Integrated linkage-driven dexterous anthropomorphic robotic hand.

Robotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of the tasks performed. However, developing integrated hands without additional actuation parts while maintaining important functions such as human-level dexterity and grasping force is challenging. The actuation parts make it difficult to integrate these hands into existing robotic arms, thus limiting their applicability. Based on a linkage-driven mechanism, an integrated linkage-driven dexterous anthropomorphic robotic hand called ILDA hand, which integrates all the components required for actuation and sensing and possesses high dexterity, is developed. It has the following features: 15-degree-of-freedom (20 joints), a fingertip force of 34N, compact size (maximum length: 218 mm) without additional parts, low weight of 1.1 kg, and tactile sensing capabilities. Actual manipulation tasks involving tools used in everyday life are performed with the hand mounted on a commercial robot arm.

Change in telescoping leg strategy with varying walking speed to modulate force advantage.

Human walking consists of two major sequential events (i.e., single- and double-support phases). Although there have been many studies relating to basic principles of the each stage, how the two distinct but continuous phases interact with each other remains to be clarified. We examined the change in walking strategy with varying walking speed on a local reference frame with telescoping and tangential axes; we expect that the telescoping directional dynamics at the end of a single-support phase change with walking speed to facilitate the modulation of the push-off work during a double-support phase. The telescoping directional force and power are calculated using two methods: model simulation and kinematic configuration. The empirical walking data for eight healthy young subjects and the corresponding model parameters obtained from a data-fit optimization were used to investigate the changing trend of each factor (i.e., force and power) with the increase in speed. The resulting force at the end of the single-support phase significantly increased with the walking speed for both methods, whereas the resulting power remained nearly unchanged and was close to zero for the entire range of walking speeds. This result implies that the positive amount of the telescoping directional force at the end of the single-support phase may be a certain type of preparation for the double-support phase, which can contribute to a larger push-off.

Human-mimetic soft robot joint for shock absorption through joint dislocation.

This paper presents a human-mimetic manipulator capable of shock absorption by using dislocation at the soft joint. A one degree-of-freedom (DOF) soft robot joint was developed based on the human elbow-joint structure, especially mimicking the humeroulnar joint in the elbow. Each component of the soft joint is combined by an elastic ligament, which is made up of elastic rubber and is attached to the pivot joint pin positioned at a predetermined place according to a specially designed pin guide. As an external impact is applied to the joint, the elastic ligament is elongated as the pivot joint pin is moved from the predetermined place. This state is defined as a dislocation, which is similar to the dislocation of a human joint when impacted. Dislocation in the proposed soft robot joint occurred when the external impact was larger than the predetermined threshold force. This threshold force can be predicted by the modulus of the elastic ligament and the shape of the pin guide, and the theoretical model was developed in this study. To evaluate the function of dislocation, dynamic and quasi-static impact tests were performed at the 1-DOF soft robot joint. Moreover, the human-mimetic manipulator is proposed based on the 2-DOF soft robot joint. This manipulator can realize four motions of a human arm using the pneumatic artificial muscles: flexion, extension, pronation and supination. Each artificial muscle and bone structure were similar to the human arm structure, and thus the configuration of each bone structure of the manipulator for each motion is similar to the configurations of a human skeletal structure. This manipulator was also capable of dislocation to absorb the external impact. The developed human-mimetic manipulator with a soft joint is expected to be applied to a naturally safe humanoid robot that works with humans in the same space.

Standing wave design and optimization of a simulated moving bed chromatography for separation of xylobiose and xylose under the constraints on product concentration and pressure drop.

The feasibility of a simulated moving bed (SMB) technology for the continuous separation of high-purity xylobiose (X2) from the output of a ß-xylosidase X1→X2 reaction has recently been confirmed. To ensure high economical efficiency of the X2 production method based on the use of xylose (X1) as a starting material, it is essential to accomplish the comprehensive optimization of the X2-separation SMB process in such a way that its X2 productivity can be maximized while maintaining the X2 product concentration from the SMB as high as possible in consideration of a subsequent lyophilization step. To address this issue, a suitable SMB optimization tool for the aforementioned task was prepared based on standing wave design theory. The prepared tool was then used to optimize the SMB operation parameters, column configuration, total column number, adsorbent particle size, and X2 yield while meeting the constraints on X2 purity, X2 product concentration, and pressure drop. The results showed that the use of a larger particle size caused the productivity to be limited by the constraint on X2 product concentration, and a maximum productivity was attained by choosing the particle size such that the effect of the X2-concentration limiting factor could be balanced with that of pressure-drop limiting factor. If the target level of X2 product concentration was elevated, higher productivity could be achieved by decreasing particle size, raising the level of X2 yield, and increasing the column number in the zones containing the front and rear of X2 solute band.

