Growing demands for Total Knee Arthroplasty (TKA) and also total knee revision surgery combined with the cost, risk, and complication of the surgery have led to numerus attempts to improve surgical techniques, implant design, and postoperative orthopedic therapies. Although abundant information about knee function and reaction forces and moments have been provided by researchers through biomechanical models, cadaver testing, in-vitro testing, and limited in-vivo measurements, rigorous real-time in-vivo data from knee implants is still required to improve the performance of TKAs. Instrumented knee implants using piezoelectric (PZT) transducers have promising potential to satisfy clinical needs in terms of continuous in-vivo data acquisition, self-powered operation, and retention of prevalent implant design, which can ultimately lead to improved patient satisfaction. In this study, a simplified Ultra High Molecular Weight (UHMW) Polyethylene TKA bearing geometry with an embedded PZT on the bottom surface is proposed and investigated to analyze sensing and power harvesting, and longevity of the conceptual design. As a result, this work is separated into two distinct sections. The first part provides an evaluation study on the performance of the design in terms of output voltage and power using both simulations and experimental tests. Finite element analysis (FEA) is employed to model the stress-strain behavior of the system and to develop effective force reaction on the PZT transducer. An analytical model is used to describe the electromechanical behavior of the PZT transducer under the effective force predicted by FEA, and the output voltage and power of the system are simulated. Furthermore, results obtained from modeling are validated through experimental compression testing using simulated gait conditions. Embedding a PZT element in the knee bearing may cause changes in stress distribution in UHMW and as a result the variation in the fatigue life of the bearings with encapsulated PZTs is considered as a remarkable factor to investigate. Therefore, in the second part of the work, a parametric study on the effect of dimensional parameters on the longevity and electromechanical performance of the design is performed. High cycle stress life of the polyethylene component with embedded PZT transducer as well as transferred force to the PZT and generated voltage under periodic knee load are studied. . The diameter and depth of the pocket machined in the UHMW bearing, the thickness ratio of the PZT element to the UHMW component, and modification of the contact edges inside the PZT pocket and PZT are considered as effective geometrical parameters on the fatigue life of the UHMW bearing and are studied individually. Two designs are investigated; the initial design with sharp corners and a revised design with filleted corners. The results show a significant fatigue life improvement by adding a fillet radius modification on the sharp corners of the UHMW and PZT components accompanied by a slight reduction in output voltage. The effect of pocket diameter is dependent on the geometry and for the initial design the fatigue life and output voltage increase when diameter increases. For the revised design, fatigue life decreases for large fillet radii and increases for small fillet radii and converge as diameter is increased, whereas the output voltage slightly increases with large pocket diameters. Pocket depth has a significant reverse effect on fatigue life and output voltage of the PZT, such that a 0.05 mm deeper pocket results in no force transfer and no voltage but improved fatigue life.

The paper presents the conceptual design, modeling and prototyping of a novel rotary motor based on shape memory alloy (SMA) wires. The basic architecture of the device capitalizes on a SMA wire wound around a low-friction cylindrical drum. The backup force to the SMA wire is provided by a beam spring which generates a nearly-constant force tangential to the drum. The electrical activation of the wire produces a contraction of the wire, hence a rotation of the drum fitted to the shaft through an overrunning clutch (free wheel). Thanks to the overrunning clutch, during the backup phase (recoiling of the wire), the drum rotates backward while the shaft does not move. Spurious backward movements of the shaft are contrasted by a second overrunning clutch linking the shaft to the frame. The paper presents a model for the quasi-static simulation of the motor and the experimental characterization of a prototype device featuring three active drums, a rotary sensor and an angular brake to apply the external load.

Dynamic KAFOs are developed to recover the normal walking ability during both stance and swing phases. Three types of dynamic KAFOs have been reported in the literature. Various actuation mechanisms including spring, pneumatic and hydraulic systems have been used. These devices can improve walking disability and compensate lower leg muscle deficiency. However, they are bulky, in some cases need complex control systems and do not recreate the normal gait pattern. These shortcomings have limited the application of dynamic KAFOs in daily life. The purpose of this paper is to develop a novel knee actuator for a dynamic KAFO that is actuated easily by employing shape memory materials. Such an actuation system makes the KAFO lightweight and has a greater potential to restore the normal gait. Torsional superelastic alloys are used in this actuator in order to match the stiffness of the knee joint of the KAFO with that of a normal knee joint during the walking gait cycle. There are two distinct parts in the knee actuator, acting independently to mimic the two phases of the gait cycle. One engages only in the stance phase and the other works in the swing phase. Each part is developed by combining a superelastic rod and a stiff rotary spring, in series. According to numerical simulation, such combination reproduces the varying knee stiffness during the whole walking gait. Also mechanical experiments have been conducted to further verify the conceptual design. The simulation and experimental results show that the actuator is able to reproduce the stiffness of the normal knee joint during the gait cycle.

