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Muscle transfers are commonly performed to restore joint function after muscle tears. However, there are not many biomechanical studies of muscle transfers, with the available ones often limited to passive movements in anatomical planes.…
Bone is a living material. It adapts, in an optimal sense, to loading by changing its density and trabeculae architecture - a process termed remodelling. Implanted orthopaedic devices can significantly alter the loading on the surrounding…
This paper presents a novel rehabilitation robot designed to address the challenges of Passive Range of Motion (PROM) exercises for frozen shoulder patients by integrating advanced scapulohumeral rhythm stabilization. Frozen shoulder is…
In this paper, the influence of transverse cracks in a rotating shaft is analysed. The paper addresses the two distinct issues of the changes in modal properties and the influence of crack breathing on dynamic response during operation.…
The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motion analysis is not easy,…
Soft wearable robots are a promising new design paradigm for rehabilitation and active assistance applications. Their compliant nature makes them ideal for complex joints like the shoulder, but intuitive control of these robots require…
Snapping beams enable rapid geometric transitions through nonlinear instability, offering an efficient means of generating motion in soft robotic systems. In this study, a tendon-driven mechanism consisting of spiral-based metabeams was…
Nowadays, most studies on the dynamic properties of annular gaps focus only on the force characteristics due to translational motions, while the tilt and moment coefficients are less well studied. Therefore, there is hardly any reliable…
CFD studies have been performed to demonstrate the effects of rotation on large wind turbine blades. The 10 MW blade of the Advanced Aerodynamic Tools for Large Rotors (AVATAR) project was selected in the present investigation. In order to…
We performed extensive molecular dynamics (MD) simulations, supplemented by Mode Coupling Theory (MCT) calculations, for the Square Shoulder (SS) model, a purely repulsive potential where the hard-core is complemented by a finite shoulder.…
The human shoulder, with its glenohumeral joint, tendons, ligaments, and muscles, allows for the execution of complex tasks with precision and efficiency. However, current robotic shoulder designs lack the compliance and compactness…
This paper presents a comprehensive analysis of the contact force profile of a single-cell bidirectional soft pneumatic actuator, specifically designed to aid in the abduction and adduction of the shoulder for pediatric exosuits. The…
The bio-inspired engineering of ovipositing wasps, which employ a reciprocating motion for soft tissue insertion, offers potential advantages in reducing insertion force and minimizing tissue damage. However, the underlying mechanisms of…
The aim of this work is to improve musculoskeletal-based models of the upper-limb Wrench Feasible Set i.e. the set of achievable maximal wrenches at the hand for applications in collaborative robotics and computer aided ergonomics. In…
In assistive robots, compliant actuator is a key component in establishing safe and satisfactory physical human-robot interaction (pHRI). The performance of compliant actuators largely depends on the stiffness of the elastic element.…
Soft robots have found extensive applications in the medical field, particularly in rehabilitation exercises, assisted grasping, and artificial organs. Despite significant advancements in simulating various components of the digestive…
The shoulder joint is one of the functionally and anatomically most sophisticated articular systems in the human body. Both complex movement patterns and the stabilization of the highly mobile joint rely on intricate three-dimensional…
Scapulohumeral rhythm (SHR), the coordinated motion between the scapula and humerus during arm elevation, is frequently altered in rotator cuff pathologies, yet the mechanical principles underlying coordination redistribution remain…
Soft sleeve actuators (SSAs) have recently been developed as a pneumatic actuation approach for wearable and assistive robotic systems. By integrating the actuation structure into a sleeve-like geometry, these actuators can reduce reliance…
In this paper, we present an integrated human-in-the-loop simulation paradigm for the design and evaluation of a lower extremity exoskeleton that is elastically strapped onto human lower limbs. The exoskeleton has 3 rotational DOFs on each…