Magnitude Of Interaction Force Research Articles

Research on mode adjustment control strategy of upper limb rehabilitation robot based on fuzzy recognition of interaction force

In the process of robot-assisted training for upper limb rehabilitation, a passive training strategy is usually used for stroke patients with flaccid paralysis. In order to stimulate the patient's active rehabilitation willingness, the rehabilitation therapist will use the robot-assisted training strategy for patients who gradually have the ability to generate active force. This study proposed a motor function assessment technology for human upper-limb based on fuzzy recognition on interaction force and human-robot interaction control strategy based on assistance-as-needed. A passive training mode based on the calculated torque controller and an assisted training mode combined with the potential energy field were designed, and then the interactive force information collected by the three-dimensional force sensor during the training process was imported into the fuzzy inference system, the degree of active participation σ was proposed, and the corresponding assisted strategy algorithms were designed to realize the adaptive adjustment of the two modes. The significant correlation between the degree of active participation σ and the surface electromyography signals (sEMG) was found through the experiments, and the method had a shorter response time compared to a control strategy that only adjusted the mode through the magnitude of interaction force, making the robot safer during the training process.

Narrow Directed Black Phosphorus Nanoribbons Produced by A Reformative Mechanical Exfoliation Approach.

Black phosphorus nanoribbons (PNRs) are ideal candidates for constructing electronic and optoelectronic devices owing to their unique structure and high bandgap tunability. However, the preparation of high-quality narrow PNRs aligned along the same direction is very challenging. Here, a reformative mechanical exfoliation approach combining tape and polydimethylsiloxane (PDMS) exfoliations to fabricate high-quality, narrow, and directed PNRs with smooth edges for the first time is developed. In this method, partially-exfoliated PNRs are first formed on thick black phosphorus (BP) flakes via the tape exfoliation and further peeled off to obtain separated PNRs via the PDMS exfoliation. The prepared PNRs have widths from a dozen to hundreds of nanometers (down to 15nm) and a mean length of 18µm. It is found that the PNRs can align along a same direction and the length directions of directed PNRs are along the zigzag direction. The formation of PNRs is attributed to that the BP prefers to be unzipped along the zigzag direction and has an appropriate magnitude of interaction force with the PDMS substrate. The fabricated PNR/MoS2 heterojunction diode and PNR field-effect transistor exhibit good device performance. This work provides a new pathway to achieve high-quality, narrow, and directed PNRs for electronic and optoelectronic applications.

Small forces that differ with prior motor experience can communicate movement goals during human-human physical interaction

BackgroundPhysical interactions between two people are ubiquitous in our daily lives, and an integral part of many forms of rehabilitation. However, few studies have investigated forces arising from physical interactions between humans during a cooperative motor task, particularly during overground movements. As such, the direction and magnitude of interaction forces between two human partners, how those forces are used to communicate movement goals, and whether they change with motor experience remains unknown. A better understanding of how cooperative physical interactions are achieved in healthy individuals of different skill levels is a first step toward understanding principles of physical interactions that could be applied to robotic devices for motor assistance and rehabilitation.MethodsInteraction forces between expert and novice partner dancers were recorded while performing a forward-backward partnered stepping task with assigned “leader” and “follower” roles. Their position was recorded using motion capture. The magnitude and direction of the interaction forces were analyzed and compared across groups (i.e. expert-expert, expert-novice, and novice-novice) and across movement phases (i.e. forward, backward, change of direction).ResultsAll dyads were able to perform the partnered stepping task with some level of proficiency. Relatively small interaction forces (10–30N) were observed across all dyads, but were significantly larger among expert-expert dyads. Interaction forces were also found to be significantly different across movement phases. However, interaction force magnitude did not change as whole-body synchronization between partners improved across trials.ConclusionsRelatively small interaction forces may communicate movement goals (i.e. “what to do and when to do it”) between human partners during cooperative physical interactions. Moreover, these small interactions forces vary with prior motor experience, and may act primarily as guiding cues that convey information about movement goals rather than providing physical assistance. This suggests that robots may be able to provide meaningful physical interactions for rehabilitation using relatively small force levels.

Surface Properties of Ag-Cu-Zr Liquid Alloys in Relation to the Wettability of Boride Ceramics

The wetting phenomena and adhesion between Ag-Cu-Zr molten alloys (where Zr is an active brazing element) and ZrB2-ceramic substrate have been investigated from theoretical and experimental point of view. The wetting phenomena of molten alloy/ceramic substrate depend on the bonding characteristics of liquid alloys and ceramics as well as the magnitude of interactive forces at the interface. Accordingly, the first step of this investigation is to determine the surface properties of Ag-Cu, Ag-Zr and Cu-Zr liquid alloys. The energetics of the bulk and the surface of liquid alloys have been analysed in the framework of statistical mechanical theory in conjunction with Quasi-Lattice Theory (QLT), through the study of the concentration dependence of various properties such as surface tension, surface composition, concentration fluctuations in the long wavelength limit and Warren-Cowley chemical short-range order parameter. Combining the Young and the Dupré equations, the obtained values of surface tension together with contact angle data have been used to calculate the work of adhesion.

On the application of modelling to study the surface and interfacial phenomena in liquid alloy–ceramic substrate systems

The wetting phenomena of molten alloy/ceramic substrate depend on the bonding characteristics of liquid alloys and ceramics as well as on the magnitude of interactive forces at the interface. According to this, the first step of this investigation is to determine the surface properties of Ag–Cu, Ag–Ti and Cu–Ti liquid alloys. The energetics of mixing in liquid alloys has been analysed through the study of surface properties (surface tension and surface composition) and microscopic functions (concentration fluctuations in the long-wavelength limit and chemical short-range order parameter) in the frame of statistical mechanical theory in conjunction with the quasi-lattice theory (QLT). The results obtained for these binary systems have been extended to the ternary Ag–Cu–Ti system. Combining the Young and the Dupré equations, the computed results of surface tension together with contact angle data have been used to calculate the work of adhesion and, in the case of non-reactive wetting, the interfacial tension between the solid substrate and the liquid alloys over the whole concentration range. The evaluation of the interfacial tension values is determined from calculated and measured data using solid surface tension data from literature. These results provide more information on the characteristics of metal–ceramic systems, and are therefore useful in guiding experiments, or in predicting the surface properties of metallic systems with similar characteristics as well as their wetting behaviour in contact with ceramic materials.