Adjustable Compliance Soft Sensor via an Elastically Inflatable Fluidic Dome.

Soft sensors are essential for robotic systems to safely interact with humans and the environment. Although significant research has been carried out in the field of soft tactile sensing, most of these sensors are restricted to a predefined geometry and a fixed measurement range, hence limiting their application. This paper introduces a novel approach to soft sensing by proposing a soft load-sensing unit with an adjustable mechanical compliance achieved using an elastically inflatable fluidic dome. The sensor consists of a three-dimensional Hall-effect sensor, above which is a magnet whose movement is modulated by an intermediate elastomeric dome structure. Sensor configurations were designed and fabricated using three different silicone rubbers to cover '00-10' and '20A' durometer shore hardness scales. We demonstrated that the compliance of the sensor could be dynamically tuned by changing the internal pressure of the inflatable fluidic dome in all configurations. We performed finite element simulations to determine the reaction force of the sensor under load as well as the stresses within the internal structural behavior, which are not possible to capture experimentally. The proposed soft sensor has the potential to be readily adapted for use in various soft robotic applications of differing size, compliance range, and safety requirements.

The LeVe CPAP System for Oxygen-Efficient CPAP Respiratory Support: Development and Pilot Evaluation.

Background: The COVID-19 pandemic, caused by severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2), has placed a significant demand on healthcare providers (HCPs) to provide respiratory support for patients with moderate to severe symptoms. Continuous Positive Airway Pressure (CPAP) non-invasive ventilation can help patients with moderate symptoms to avoid the need for invasive ventilation in intensive care. However, existing CPAP systems can be complex (and thus expensive) or require high levels of oxygen, limiting their use in resource-stretched environments. Technical Development + Testing: The LeVe ("Light") CPAP system was developed using principles of frugal innovation to produce a solution of low complexity and high resource efficiency. The LeVe system exploits the air flow dynamics of electric fan blowers which are inherently suited to delivery of positive pressure at appropriate flow rates for CPAP. Laboratory evaluation demonstrated that performance of the LeVe system was equivalent to other commercially available systems used to deliver CPAP, achieving a 10 cm H2O target pressure within 2.4% RMS error and 50-70% FiO2 dependent with 10 L/min oxygen from a commercial concentrator. Pilot Evaluation: The LeVe CPAP system was tested to evaluate safety and acceptability in a group of ten healthy volunteers at Mengo Hospital in Kampala, Uganda. The study demonstrated that the system can be used safely without inducing hypoxia or hypercapnia and that its use was well-tolerated by users, with no adverse events reported. Conclusions: To provide respiratory support for the high patient numbers associated with the COVID-19 pandemic, healthcare providers require resource efficient solutions. We have shown that this can be achieved through frugal engineering of a CPAP ventilation system, in a system which is safe for use and well-tolerated in healthy volunteers. This approach may also benefit other respiratory conditions which often go unaddressed in Low and Middle Income Countries (LMICs) for want of context-appropriate technology designed for the limited oxygen resources available.

Macro-Scale Tread Patterns for Traction in the Intestine.

GOAL: Tread patterns are widely used to increase traction on different substrates, with the tread scale, geometry and material being tailored to the application. This work explores the efficacy of using macro-scale tread patterns for a medical application involving a colon substrate - renowned for its low friction characteristics. METHODS: Current literature was first summarized before an experimental approach was used, based on a custom test rig with ex vivo porcine colon, to assess different macro-scale tread patterns. Performance was based on increasing traction while avoiding significant trauma. Repeated testing (n = 16) was used to obtain robust results. RESULTS: A macro-scale tread pattern can increase the traction coefficient significantly, with a static traction coefficient of 0.74 ± 0.22 and a dynamic traction coefficient of 0.35 ± 0.04 compared to a smooth (on the macro-scale) Control (0.132 ± 0.055 and 0.054 ± 0.015, respectively). Decreasing the scale and spacing between the tread features reduced apparent trauma but also reduced the traction coefficient. CONCLUSION: Significant traction can be achieved on colon tissue using a macro-scale tread but a compromise between traction (large feature sizes) and trauma (small feature sizes) may have to be made. SIGNIFICANCE: This work provides greater insight into the complex frictional mechanisms of the intestine and gives suggestions for developing functional tread surfaces for a wide range of clinical applications.

Continence technologies whitepaper: Informing new engineering science research.