Highly efficient recovery of xylobiose from xylooligosaccharides using a simulated moving bed method.

Xylobiose (X2), which is currently available from xylooligosaccharides (XOS), has been reported to have outstanding prebiotic function and to be highly suitable for application in food industries. This has sparked an interest in the economical production of X2 of high purity (> 99%) in food and prebiotic industries. To address such issue, we developed a highly-efficient chromatographic method for the recovery of X2 from XOS with high purity and high recovery. As a first step for this work, an eligible adsorbent for a large-scale separation between X2 and other XOS components was selected. For the selected adsorbent, a single-column experiment was carried out to determine the intrinsic parameters of all the XOS components, which were then used in the optimal design of the continuous X2-recovery process based on a simulated moving bed (SMB) chromatographic method. Finally, the performance of the designed X2-recovery SMB process was verified by the relevant SMB experiments, which confirmed that the developed process in this study could recover X2 from XOS with the purity of 99.5% and the recovery of 92.3% on a continuous-separation mode. The results of this study will be useful in enabling the economical production of high-purity X2 on a large scale.

Continuous recovery of valine in a model mixture of amino acids and salt from Corynebacterium bacteria fermentation using a simulated moving bed chromatography.

The economical efficiency of valine production in related industries is largely affected by the performance of a valine separation process, in which valine is to be separated from leucine, alanine, and ammonium sulfate. Such separation is currently handled by a batch-mode hybrid process based on ion-exchange and crystallization schemes. To make a substantial improvement in the economical efficiency of an industrial valine production, such a batch-mode process based on two different separation schemes needs to be converted into a continuous-mode separation process based on a single separation scheme. To address this issue, a simulated moving bed (SMB) technology was applied in this study to the development of a continuous-mode valine-separation chromatographic process with uniformity in adsorbent and liquid phases. It was first found that a Chromalite-PCG600C resin could be eligible for the adsorbent of such process, particularly in an industrial scale. The intrinsic parameters of each component on the Chromalite-PCG600C adsorbent were determined and then utilized in selecting a proper set of configurations for SMB units, columns, and ports, under which the SMB operating parameters were optimized with a genetic algorithm. Finally, the optimized SMB based on the selected configurations was tested experimentally, which confirmed its effectiveness in continuous separation of valine from leucine, alanine, ammonium sulfate with high purity, high yield, high throughput, and high valine product concentration. It is thus expected that the developed SMB process in this study will be able to serve as one of the trustworthy ways of improving the economical efficiency of an industrial valine production process.

Simulated moving bed separation of agarose-hydrolyzate components for biofuel production from marine biomass.

The economically-efficient separation of galactose, levulinic acid (LA), and 5-hydroxymethylfurfural (5-HMF) in acid hydrolyzate of agarose has been a key issue in the area of biofuel production from marine biomass. To address this issue, an optimal simulated moving bed (SMB) process for continuous separation of the three agarose-hydrolyzate components with high purities, high yields, and high throughput was developed in this study. As a first step for this task, the adsorption isotherm and mass-transfer parameters of each component on the qualified adsorbent were determined through a series of multiple frontal experiments. The determined parameters were then used in optimizing the SMB process for the considered separation. Finally, the optimized SMB process was tested experimentally using a self-assembled SMB unit with four zones. The SMB experimental results and the relevant computer simulations verified that the developed process in this study was quite successful in the economically-efficient separation of galactose, LA, and 5-HMF in a continuous mode with high purities and high yields. It is thus expected that the developed SMB process in this study will be able to serve as one of the trustworthy ways of improving the economic feasibility of biofuel production from marine biomass.

Optimal design and experimental validation of a simulated moving bed chromatography for continuous recovery of formic acid in a model mixture of three organic acids from Actinobacillus bacteria fermentation.

