Finger Prosthesis Driven by DEA Pairs as Agonist-Antagonist Artificial Muscles.

Loss of an upper limb exerts a negative influence on an individual's ability to perform their activities of daily living (ADLs), reducing quality of life and self-esteem. A prosthesis capable of performing basic ADLs functions has the capability of restoring independence and autonomy to amputees. However, current technologies present in robotic prostheses are based on rigid actuators with several drawbacks, such as high weight and low compliance. Recent advances in robotics have allowed for the development of flexible actuators and artificial muscles to overcome the limitations of rigid actuators. Dielectric elastomer actuators (DEAs) consist of a thin elastomer membrane arranged between two compliant electrodes capable of changing dimensions when stimulated with an electrical potential difference. In this work, we present the design and testing of a finger prosthesis driven by two DEAs arranged as agonist-antagonist pairs as artificial muscles. The soft actuators are designed as fiber-constrained dielectric elastomers (FCDE), enabling displacement in just one direction as natural muscles. The finger prosthesis was designed and modeled to show bend movement using just one pair of DEAs and was made of PLA in an FDM 3D printer to be lightweight. The experimental results show great agreement with the proposed model and indicate that the proposed finger prosthesis is promising in overcoming the limitations of the current rigid based actuators.

A synergistic analysis of drag reduction on binary polymer mixtures containing guar gum.

Drag reduction by the addition of polymer additives has been widely studied. However, there are only a few studies on binary polymer mixtures, here named blends. In this work, xanthan gum, polyacrylamide and poly(ethylene oxide) were associated with guar gum and drag reduction was used as a parameter to determine the synergistic interaction between polymers. The aim was to verify the relation of the synergy with the rigidity of the polymeric chains, the molecular weights and the magnitude of the molecular interactions between the studied polymers. To that end, several ratios of mixtures were tested at different Reynolds numbers in a rotational rheometer with double-gap concentric cylinders geometry. Finally, experiments were done to verify the behaviour of the blends over time at a fixed Reynolds number. From all these tests, it was documented that blends containing rigid chain polymers show positive synergism in the interaction in at least one of the ratios and that this interaction is more pronounced when the molecular weights are closer and intermolecular forces are stronger. It was also noted that, in general, blends are great substitutes for solutions containing only one type of polymer.