A wearable system for multi-segment foot kinetics measurement.

This study aims to design a wearable system for kinetics measurement of multi-segment foot joints in long-distance walking and to investigate its suitability for clinical evaluations. The wearable system consisted of inertial sensors (3D gyroscopes and 3D accelerometers) on toes, forefoot, hindfoot, and shank, and a plantar pressure insole. After calibration in a laboratory, 10 healthy elderly subjects and 12 patients with ankle osteoarthritis walked 50m twice wearing this system. Using inverse dynamics, 3D forces, moments, and power were calculated in the joint sections among toes, forefoot, hindfoot, and shank. Compared to those we previously estimated for a one-segment foot model, the sagittal and transverse moments and power in the ankle joint, as measured via multi-segment foot model, showed a normalized RMS difference of less than 11%, 14%, and 13%, respectively, for healthy subjects, and 13%, 15%, and 14%, for patients. Similar to our previous study, the coronal moments were not analyzed. Maxima-minima values of anterior-posterior and vertical force, sagittal moment, and power in shank-hindfoot and hindfoot-forefoot joints were significantly different between patients and healthy subjects. Except for power, the inter-subject repeatability of these parameters was CMC>0.90 for healthy subjects and CMC>0.70 for patients. Repeatability of these parameters was lower for the forefoot-toes joint. The proposed measurement system estimated multi-segment foot joints kinetics with acceptable repeatability but showed difference, compared to those previously estimated for the one-segment foot model. These parameters also could distinguish patients from healthy subjects. Thus, this system is suggested for outcome evaluations of foot treatments.

Testing the retention of attachments for implant overdentures - validation of an original force measurement system

P>The aim of this study was to validate an original portable device to measure attachment retention of implant overdentures both in the lab and in clinical settings. The device was built with a digital force measurement gauge (Imada) secured to a vertical wheel stand associated with a customized support to hold and position the denture in adjustable angulations. Sixteen matrix and patrix cylindrical stud attachments (Locator (R)) were randomly assigned as in vitro test specimens. Attachment abutments were secured in an implant analogue hung to the digital force gauge or to the load cell of a traction machine used as the gold standard (Instron Universal Testing Machine). Matrices were secured in a denture duplicate attached to the customized support, permitting reproducibility of their position on both pulling devices. Attachment retention in the axial direction was evaluated by measuring maximum dislodging force or peak load during five consecutive linear dislodgments of each attachment on both devices. After a wear simulation, retention was measured again at several time periods. The peak load measurements with the customized Imada device were similar to those obtained with the gold standard Instron machine. These findings suggest that the proposed portable device can provide accurate information on the retentive properties of attachment systems for removable dental prostheses.

Retention force measurement of telescopic crowns

This study deals with the determination of the retentive force between primary and secondary telescopic crowns under clinical conditions. Forty-three combined fixed-removable prostheses with a total of 140 double crowns were used for retention force measurement of the telescopic crowns prior to cementation. The crowns had a preparation of 1-2°. A specifically designed measuring device was used. The retentive forces were measured with and without lubrication by a saliva substitute. The measured values were analyzed according to the type of tooth (incisors, canines, premolars, and molars). Additionally, a comparison between lubricated and unlubricated telescopic crowns was done. As maximum retention force value 29.98 N was recorded with a telescopic crown on a molar, while the minimum of 0.08 N was found with a specimen on a canine. The median value of retention force of all telescopic crowns reached 1.93 N with an interquartile distance of 4.35 N. No statistically significant difference between lubricated and unlubricated specimens was found. The results indicate that retention force values of telescopic crowns, measured in clinical practice, are often much lower than those cited in the literature. The measurements also show a wide range. Whether this proves to be a problem for the patient's quality of life or not can however only be established by a comparison of the presented results with a follow-up study involving measurement of intraoral retention and determination by e.g. oral health impact profile.

Telescopic crowns: extra-oral and intra-oral retention force measurement--in vitro/in vivo correlation

This study deals with the determination of the retentive forces of telescopic crowns measured extra- and intra-orally and the correlation of these values.

