Fabrication and Characterization of Graphene-Mesoporous Carbon-Nickel-Poly(Vinyl Alcohol)-Coated Mandrel-Coiled TCPFLNR Artificial Muscle.

This study investigates the performance enhancement of mandrel-coiled twisted and coiled polymer fibers with a nichrome heater (TCPFLNR) by coating with a solution of graphene-mesoporous carbon-nickel-polyvinyl alcohol. The coating process involved a one-pot synthesis utilizing graphene powder, Ni nanoparticles, mesoporous carbon, and PVA as a binding agent. The coating was performed by manually shaking the TCPFLNR and the subsequent annealing process, which results in improved thermal conductivity and actuation behavior of the TCPFLNR. Experimental results on a 60 mm long actuator demonstrated significant enhancements in actuation displacement and actuation strain (20% to 42%) under various loads with an input current of 0.27 A/power 2.16 W. The blocked stress is ~10 MPa under this 2.16 W power input and the maximum strain is 48% at optimum load of 1.4 MPa. The observed actuation strain correlated directly with the input power. The coated TCPFLNR exhibited better thermal contacts, facilitating enhanced heat transfer, and reducing power consumption by 6% to 9% compared to non-coated actuators. It was found that the nanomaterial coating helps the TCP actuator to be reliable for more than 75,000 actuation cycles at 0.1 Hz in air due to improved thermal conductivity. These findings highlight the potential for further research to optimize electrothermally operated TCP actuators and unlock advancements in this field.

Additive Manufacturing for Bioinspired Structures: Experimental Study to Improve the Multimaterial Adhesion Between Soft and Stiff Materials.

The fabrication of bioinspired structures has recently gained an increasing popularity: mimicking the way in which nature develops structures is a vital prerequisite in soft robotics to achieve multiple benefits. Stiff structures connected by soft joints (recalling, for instance, human bones connected by cartilage) are highly appealing: several prototypes have been manufactured and tested, demonstrating their full potential. In the present research, the material extrusion (MEX) additive manufacturing technology has been used to manufacture stiff-soft bioinspired structures activated by shape memory alloy (SMA) actuators. First, three commercially available stiff composite plastic materials were investigated and linked to different 3D printing infills. Surprisingly, we found that the "gyroid" infill was correlated to the mechanical properties, demonstrating that it produces better results in terms of Young's modulus and ultimate tensile strength (UTS) than the widely studied "lines" infill. The primary focus of the research is an experimental study aimed at improving the adhesion at the interface between stiff and soft materials using an inexpensive method (i.e., MEX). Three different variables that have significant effects on the interface bonding were studied: (1) the interface geometry between stiff and soft parts, (2) the mesh overlapping process parameter, and (3) the annealing post-treatment. By optimizing the three variables, a Young's modulus of 48.8 MPa and a UTS of 3.8 MPa were achieved, when nylon+glass fiber (a stiff material) and thermoplastic polyurethane (a soft material) were 3D printed together. In particular, the 3.8 MPa UTS is 48% higher than the highest adhesion between the soft and stiff material (thermoplastic polyurethane [TPU] and acrylonitrile butadiene styrene) reported in literature. Finally, taking advantage of the improved stiff-soft adhesion, a bioinspired robotic finger has been fabricated and tested using an SMA actuator, showing an enormous potential for the proposed additive manufacturing approach in realizing bioinspired systems.

Jelly-Z: swimming performance and analysis of twisted and coiled polymer (TCP) actuated jellyfish soft robot.

