HaptiYarn: Development of an Actuator Yarn That Can Transform Everyday Textiles Into Haptic Devices.

A method of providing localised haptic feedback at precise locations on the body, utilising a lightweight textile garment is presented in this short paper. The textile comprises of subtly integrated actuator yarns (HaptiYarns) which are controlled by electropneumatic circuitry. Each yarn has two functional layers, an inner porous textile layer with limited extensibility and a second, durable outer layer made from an extensible elastomer. The HaptiYarns can provide radial forces and a maximum radial displacement of 28.09 ± 0.14 mm. It was found that the intrinsic addition of graphite powder (5% by weight), during elastomer preparation, offered better resistance to layer delamination and increased the ability of the yarn to withstand higher internal air pressures by 48%. Both the graphite-filled composite and the graphite free yarns demonstrated high durability, withstanding cyclic testing of >7500 cycles while having no significant impact on the force feedback. Finally, a wearable prototype knitted textile garment is presented with eight HaptiYarns subtly integrated within it and connected to a virtual reality (VR) program providing an immersive haptic experience. These yarns offer the potential to transform everyday clothing into wearable haptic devices with potential to revolutionise healthcare, VR-based training, gaming, and entertainment sectors.

Synthesis and characterisation of a cancerous liver for presurgical planning and training applications.

OBJECTIVES: Oncology surgeons use animals and cadavers in training because of a lack of alternatives. The aim of this work was to develop a design methodology to create synthetic liver models familiar to surgeons, and to help plan, teach and rehearse patient-specific cancerous liver resection surgery. DESIGN: Synthetic gels were selected and processed to recreate accurate anthropomorphic qualities. Organic and synthetic materials were mechanically tested with the same equipment and standards to determine physical properties like hardness, elastic modulus and viscoelasticity. Collected data were compared with published data on the human liver. Patient-specific CT data were segmented and reconstructed and additive manufactured models were made of the liver vasculature, parenchyma and lesion. Using toolmaking and dissolvable scaffolds, models were transformed into tactile duplicates that could mimic liver tissue behaviour. RESULTS: Porcine liver tissue hardness was found to be 23 H00 (±0.1) and synthetic liver was 10 H00 (±2.3), while human parenchyma was reported as 15.06 H00 (±2.64). Average elastic Young's modulus of human liver was reported as 0.012 MPa, and synthetic liver was 0.012 MPa, but warmed porcine parenchyma was 0.28 MPa. The final liver model demonstrated a time-dependant viscoelastic response to cyclic loading. CONCLUSION: Synthetic liver was better than porcine liver at recreating the mechanical properties of living human liver. Warmed porcine liver was more brittle, less extensible and stiffer than both human and synthetic tissues. Qualitative surgical assessment of the model by a consultant liver surgeon showed vasculature was explorable and that bimanual palpation, organ delivery, transposition and organ slumping were analogous to human liver behaviour.

Fetal Movement Counting Using Optical Fibre Sensors.

Daily fetal movement counting based on maternal perception is widely deployed to monitor fetal wellbeing. However, the counting performed by the mother is prone to errors for various reasons. There are limited devices on the market that can provide reliable and automatic counting. This paper presents a prototype of a novel fetal movement monitoring device based on fibre Bragg grating sensors. Deformation of the skin caused by a fetal movement can lead to a change of the strain and stress on the optical fibre sensors, therefore can induce distortions to the breathing pattern of the mother. In the study data was gathered by the sensors through strain measurement and was post-processed using independent component analysis (ICA) and high-pass filtering to show the instances of the fetal movements. Information gathered during user trials with the prototype suggests that the system detects significantly higher numbers of fetus movements than that observed based on the mother's perception. Among the various techniques available for fetal movement monitoring, fibre optic sensing provides many advantages including multiplex capability, flexibility and minimal size, making the concept an attractive solution for reliable monitoring of antenatal fetal movements.

Mechanical Behaviour of Silicone Membranes Saturated with Short Strand, Loose Polyester Fibres for Prosthetic and Rehabilitative Surrogate Skin Applications.

Silicone-based elastomers saturated with embedded, short-strand fibres are used for their ability to mimic the aesthetic qualities of skin in clinical and theatrical maxillofacial appliance design. Well-known to prostheses fabricators and technicians, the mechanical impact of fibre addition on elastomeric behaviour endures as tacit, embodied knowledge of the craft, almost unknown in the literature. To examine mechanical changes caused by fibre addition, 100 modified polydimethylsiloxane (PDMS) elastomeric compounds containing incremental amounts of loose polyester fibres were prepared and examined in a variety of mechanical tests. It was found that elasticity and strain percentage at breaking point was reduced by increasing fibre content, but Young's modulus and ultimate tensile strength (UTS) increased. As fibre content was increased, strain hardening was seen at low strain rates, but exaggerated plastic deformation at high strain rates. PDMS hardness increased by 5 degrees of hardness (Shore-00 scale) for every additional percentage of fibres added and a strong positive linear coefficient (0.993 and 0.995) was identified to reach the hardness values given in the literature for living human skin. The apparent reorienting of loose fibres in the PDMS interrupts and absorbs stress during the loading process similar to the organic response to soft tissue loading, except in extension.

Ballistic impacts on an anatomically correct synthetic skull with a surrogate skin/soft tissue layer.

The aim of this work was to further develop a synthetic model of ballistic head injury by the addition of skin and soft tissue layers to an anatomically correct polyurethane skull filled with gelatine 10% by mass. Six head models were impacted with 7.62 x 39 mm full metal jacket mild steel core (FMJ MSC) bullets with a mean velocity of 652 m/s. The impact events were filmed with high-speed cameras. The models were imaged pre- and post-impact using computed tomography. The models were assessed post impact by two experienced Home Office pathologists and the images assessed by an experienced military radiologist. The findings were scored against real injuries. The entry wounds, exit wounds and fracture patterns were scored positively, but the synthetic skin and soft tissue layer was felt to be too extendable. Further work is ongoing to address this.