Dataset Information

Modular Continuum Manipulator: Analysis and Characterization of Its Basic Module.

ABSTRACT: We present the basic module of a modular continuum arm (soft compliant manipulator for broad applications (SIMBA)). SIMBA is a robotic arm with a hybrid structure, namely a combination of rigid and soft components, which makes the arm highly versatile, dexterous, and robust. These key features are due to the design of its basic module, which is characterized by a three-dimensional workspace with a constant radius around its rotation axis, large and highly repeatable bending, complete rotation, and passive stiffness. We present an extensive analysis and characterization of the basic module of the SIMBA arm in terms of design, fabrication, kinematic model, stiffness, and bending behavior. All the theoretical models presented were validated with empirical results. Our findings show a positional typical error of less than ?6% in module diameter (highly repeatable) with a passive stiffness of 0.8 N/mm (?1 kg load). Our aim is to demonstrate that this kind of robotic element can be exploited as an elementary module of a more complex structure, which can be used in any application requiring high directional stiffness but without the need for an active stiffness mechanism, as is the case in daily activities (e.g., door opening, water pouring, obstacle avoidance, and manipulation tasks).

SUBMITTER: Mishra AK

PROVIDER: S-EPMC6352674 | biostudies-literature | 2018 Feb

REPOSITORIES: biostudies-literature

ACCESS DATA

Publications

Modular Continuum Manipulator: Analysis and Characterization of Its Basic Module.

Mishra Anand Kumar AK Mondini Alessio A Del Dottore Emanuela E Sadeghi Ali A Tramacere Francesca F Mazzolai Barbara B

Biomimetics (Basel, Switzerland) 20180214 1

We present the basic module of a modular continuum arm (soft compliant manipulator for broad applications (SIMBA)). SIMBA is a robotic arm with a hybrid structure, namely a combination of rigid and soft components, which makes the arm highly versatile, dexterous, and robust. These key features are due to the design of its basic module, which is characterized by a three-dimensional workspace with a constant radius around its rotation axis, large and highly repeatable bending, complete rotation, a ...[more]

PMID: 31105225

Similar Datasets

Project description:PurposeThe use of robotic continuum manipulators has been proposed to facilitate less-invasive orthopedic surgical procedures. While tools and strategies have been developed, critical challenges such as system control and intra-operative guidance are under-addressed. Simulation tools can help solve these challenges, but several gaps limit their utility for orthopedic surgical systems, particularly those with continuum manipulators. Herein, a simulation platform which addresses these gaps is presented as a tool to better understand and solve challenges for minimally invasive orthopedic procedures.MethodsAn open-source surgical simulation software package was developed in which a continuum manipulator can interact with any volume model such as to drill bone volumes segmented from a 3D computed tomography (CT) image. Paired simulated X-ray images of the scene can also be generated. As compared to previous works, tool-anatomy interactions use a physics-based approach which leads to more stable behavior and wider procedure applicability. A new method for representing low-level volumetric drilling behavior is also introduced to capture material variability within bone as well as patient-specific properties from a CT.ResultsSimilar interaction between a continuum manipulator and phantom bone was also demonstrated between a simulated manipulator and volumetric obstacle models. High-level material- and tool-driven behavior was shown to emerge directly from the improved low-level interactions, rather than by need of manual programming.ConclusionThis platform is a promising tool for developing and investigating control algorithms for tasks such as curved drilling. The generation of simulated X-ray images that correspond to the scene is useful for developing and validating image guidance models. The improvements to volumetric drilling offer users the ability to better tune behavior for specific tools and procedures and enable research to improve surgical simulation model fidelity. This platform will be used to develop and test control algorithms for image-guided curved drilling procedures in the femur.

Project description:Proton transport is one of the most important and interesting phenomena in living cells. The present work proposes a multiscale/multiphysics model for the understanding of the molecular mechanism of proton transport in transmembrane proteins. We describe proton dynamics quantum mechanically via a density functional approach while implicitly model other solvent ions as a dielectric continuum to reduce the number of degrees of freedom. The densities of all other ions in the solvent are assumed to obey the Boltzmann distribution. The impact of protein molecular structure and its charge polarization on the proton transport is considered explicitly at the atomic level. We formulate a total free energy functional to put proton kinetic and potential energies as well as electrostatic energy of all ions on an equal footing. The variational principle is employed to derive nonlinear governing equations for the proton transport system. Generalized Poisson-Boltzmann equation and Kohn-Sham equation are obtained from the variational framework. Theoretical formulations for the proton density and proton conductance are constructed based on fundamental principles. The molecular surface of the channel protein is utilized to split the discrete protein domain and the continuum solvent domain, and facilitate the multiscale discrete/continuum/quantum descriptions. A number of mathematical algorithms, including the Dirichlet to Neumann mapping, matched interface and boundary method, Gummel iteration, and Krylov space techniques are utilized to implement the proposed model in a computationally efficient manner. The Gramicidin A (GA) channel is used to demonstrate the performance of the proposed proton transport model and validate the efficiency of proposed mathematical algorithms. The electrostatic characteristics of the GA channel is analyzed with a wide range of model parameters. The proton conductances are studied over a number of applied voltages and reference concentrations. A comparison with experimental data verifies the present model predictions and validates the proposed model.

Project description:Functional connectome alterations, including modular network organization, have been related to the experience of hallucinations. It remains to be determined whether individuals with hallucinations across the psychosis continuum exhibit similar alterations in modular brain network organization. This study assessed functional connectivity matrices of 465 individuals with and without hallucinations, including patients with schizophrenia and bipolar disorder, nonclinical individuals with hallucinations, and healthy controls. Modular brain network organization was examined at different scales of network resolution, including (1) global modularity measured as Qmax and Normalised Mutual Information (NMI) scores, and (2) within- and between-module connectivity. Global modular organization was not significantly altered across groups. However, alterations in within- and between-module connectivity were observed for higher-order cognitive (e.g., central-executive salience, memory, default mode), and sensory modules in patients with schizophrenia and nonclinical individuals with hallucinations relative to controls. Dissimilar patterns of altered within- and between-module connectivity were found bipolar disorder patients with hallucinations relative to controls, including the visual, default mode, and memory network, while connectivity patterns between visual, salience, and cognitive control modules were unaltered. Bipolar disorder patients without hallucinations did not show significant alterations relative to controls. This study provides evidence for alterations in the modular organization of the functional connectome in individuals prone to hallucinations, with schizophrenia patients and nonclinical individuals showing similar alterations in sensory and higher-order cognitive modules. Other higher-order cognitive modules were found to relate to hallucinations in bipolar disorder patients, suggesting differential neural mechanisms may underlie hallucinations across the psychosis continuum.

Dataset Information

Modular Continuum Manipulator: Analysis and Characterization of Its Basic Module.

Publications

Modular Continuum Manipulator: Analysis and Characterization of Its Basic Module.

Similar Datasets

OmicsDI is part of the ELIXIR infrastructure

Tweets