Advances in healthcare technology for continence have historically been limited compared to other areas of medicine, reflecting the complexities of the condition and social stigma which act as a barrier to participation. This whitepaper has been developed to inspire and direct the engineering science community towards research opportunities that exist for continence technologies that address unmet needs in diagnosis, treatment and long-term management. Our aim is to pinpoint key challenges and highlight related research opportunities for novel technological advances. To do so, we draw on experience and expertise from academics, clinicians, patients and patient groups linked to continence healthcare. This is presented in four areas of consideration: the clinical pathway, patient perspective, research challenges and effective innovation. In each we introduce seminal research, background information and demonstrative case-studies, before discussing their relevance to engineering science researchers who are interested in approaching this overlooked but vital area of healthcare.

Children's head movements and postural stability as a function of task.

Manual dexterity and postural control develop throughout childhood, leading to changes in the synergistic relationships between head, hand and posture. But the postural developments that support complex manual task performance (i.e. beyond pointing and grasping) have not been examined in depth. We report two experiments in which we recorded head and posture data whilst participants simultaneously performed a visuomotor task. In Experiment 1, we explored the extent to which postural stability is affected by concurrently performing a visual and manual task whilst standing (a visual vs. manual-tracking task) in four age groups: 5-6 years (n = 8), 8-9 years (n = 10), 10-11 years (n = 7) and 19-21 years (n = 9). For visual tracking, the children's but not adult's postural movement increased relative to baseline with a larger effect for faster moving targets. In manual tracking, we found greater postural movement in children compared to adults. These data suggest predictive postural compensation mechanisms develop during childhood to improve stability whilst performing visuomotor tasks. Experiment 2 examined the extent to which posture is influenced by manual activity in three age groups of children [5-6 years (n = 14), 7-8 years (n = 25), and 9-10 years (n = 24)] when they were seated, given that many important tasks (e.g. handwriting) are learned and performed whilst seated. We found that postural stability varied in a principled manner as a function of task demands. Children exhibited increased stability when tracing a complex shape (which required less predictive postural adjustment) and decreased stability in an aiming task (which required movements that were more likely to perturb posture). These experiments shed light on the task-dependant relationships that exist between postural control mechanisms and the development of specific types of manual control.

Grasping the changes seen in older adults when reaching for objects of varied texture.

Old age is associated with reduced mobility of the hand. To investigate age related decline when reaching-to-lift an object we used sophisticated kinematic apparatus to record reaches carried out by healthy older and younger participants. Three objects of different widths were placed at three different distances, with objects having either a high or low friction surface (i.e. rough or slippery). Older participants showed quantitative differences to their younger counterparts - movements were slower and peak speed did not scale with object distance. There were also qualitative differences with older adults showing a greater propensity to stop the hand and adjust finger position before lifting objects. The older participants particularly struggled to lift wide slippery objects, apparently due to an inability to manipulate their grasp to provide the level of precision necessary to functionally enclose the object. These data shed light on the nature of age related changes in reaching-to-grasp movements and establish a powerful technique for exploring how different product designs will impact on prehensile behavior.

Predicting the effect of surface texture on the qualitative form of prehension.

Reach-to-grasp movements change quantitatively in a lawful (i.e. predictable) manner with changes in object properties. We explored whether altering object texture would produce qualitative changes in the form of the precontact movement patterns. Twelve participants reached to lift objects from a tabletop. Nine objects were produced, each with one of three grip surface textures (high-friction, medium-friction and low-friction) and one of three widths (50 mm, 70 mm and 90 mm). Each object was placed at three distances (100 mm, 300 mm and 500 mm), representing a total of 27 trial conditions. We observed two distinct movement patterns across all trials--participants either: (i) brought their arm to a stop, secured the object and lifted it from the tabletop; or (ii) grasped the object 'on-the-fly', so it was secured in the hand while the arm was moving. A majority of grasps were on-the-fly when the texture was high-friction and none when the object was low-friction, with medium-friction producing an intermediate proportion. Previous research has shown that the probability of on-the-fly behaviour is a function of grasp surface accuracy constraints. A finger friction rig was used to calculate the coefficients of friction for the objects and these calculations showed that the area available for a stable grasp (the 'functional grasp surface size') increased with surface friction coefficient. Thus, knowledge of functional grasp surface size is required to predict the probability of observing a given qualitative form of grasping in human prehensile behaviour.