress. It is shown that while permeability increases markedly at very low effective stresses, the simultaneous drop in stiffness measured results in a decrease in consolidation coefficient and hence an increase in the duration for which the soil remains liquefied.

Ultra-structural defects cause low bone matrix stiffness despite high mineralization in osteogenesis imperfecta mice.

Bone is a complex material with a hierarchical multi-scale organization from the molecule to the organ scale. The genetic bone disease, osteogenesis imperfecta, is primarily caused by mutations in the collagen type I genes, resulting in bone fragility. Because the basis of the disease is molecular with ramifications at the whole bone level, it provides a platform for investigating the relationship between structure, composition, and mechanics throughout the hierarchy. Prior studies have individually shown that OI leads to: 1. increased bone mineralization, 2. decreased elastic modulus, and 3. smaller apatite crystal size. However, these have not been studied together and the mechanism for how mineral structure influences tissue mechanics has not been identified. This lack of understanding inhibits the development of more accurate models and therapies. To address this research gap, we used a mouse model of the disease (oim) to measure these outcomes together in order to propose an underlying mechanism for the changes in properties. Our main finding was that despite increased mineralization, oim bones have lower stiffness that may result from the poorly organized mineral matrix with significantly smaller, highly packed and disoriented apatite crystals. Using a composite framework, we interpret the lower oim bone matrix elasticity observed as the result of a change in the aspect ratio of apatite crystals and a disruption of the crystal connectivity.

Effect of superstructure stiffness on liquefaction-induced failure Mechanisms

Soil liquefaction following strong earthquakes causes extensive damage to civil engineering structures. Foundations of buildings, bridges etc can suffer excessive rotation/settlement due to liquefaction. Many of the recent earthquakes bear testimony for such damage. In this article a hypothesis that "Superstructure stiffness can determine the type of liquefaction-induced failure mechanism suffered by the foundations" is proposed. As a rider to this hypothesis, it will be argued that liquefaction will cause failure of a foundation system in a mode of failure that offers least resistance. Evidence will be offered in terms of field observations during the 921 Ji-Ji earthquake in 1999 in Taiwan and Bhuj earthquake of 2001 in India. Dynamic centrifuge test data and finite element analyses results are presented to illustrate the traditional failure mechanisms. Copyright © 2010, IGI Global. Copying or distributing in print or electronic forms without written permission of IGI Global is prohibited.

Stability control of a railway vehicle using absolute stiffness and inerters

Work presented in this paper studies the potential of employing inerters -a novel mechanical device used successfully in racing cars- in active suspension configurations with the aim to enhance railway vehicle system performance. The particular element of research in this paper concerns railway wheelset lateral stability control. Controlled torques are applied to the wheelsets using the concept of absolute stiffness. The effects of a reduced set of arbitrary passive structures using springs, dampers and inerters integrated to the active solution are discussed. A multi-objective optimisation problem is defined for tuning the parameters of the proposed configurations. Finally, time domain simulations are assessed for the railway vehicle while negotiating a curved track. A simplification of the design problem for stability is attained with the integration of inerters to the active solutions. © 2012 IEEE.

Stiffness of sands through a laboratory test database

Deformations of sandy soils around geotechnical structures generally involve strains in the range small (0·01%) to medium (0·5%). In this strain range the soil exhibits non-linear stress-strain behaviour, which should be incorporated in any deformation analysis. In order to capture the possible variability in the non-linear behaviour of various sands, a database was constructed including the secant shear modulus degradation curves of 454 tests from the literature. By obtaining a unique S-shaped curve of shear modulus degradation, a modified hyperbolic relationship was fitted. The three curve-fitting parameters are: an elastic threshold strain γe, up to which the elastic shear modulus is effectively constant at G0; a reference strain γr, defined as the shear strain at which the secant modulus has reduced to 0·5G0; and a curvature parameter a, which controls the rate of modulus reduction. The two characteristic strains γe and γr were found to vary with sand type (i.e. uniformity coefficient), soil state (i.e. void ratio, relative density) and mean effective stress. The new empirical expression for shear modulus reduction G/G0 is shown to make predictions that are accurate within a factor of 1·13 for one standard deviation of random error, as determined from 3860 data points. The initial elastic shear modulus, G0, should always be measured if possible, but a new empirical relation is shown to provide estimates within a factor of 1·6 for one standard deviation of random error, as determined from 379 tests. The new expressions for non-linear deformation are easy to apply in practice, and should be useful in the analysis of geotechnical structures under static loading.