Impact of lameness on broiler well-being

Various degrees of lameness were compared among male broilers ranging in age from 28 to 49 d that had been randomly selected from a commercial farm. Gait scores were given to the broilers while they walked on a force measurement platform system, and the force exerted by their feet was measured and compared in 2 distinct conditions: with and without administration of an analgesic. Postmortem femoral degenerative lesions were observed, and the femur strength in response to a compression load was measured and compared. Results showed a difference in the peak vertical forces of the right and left feet before and after medication. The researchers also found that as BW increased, the locomotion ability of broilers tended to decrease. After birds received the analgesic, the peak vertical force increased among the more severely lame broilers at 35 to 49 d of age and their walking speed was decreased, indicating that they might have felt pain during locomotion. No difference was found between the femur (right and left) strength in response to a compression load; however, the results showed that femurs of 28-d-old birds were less resistant to compression (P < 0.05) than those of older broilers. The foot force platform was a useful tool for assessing the walking ability of broilers.

New calibration technique for multiple-component stress wave force balances

Force measurement in hypervelocity expansion tubes is not possible using conventional techniques. The stress wave force balance technique can be applied in expansion tubes to measure forces despite the short test times involved. This paper presents a new calibration technique for multiple-component stress wave force balances where an impulse response created using a load distribution is required and no orthogonal surfaces on the model exist.. This new technique relies on the tensorial superposition of single-component impulse responses analogous to the vectorial superposition of the calibration loads. The example presented here is that of a scale model of the Mars Pathfinder, but the technique is applicable to any geometry and may be useful for cases where orthogonal loads cannot be applied.

Design, modelling and analysis of a six component force balance for hypervelocity wind tunnel testing

A combination of modelling and analysis techniques was used to design a six component force balance. The balance was designed specifically for the measurement of impulsive aerodynamic forces and moments characteristic of hypervelocity shock tunnel testing using the stress wave force measurement technique. Aerodynamic modelling was used to estimate the magnitude and distribution of forces and finite element modelling to determine the mechanical response of proposed balance designs. Simulation of balance performance was based on aerodynamic loads and mechanical responses using convolution techniques. Deconvolution was then used to assess balance performance and to guide further design modifications leading to the final balance design. (C) 2001 Elsevier Science Ltd. All rights reserved.

Assessing locomotion deficiency in broiler chicken

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

A load cell for grain-propelled ballistic rocket thrust measurement

A 1000-kgf resistive strain-gauge load cell has been developed for quality testing of rocket propellant grain. A 7075-T6 aluminum alloy has been used for the elastic column, in which 8 uniaxial, 120-Ω strain gauges have been bonded and connected to form a full Wheatstone bridge to detect the strain. The chosen geometry makes the transducer insensitive to moments and, also, to the temperature. Experimental tests using a universal testing machine to imposed compression force to the load cell have demonstrated that its behavior is linear, with sensitivity of 2.90 μV/kgf ± 0.34%, and negligible hysteresis. The designed force transducer response to a dynamic test has been comparable to that of a commercial load cell. © 2005 IEEE.

Integrating optical fiber force sensors into microforceps for ORL microsurgery

The delicate anatomy of the ear require surgeons to use great care when operating on its internal structures. One example for such an intervention is the stapedectomy, where a small crook shaped piston is placed in the oval window of the cochlea and connected to the incus through crimping thus bypassing the diseased stapes. Performing the crimp process with the correct force is necessary since loose crimps poorly transmit sound whereas tight crimps will eventually result in necrosis of the incus. Clinically, demand is high to reproducibly conduct the crimp process through a precise force measurement. For this reason, we have developed a fiber Bragg grating (FBG) integrated microforceps for use in such interventions. This device was calibrated, and tested in cadaver preparations. With this instrument we were able to measure for the first time forces involved in crimping a stapes prosthesis to the incus. We also discuss a method of attaching and actuating such forceps in conjunction with a robot currently under development in our group. Each component of this system can be used separately or combined to improve surgical accuracy, confidence and outcome.

Force sensor of a climbing robot derived from its own flexible structure

One of the most important design constraints of a climbing robot is its own weight. When links or legs are used as a locomotion system they tend to be composed of special lightweight materials, or four-bars-linkage mechanisms are designed to reduce the weight with small rigidity looses. In these cases, flexibility appears and undesirable effects, such as dynamics vibrations, must be avoided at least when the robot moves at low speeds. The knowledge of the real tip position requires the computation of its compliance or stiffness matrix and the external forces applied to the structure. Gravitational forces can be estimated, but external tip forces need to be measured. This paper proposes a strain gauge system which achieves the following tasks: (i) measurement of the external tip forces, and (ii) estimation of the real tip position (including flexibility effects). The main advantages of the proposed system are: (a) the use of external force sensors is avoided, and (b) a substantial reduction of the robot weight is achieved in comparison with other external force measurement systems. The proposed method is applied to a real symmetric climbing robot and experimental results are presented.

