Compliant Joint Model Research Articles

A Novel Breast Stabilization Device for MRI-Guided Interventions

A breast stabilization device or breast cradle has been developed for use in interventional procedures. The device is a three-dimensional collapsible linkage that, when actuated, lightly compresses the breast while pulling it away from the chest wall. The compression provides the pressure needed to hold the breast firm during needle biopsy, ablation, or other procedures while being more comfortable than bilateral compression plates. By collapsing radially in an open configuration, the cradle provides nearly full access to the breast, as compared to the restrictive two-dimensional layout of grid-based bilateral compression plates. By pulling the breast away from the chest wall, the breast cradle may reduce the incidence of lung puncture or other medical errors. Several iterations of the device were developed, including rigid-joint models and a compliant-joint model. The rigid models more precisely show the kinematics of the device, but the manufacturability and assembly of the joints may be tedious in a production environment. Conversely, the compliant model may be more easily mass-produced, although the design would be more complex and costly. To provide a proof-of-concept for the compliant-joint design, a rapid prototyping machine was used to quickly produce several models that could be produced by other means (i.e. vacuum forming or injection molding) in full production. These models will be tested with breast phantoms in a magnetic resonance imaging (MRI) environment to ensure compatibility. Other tests will be performed to ensure patient comfort amongst various breast sizes and shapes.

Analysis of slot cutting methods for Yucca Mountain heated block using a compliant joint model : Chen, E P; Costin, L S Proc Conference on Fractured and Jointed Rock Masses, Lake Tahoe, 3–5 June 1992P406–413. Publ California: Lawrence Berkeley Laboratory, 1992

Analysis of slot cutting methods for Yucca Mountain heated block using a compliant joint model : Chen, E P; Costin, L S Proc Conference on Fractured and Jointed Rock Masses, Lake Tahoe, 3–5 June 1992P406–413. Publ California: Lawrence Berkeley Laboratory, 1992

Dynamic Simulation of Legged Machines Using a Compliant Joint Model

A computerized simulation of the dynamics of multilegged walking machines is presented. The simulation includes the effects of leg mass and compliance, joint compliance and friction, as well as the effects of leg contact with the ground. An approach is presented in which the Newton-Euler formu lation is used to develop the dynamic equations of each link. Kinematic constraints are not imposed explicitly. Instead, a compliant joint model is used to relate the dynamic reaction forces between neighboring links. The approach can handle multiloop devices with a combination of closed and open kinematic chains. Simulation results for the Ohio State Uni versity Hexapod walking machine are presented and shown to be in close agreement with previously published experi mental data.

Dynamic Simulation of Legged Machines Using a Compliant Joint Model

A computerized simulation of the dynamics of multilegged walking machines is presented. The simulation includes the effects of leg mass and compliance, joint compliance and friction, as well as the effects of leg contact with the ground. An approach is presented in which the Newton-Euler formu lation is used to develop the dynamic equations of each link. Kinematic constraints are not imposed explicitly. Instead, a compliant joint model is used to relate the dynamic reaction forces between neighboring links. The approach can handle multiloop devices with a combination of closed and open kinematic chains. Simulation results for the Ohio State Uni versity Hexapod walking machine are presented and shown to be in close agreement with previously published experi mental data.

Calculation of laboratory stress-strain behavior using a compliant joint model : In:R esearch and Engineering Applications in Rock Masses (paper to the 26th US Symposium on Rock Mechanics, Rapid City, 26–28 June 1985)V1, P515–522. Publ Rotterdam: A. A. Balkema, 1985

Calculation of laboratory stress-strain behavior using a compliant joint model : In:R esearch and Engineering Applications in Rock Masses (paper to the 26th US Symposium on Rock Mechanics, Rapid City, 26–28 June 1985)V1, P515–522. Publ Rotterdam: A. A. Balkema, 1985