Development and Analysis of an Origami-Based Elastomeric Actuator and Soft Gripper Control with Machine Learning and EMG Sensors.

This study investigates the characteristics of a novel origami-based, elastomeric actuator and a soft gripper, which are controlled by hand gestures that are recognized through machine learning algorithms. The lightweight paper-elastomer structure employed in this research exhibits distinct actuation features in four key areas: (1) It requires approximately 20% less pressure for the same bending amplitude compared to pneumatic network actuators (Pneu-Net) of equivalent weight, and even less pressure compared to other actuators with non-linear bending behavior; (2) The control of the device is examined by validating the relationship between pressure and the bending angle, as well as the interaction force and pressure at a fixed bending angle; (3) A soft robotic gripper comprising three actuators is designed. Enveloping and pinch grasping experiments are conducted on various shapes, which demonstrate the gripper's potential in handling a wide range of objects for numerous applications; and (4) A gesture recognition algorithm is developed to control the gripper using electromyogram (EMG) signals from the user's muscles.

Effect of alkali treatment on enzymatic hydrolysis of p-toluenesulfonic acid pretreated bamboo substrates.

The comprehensive separation and utilization of whole components of lignocellulosic materials has received extensive attention in present research. This study focused on the efficacy of alkali treatment for enzymatic saccharification of cellulose based on p-toluenesulfonic acid (p-TsOH) pretreated bamboo substrate. The results showed that the cellulose to glucose conversion yield was 94.69 % under optimized conditions of 0.4 g NaOH/g, 160 °C and 4 h (soaked), which after only 6 h enzymatic hydrolysis time. Alkali lignin recovery was 88.51 %, with potential for conversion to lignin derivatives. The yield of hemicellulose in the pretreated filtrate was 51.85 % after the 4th cycling reuse of p-TsOH. This work has borrowed the advantages of p-TsOH pretreatment of depolymerized hemicellulose from bamboo, combined with a low-priced weak alkali secondary treatment method, which can be effectively applied to the co-production of lignin, xylooligosaccharide, xylose and glucose, and the whole process is green and economically sustainable.