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A survey of transoral robotic mechanisms: Distal dexterity, variable stiffness, and triangulation

A survey of transoral robotic mechanisms: Distal dexterity, variable stiffness, and triangulation
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Hongliang Ren , Xiaoyi Gu , Chinese University Of Hong Kong , A Survey Of Transoral Robotic Mechanisms , Chinese University , Hong Kong , Bionic Systems , Transoral Robotic Mechanisms , Distal Dexterity , Variable Stiffness ,

"A Magnetically and Thermally Controlled Liquid Metal Variable Stiffnes" by Mingkui Zhang, Xuanhan Chen et al.

Smart materials that can actively tune their stiffness are of great interest to many fields, including the construction industry, medical devices, industrial machines, and soft robotics. However, developing a material that can offer a large range of stiffness change and rapid tuning remains a challenge. Herein, a liquid metal variable stiffness material (LMVSM) that can actively and rapidly tune its stiffness by applying an external magnetic field or by changing the temperature is developed. The LMVSM is composed of three layers: a gallium–iron magnetorheological fluid (Ga–Fe MRF) layer for providing variable stiffness, a nickel–chromium wire layer for Joule heating, and a soft heat dissipation layer for accelerating heating and rapid cooling. The stiffness can be rapidly increased by 4 times upon the application of a magnetic field or 10 times by solidifying the Ga–Fe MRF. Finally, the LMVSM is attached to a pneumatically controlled soft robotic gripper to actively tune its lo ....

Liquid Metals , Agnetically Activated , Oft Actuator , Thermally Activated , Variable Stiffness ,

"New magnetorheological engine mount with controllable stiffness charac" by Jian Yang, Shuaishuai Sun et al.

Engine mount is an important subassembly installed between the chassis and the engine. Its importance is mainly reflected by its capability of protecting the car body from the engine-induced vibrations. The current semi-active engine mount works to mitigate the vibration by changing its damping, while the property of variable stiffness can further suppress the vibrations by reducing the vibration transmissibility. Therefore, this paper developed a new magnetorheological engine mount which can change its stiffness to shift the natural frequency of the mounting system away from the excitation frequency so that resonance can be avoided when the engine is starting. The stiffness controllability also meets the stiffness design conflict between vibration isolation requirement and engine stability requirement when the cars drive on rough roads. The characterization test has verified its field-dependent properties that the effective stiffness has increased by 80.65% and the equivalent damping ....

Short Time Fourier Transformation , Magnetorheological Engine Mount , Variable Stiffness , Vibration Reduction ,

PMC acquires new endoscopy system to facilitate earlier digestive disease detection, treatment

Pinehurst Medical Clinic announced today that it has invested in a new video endoscopy system for advanced gastrointestinal (GI) care. The Olympus EVIS EXERA II ....

United States , North Carolina , Thomas Swantkowski , Pinehurst Medical Clinic Endoscopy Center , Endoscopy Center , American College Of North Carolina Governor , High Force Transmission , American Cancer Society , Pinehurst Medical Clinic , Passive Bending , Variable Stiffness , American College , Carolina Governor , Narrow Band Imaging ,

"Real-time adaptive leg-stiffness for roll compensation via magnetorheo" by M. D. Christie, S. Sun et al.

Over the recent few decades, the evolving research-field of legged robotics has seen various mechanical and control-based developments. Inspired by biological species, a significant adaptation in modern mechanical leg designs has been the implementation of adjustable stiffness, shifting from what were previously simple linkages to more-complex variable stiffness actuators. Physiological studies previously demonstrated leg-stiffness modulation was not only a common trait in multiple biological locomotors, but also played a key role in disturbance recovery for humans. Guided by this, recent robotics research has shown that this can also be applied to legged robots to achieve similar locomotion adaptations, albeit often limited by the tuning time of leg stiffness in such circumstances. This study proposes real-time adaptive stiffness robot legs which are governed by fast-response magnetorheological fluid dampers, enabling stiffness adjustment upon a single step. Through experimental chara ....

Legged Robot , Mr Damper , Real Time Control , Variable Stiffness ,