The economically-efficient separation of formic acid from acetic acid and succinic acid has been a key issue in the production of formic acid with the Actinobacillus bacteria fermentation. To address this issue, an optimal three-zone simulated moving bed (SMB) chromatography for continuous separation of formic acid from acetic acid and succinic acid was developed in this study. As a first step for this task, the adsorption isotherm and mass-transfer parameters of each organic acid on the qualified adsorbent (Amberchrom-CG300C) were determined through a series of multiple frontal experiments. The determined parameters were then used in optimizing the SMB process for the considered separation. During such optimization, the additional investigation for selecting a proper SMB port configuration, which could be more advantageous for attaining better process performances, was carried out between two possible configurations. It was found that if the properly selected port configuration was adopted in the SMB of interest, the throughout and the formic-acid product concentration could be increased by 82% and 181% respectively. Finally, the optimized SMB process based on the properly selected port configuration was tested experimentally using a self-assembled SMB unit with three zones. The SMB experimental results and the relevant computer simulation verified that the developed process in this study was successful in continuous recovery of formic acid from a ternary organic-acid mixture of interest with high throughput, high purity, high yield, and high product concentration.

Experimental evaluation of the effect of a modified port-location mode on the performance of a three-zone simulated moving-bed process for the separation of valine and isoleucine.

The removal of isoleucine from valine has been a key issue in the stage of valine crystallization, which is the final step in the valine production process in industry. To address this issue, a three-zone simulated moving-bed (SMB) process for the separation of valine and isoleucine has been developed previously. However, the previous process, which was based on a classical port-location mode, had some limitations in throughput and valine product concentration. In this study, a three-zone SMB process based on a modified port-location mode was applied to the separation of valine and isoleucine for the purpose of making a marked improvement in throughput and valine product concentration. Computer simulations and a lab-scale process experiment showed that the modified three-zone SMB for valine separation led to >65% higher throughput and >160% higher valine concentration compared to the previous three-zone SMB for the same separation.

Development of roll-to-roll hot embossing system with induction heater for micro fabrication.

In this paper, a hot embossing heating roll with induction heater inside the roll is proposed. The induction heating coil is installed inside a roll that is used as a heating roll of a roll-to-roll (R2R) hot embossing apparatus. Using an inside installed heating coil gives the roll-to-roll hot embossing system a more even temperature distribution on the surface of the heating roll compared to that of previous systems, which used an electric wire for heating. This internal induction heating roll can keep the working environment much cleaner because there is no oil leakage compared to the oiled heating roll. This paper describes the principles and provides an analysis of this proposed system; some evaluation has also been performed for the system. A real R2R hot embossing heating roll system was fabricated and some experiments on micro-pattering have been performed. After that, evaluation has been performed on the results.

Development of a four-zone carousel process packed with metal ion-imprinted polymer for continuous separation of copper ions from manganese ions, cobalt ions, and the constituent metal ions of the buffer solution used as eluent.

A three-zone carousel process, in which Cu(II)-imprinted polymer (Cu-MIP) and a buffer solution were employed as adsorbent and eluent respectively, has been developed previously for continuous separation of Cu²âº (product) from Mn²âº and Co²âº (impurities). Although this process was reported to be successful in the aforementioned separation task, the way of using a buffer solution as eluent made it inevitable that the product stream included the buffer-related metal ions (i.e., the constituent metal ions of the buffer solution) as well as copper ions. For a more perfect recovery of copper ions, it would be necessary to improve the previous carousel process such that it can remove the buffer-related metal ions from copper ions while maintaining the previous function of separating copper ions from the other 2 impure heavy-metal ions. This improvement was made in this study by proposing a four-zone carousel process based on the following strategy: (1) the addition of one more zone for performing the two-step re-equilibration tasks and (2) the use of water as the eluent of the washing step in the separation zone. The operating conditions of such a proposed process were determined on the basis of the data from a series of single-column experiments. Under the determined operating conditions, 3 runs of carousel experiments were carried out. The results of these experiments revealed that the feed-loading time was a key parameter affecting the performance of the proposed process. Consequently, the continuous separation of copper ions from both the impure heavy-metal ions and the buffer-related metal ions could be achieved with a purity of 91.9% and a yield of 92.8% by using the proposed carousel process based on a properly chosen feed-loading time.