Monitoring, sensing, and exploration of over 70% of the Earth's surface that is covered with water is permitted through the deployment of underwater bioinspired robots without affecting the natural habitat. To create a soft robot actuated with soft polymeric actuators, this paper describes the development of a lightweight jellyfish-inspired swimming robot, which achieves a maximum vertical swimming speed of 7.3 mm/s (0.05 body length/s) and is characterized by a simple design. The robot, named Jelly-Z, utilizes a contraction-expansion mechanism for swimming similar to the motion of a Moon jellyfish. The objective of this paper is to understand the behavior of soft silicone structure actuated by novel self-coiled polymer muscles in an underwater environment by varying stimuli and investigate the associated vortex for swimming like a jellyfish. To better understand the characteristics of this motion, simplified Fluid-structure simulation, and particle image velocimetry (PIV) tests were conducted to study the wake structure from the robot's bell margin. The thrust generated by the robot was also characterized with a force sensor to ascertain the force and cost of transport (COT) at different input currents. Jelly-Z is the first robot that utilized twisted and coiled polymer fishing line (TCPFL) actuators for articulation of the bell and showed successful swimming operations. Here, a thorough investigation on swimming characteristics in an underwater setting is presented theoretically and experimentally. We found swimming metrics of the robot are comparable with other jellyfish-inspired robots that have utilized different actuation mechanisms, but the actuators used here are scalable and can be made in-house relatively easily, hence paving way for further advancements into the use of these actuators.

Millard-Gubler Syndrome Associated with Cerebellar Ataxia in a Patient with Isolated Paramedian Pontine Infarction - A Rarely Observed Combination with a Benign Prognosis: A Case Report.

Isolated pontine infarction accounts for 7% of all ischemic strokes. Millard-Gubler syndrome is a clinical syndrome which occurs following lesions involving the ventral portion of the caudal pons, resulting in classic clinical features such as ipsilateral abducens and facial nerve palsy and contralateral hemiparesis. We report the case of a 55-year-old male patient having presented to the Yehuleshet Specialty Clinic 6 years back with sudden-onset dysarthria and appendicular ataxia of 10 days duration. He reported having right hemibody weakness and blurred vision, which have significantly improved since then. He had a history of smoking of 30 pack-years. However, he quit smoking 8 years ago. There was no history of prior stroke, transient ischemic attack, diabetes, hypertension, head trauma, or dyslipidemia. On examination, he had horizontal left gaze palsy with horizontal nystagmus suggesting left-sided 6th cranial nerve palsy. He had mild left-sided facial palsy causing dysarthric speech. Right upper limb dysmetria was observed during examination; otherwise, motor, sensory, fundus, and gait examination results were normal. He had low serum vitamin D. Brain magnetic resonance imaging examination showed a 25 × 10 mm segmental lesion in the left median pons involving the basis pontis and tegmentum section. The lesion had T2 and T1 abnormal prolongation with no diffusion restriction, suggesting a subacute pontine infarct. The patient was managed with aspirin 325 mg, atorvastatin 80 mg, physical therapy, and vitamin D supplementation, and advised on behavioral risk factors. Six years after his isolated pontine infarction, the patient is fully recovered from dysarthria, facial palsy, hemiparesis, right-sided appendicular ataxia, and horizontal nystagmus, and the follow-up brain MRI showed radiological evidence of chronic paramedian pontine perforator infarction. Millard-Gubler syndrome may present with cerebellar ataxia if the paramedian pontine infarction area slightly extends laterally, affecting the middle cerebellar peduncles. Isolated pontine infarction may have a good prognosis if diagnosed and managed early.

Compact and low-cost humanoid hand powered by nylon artificial muscles.

This paper focuses on design, fabrication and characterization of a biomimetic, compact, low-cost and lightweight 3D printed humanoid hand (TCP Hand) that is actuated by twisted and coiled polymeric (TCP) artificial muscles. The TCP muscles were recently introduced and provided unprecedented strain, mechanical work, and lifecycle (Haines et al 2014 Science 343 868-72). The five-fingered humanoid hand is under-actuated and has 16 degrees of freedom (DOF) in total (15 for fingers and 1 at the palm). In the under-actuated hand designs, a single actuator provides coupled motions at the phalanges of each finger. Two different designs are presented along with the essential elements consisting of actuators, springs, tendons and guide systems. Experiments were conducted to investigate the performance of the TCP muscles in response to the power input (power magnitude, type of wave form such as pulsed or square wave, and pulse duration) and the resulting actuation stroke and force generation. A kinematic model of the flexor tendons was developed to simulate the flexion motion and compare with experimental results. For fast finger movements, short high-power pulses were employed. Finally, we demonstrated the grasping of various objects using the humanoid TCP hand showing an array of functions similar to a natural hand.