Experimental Characterization and Control of Miniaturized Pneumatic Artificial Muscle

Robotic surgical tools used in minimally invasive surgeries (MIS) require miniaturized and reliable actuators for precise positioning and control of the end-effector. Miniature pneumatic artificial muscles (MPAMs) are a good choice due to their inert nature, high force to weight ratio, and fast actuation. In this paper, we present the development of miniaturized braided pneumatic muscles with an outer diameter of similar to 1.2 mm, a high contraction ratio of about 18%, and capable of providing a pull force in excess of 4 N at a supply pressure of 0.8 MPa. We present the details of the developed experimental setup, experimental data on contraction and force as a function of applied pressure, and characterization of the MPAM. We also present a simple kinematics and experimental data based model of the braided pneumatic muscle and show that the model predicts contraction in length to within 20% of the measured value. Finally, a robust controller for the MPAMs is developed and validated with experiments and it is shown that the MPAMs have a time constant of similar to 10 ms thereby making them suitable for actuating endoscopic and robotic surgical tools.

Ionic Bonding between Artificial Atoms

Conventional solids are prepared from building blocks that are conceptually no larger than a hundred atoms. While van der Waals and dipole-dipole interactions also influence the formation of these materials, stronger interactions, referred to as chemical bonds, play a more decisive role in determining the structures of most solids. Chemical bonds that hold such materials together are said to be ionic, covalent, metallic, dative, or otherwise a combination of these. Solids that utilize semiconductor nanocrystal quantum dots as building units have been demonstrated to exist; however, the interparticle forces in such materials are decidedly not chemical. Here we demonstrate the formation of charge transfer states in a binary quantum dot mixture. Charge is observed to reside in quantum confined states of one of the participating quantum dots. These interactions lead to materials that may be regarded as the nanoscale analog of an ionic solid. The process by which these materials form has interesting parallels to chemical reactions in conventional chemistry.

A literature survey on the real-time computational simulation of biological organs

This paper lists some references that could in some way be relevant in the context of the real-time computational simulation of biological organs, the research area being defined in a very broad sense. This paper contains 198 references.