A knee-ankle-foot orthosis (KAFO) spans the knee, ankle and foot, and assists in the walking motion of those who suffer neuromuscular deficiencies. KAFOs can be classified as passive, semi-dynamic and dynamic. Passive KAFOs lock the knee joint during the whole gait cycle. Semi dynamic KAFOs lock the knee joint during the stance phase. Dynamic KAFOs attempt to reproduce normal knee motions during the whole gait cycle. Two types of dynamic KAFOs have been reported in the literature. The first one is activated by using a pneumatic system, and the second one uses a spring mechanism. Both systems are bulky and controlled through complex control systems that limit their application as assistive devices. The purpose of our research is to develop a dynamic KAFO that is actuated easily by employing shape memory materials. Such an actuation system makes the KAFO lightweight and with a great commercialization potential. The purpose of this paper is to present a conceptual design for the knee actuator of a dynamic KAFO. This actuator uses torsional shape memory rods to match the stiffness of the knee joint of the KAFO with that of a normal knee joint during the walking gait cycle. Joint stiffness is measured by the moment around the joint per degree of joint rotation. The proposed actuator includes two parts that work independently during the two phases of the gait cycle. The first part engages only during the stance phase and the other works only during the swing phase. Each part is developed by combining a superelastic (SE) rod and a rotary spring in series. The conceptual design is verified by simulation. The simulation results show that the proposed knee actuator reproduces the stiffness of the normal knee joint during the whole gait cycle. It is thus possible to develop a novel dynamic KAFO that can provide normal knee stiffness characteristics to assist individuals with quadriceps deficiency.

In this research, a concept of earthworm-like robot with fluidic flexible matrix composite (F 2 MC) segments as its actuators is investigated. It explores a novel application of F 2 MC in the bionics field. Firstly, a general kinematics model of robot with earthworm-like locomotion is developed. Based on this model, the locomotion mechanism is analyzed in order to determine the actuation performance requirement for the F 2 MC segment. Then an analytical model of the F 2 MC segment is adopted to estimate the finite deformation under internal pressurization. By doing so, the optimal configuration of the F 2 MC segment that meets the requirements as an actuator is determined. A conceptual design of the earthworm-like robot based on F 2 MC segment is presented. After that, robotic gaits are constructed based on the kinematic locomotion mechanism with some necessary physical assumptions. Directed locomotion can be achieved based on the constructed gaits. Aiming at increasing the average velocity and motion efficiency of the robot, locomotion gaits are optimized. Optimal gaits corresponding to the maximal velocity and maximal locomotion efficiency are obtained, respectively.

The ability of Shape Memory Alloys (SMA) to remind two different macroscopic shapes and to alter between these shapes by changing their temperature, leads to innovative approaches within drive technology. Especially Nickel-Titanium (NiTi) Shape Memory Alloys offer high actuating forces and adjustment travel in combination with high cycle stability. The shape memory effect is based on the transformation between martensitic and austenitic microstructure depending on the temperature of the actuators. The transformation temperatures in the range of 20°C to 100°C make NiTi SMA attractive for engineering applications. This paper investigates the technical use of NiTi SMA as actuators within a safety clutch. Safety clutches serve in power trains as torque limiting elements with the aim to prevent destruction of the working machine or the motor. Based on the concept of a friction clutch the conceptual design of the NiTi safety clutch is developed and followed by the design and manufacturing of a prototype. The activation of the NiTi actuators occurs as a result of the frictional heat at the friction pads when the torque limit is exceeded and the clutch slips. The actuators transform from martensitic to austenitic condition. Their stiffness increases so that the actuators are able to open the clutch. This leads to a complete collapse of the torque. During the cooling phase the transformation from austenite to martensite occurs and the NiTi actuators are deformed again. The friction pads are clamped with their original force and the clutch is able to transmit the demanded torque. The mechanical dimensioning of the actuator system is figured out as well as the measurement results of the analysis on the testing bench. The variation of the input parameters like torque and speed and the variation of the actuator system itself show possibilities and frontiers of this technology.

This paper presents a bioinspired jellyfish propulsion system with a conceptual design, analysis and experimental tests. Hydrodynamic thrust of jellyfish is generated by fin vibration motion at predetermined resonant frequency. A new type of propulsion system for artificial Jellyfish nodes for the purpose of persistent, autonomous, and energy efficient surveillance is proposed employing smart actuator technology. A MFC (Macro Fiber Composite) actuator is employed for exciting a cantilever beam. The hydrodynamic propulsion is calculated for various excitation frequencies of MFC actuator based on vibration motion of the beam. A prototype of the jellyfish setup has been developed for the experimental validation of the simulation results. Simulation and experimental results demonstrated the feasibility of the proposed system and design. Swimming motion control and power consumption issues will be addressed.