Complex-order dynamics in hexapod locomotion

This paper studies the dynamics of foot–ground interaction in hexapod locomotion systems. For that objective the robot motion is characterized in terms of several locomotion variables and the ground is modelled through a non-linear spring-dashpot system, with parameters based on the studies of soil mechanics. Moreover, it is adopted an algorithm with foot-force feedback to control the robot locomotion. A set of model-based experiments reveals the influence of the locomotion velocity on the foot–ground transfer function, which presents complex-order dynamics.

Positional stability of holographic optical traps

The potential of digital holography for complex manipulation of micron-sized particles with optical tweezers has been clearly demonstrated. By contrast, its use in quantitative experiments has been rather limited, partly due to fluctuations introduced by the spatial light modulator (SLM) that displays the kinoforms. This is an important issue when high temporal or spatial stability is a concern. We have investigated the performance of both an analog-addressed and a digitally-addressed SLM, measuring the phase fluctuations of the modulated beam and evaluating the resulting positional stability of a holographic trap. We show that, despite imparting a more unstable modulation to the wavefront, our digitally-addressed SLM generates optical traps in the sample plane stable enough for most applications. We further show that traps produced by the analog-addressed SLM exhibit a superior pointing stability, better than 1 nm, which is comparable to that of non-holographic tweezers. These results suggest a means to implement precision force measurement experiments with holographic optical tweezers (HOTs).

Counter-propagating dual-trap optical tweezers based on linear momentum conservation

We present a dual-trap optical tweezers setup which directly measures forces using linear momentum conservation. The setup uses a counter-propagating geometry, which allows momentum measurement on each beam separately. The experimental advantages of this setup include low drift due to all-optical manipulation, and a robust calibration (independent of the features of the trapped object or buffer medium) due to the force measurement method. Although this design does not attain the high-resolution of some co-propagating setups, we show that it can be used to perform different single molecule measurements: fluctuation-based molecular stiffness characterization at different forces and hopping experiments on molecular hairpins. Remarkably, in our setup it is possible to manipulate very short tethers (such as molecular hairpins with short handles) down to the limit where beads are almost in contact. The setup is used to illustrate a novel method for measuring the stiffness of optical traps and tethers on the basis of equilibrium force fluctuations, i.e., without the need of measuring the force vs molecular extension curve. This method is of general interest for dual trap optical tweezers setups and can be extended to setups which do not directly measure forces.

Väsyttävästi kuormitettujen hitsattujen rakenteiden suunnittelukäytännön kehittäminen

Hitsatuilla rakenteilla väsyminen on keskeinen vauriotekijä. Väsymiskestoiän laskentaan on olemassa useita erilaisia menetelmiä, joista hot spot ﷓menetelmä on hitsattujen rakenteiden yhteydessä yhä yleistyvä ja sangen käyttökelpoinen. Hot spot menetelmässä kestoikälaskenta perustuu rakenteellisen jännityksen vaihteluun ja pieneen joukkoon kokeellisesti määrättyjä Wöhler-käyriä. Rakenteellinen jännitys voidaan määrittää joko prototyypistä mittaamalla, elementtimenetelmällä laskemalla tai parametristen kerrointen avulla. Suunnittelukäytännön kehittämisessä tutkittiin esimerkkirakenteena Rammer RC 22 leikkurimurskainta. Tarkoituksena oli mitata murskaimesta voimasuureita, joita voitaisiin käyttää kuormitustietona laskettaessa jännityksiä elementtimenetelmällä. Myöhempien laskentatulosten verifiointia varten mitattiin lisäksi muutamia hot spot ﷓jännityksiä. Työn kokeellinen puoli keskittyi voimasuuremittauksiin ja niistä saatavien tulosten saattamiseen sopusointuun vapaakappalemallien kanssa. Suoritettiin lukuisia kalibrointimittauksia ja mittausjärjestelyä kehitettiin, kunnes syyt aluksi saatujen mittaustulosten virheellisyyteen selvisivät. Leikkausvoimamittausten osalta tuloksia verifioitiin elementtimenetelmälaskelmin. Työn tuloksena saatiin luotua toimiva pohja voimasuure- ja hot spot ﷓mittauksille. Jatkossa voidaan siirtyä tekemään mittauksia todellisissa työskentelytilanteissa.