Torsional Joint Research Articles

Quadristability achieved by torsion-bending antagonistic action in a lamina emergent torsional joint

Multistability is the characteristic of a device can steadily stay at two or more positions without external power input, which has been employed to design surgical tools, mechanical metamaterials, logic operators, and multi-configuration robots. However, most existing multistable mechanisms with three or more stable states are created by combining several bistable mechanism units in series or parallel. This work proposes a novel quadristable compliant mechanism that achieves quadristablity utilizing the antagonistic action between torsional deflection and bending deflection in a lamina emergent torsional joint, rather than combining several bistable mechanism units. A kinetostatic model is developed based on the chained power series model to capture the load-deflection relations of this quadristable mechanism. Six design examples are presented to explore the quadristable characteristics using the kinetostatic model and nonlinear finite element model. The results are verified by the experimental results of several prototypes with varying structural parameters. The diverse stable shapes could also be useful for shape morphing mechanical metamaterials.

Static and Modal Analysis of a Box Structured Satellite Deployment Mechanism with self-actuated Torsion Joint

A brand-new satellite deployment mechanism with boxed structure and self-actuated torsion joints is proposed and an effective method to verify the feasibility of this mechanism is established in this paper. This mechanism has the characteristics of high base frequency, high ratio of deployed and folded space occupation ratio. In order to meet the design requirements, the related analysis and optimization need to be conducted, and several conclusions are obtained. Firstly, the modal analysis of deployment mechanism at folded and fully deployed state is analyzed, and the result showed that the proper wall thickness is the key parameter to satisfy the design requirement and an optimized value could be obtained; Secondly, the heat deformation analysis result showed that the material plays an more important roll on affecting the thermal deformation than structure parameter; Thirdly, Under the torsional moment of the joints, the stress distribution of the deployment mechanism under different folding angle is investigated, it could be clearly found that the maximum stress is always located on the bonded area of the rod and joint, and the maximum stress is increased with the opening angle generally. By combined analysis including thermal, static, and modal, the related characteristics are obtained which could be used for structure optimization and provide an effective solution for the design of box structured satellite unfolding mechanism with self-actuated torsional joints.

Dynamic analysis of a box-structured satellite deployment mechanism with self-actuated torsion joints

Abstract. This paper designed a kind of satellite deployment mechanism with a boxed structure and passive torsion joints. This deployment mechanism has significant strengths, including a high base frequency and stiffness, a high ratio of deployed and folded space occupation ratios, and self-actuated joints without needing any external power to drive. In order to analyze the dynamic characteristics of this mechanism, a simplified governing equation is proposed and dynamic behavior is studied systematically, including impact response, harmonic response, and modal analysis. Through systematic research, several conclusions are drawn. Firstly, when the deployment mechanism reached the ending stage of unfolding driven by passive torsional joints, the load base installed on top of the deployment mechanism generated a first-order sharp reaction force and multiple low-order shocks followed, and the system entered a stable state after a certain time of vibration. Secondly, the system can generate a high vibration magnitude at low-frequency excitation when the mechanism is in a fully deployed state and at high-frequency excitation when the mechanism is in a folded state. Thirdly, the first sixth-order natural frequency and vibration shape with different wall thicknesses are obtained by modal analysis. The result shows that only with a 2.5 mm wall thickness can the connecting rod satisfy the design requirement. Through dynamic behavior research, the structure characteristics are obtained which can be used for structure optimization and to provide an effective solution for the design of a box-structured satellite-unfolding mechanism with self-actuated torsion joints.

NVH numerical analysis of the mounting layout of hydrostatic transmissions in continuously variable transmissions

The present work proposes a numerical approach to model the dynamic behavior of the mounting layout of hydrostatic transmissions in continuously variable transmissions for off-road vehicles. The methodology takes advantage of a finite element model constituted by a rigid body, representing the hydrostatic transmission, connected to the overall transmission frame through a combination of torsional couplings, rolling-element bearings and brackets, considered as flexible components. Bearings, in particular, are substituted with nonlinear springs, while brackets and frames are 3D meshed according to the actual geometry of the system. The model allows to estimate the frequency dependent forces applied on the frame in reference to the loads generated within the hydrostatic transmission. The method is applied on a case study, showing that the torsional joints play a relevant role on the overall NVH behavior of the system and their kinematic characteristics should be carefully defined to tune the loads transmitted on the transmission frame.

Compact Design and Task Space Control of a Robotic Transcatheter Delivery System for Mitral Valve Implant.

Mitral regurgitation (MR) is one of the most common valvular abnormalities, and the gold-standard for treatment is surgical mitral valve repair/replacement. Most patients with severe MR are over the age of 75, which makes open-heart surgery challenging. Thus, minimally invasive surgeries using transcatheter approaches are gaining popularity. This paper proposes the next generation of a robotic transcatheter delivery system for the mitral valve implant that focuses on the design of the actuation system, modeling, and task space control. The proposed actuation system is compact while still enabling bidirectional torsion, bending, and prismatic joint motion. A pulley structure is employed to actuate the torsion and bending joints using only one motor per joint in conjunction with an antagonistic passive spring to reduce tendon slack. The robotic transcatheter is also optimized to increase its stability and reduce bending deflection. An inverse kinematics model (with an optimization algorithm), singularity analysis method, and joint hysteresis and compensation model are developed and verified. Finally, a task space controller is also proposed. Experiments, including trajectory tracking and demonstrations of the robot motion in an ex vivo porcine heart and a phantom heart through a tortuous path are presented.

An Accordion-Folding Series-Fed Patch Array With Finite Thickness: A folding technique for CubeSat arrays

Combining antenna arrays with physical reconfigurability (i.e., origami) allows for additional degrees of freedom in operation and enables larger structures to be folded into smaller volumes. The packaging ability of origami antennas is of great interest for CubeSat applications in particular. However, traditional origami is based on the manipulation of thin sheets, making physical reconfigurability with thick substrates very difficult. In this article, we present a foldable series-fed patch array designed on a strictly rigid printed circuit board (PCB). Notably, the array does not require any external mechanical folding appendages (i.e., brackets, tapes, or offsets), and it can be manufactured using commercially available PCBs and equipment. The PCB itself is strategically cut to form lamina emergent torsion (LET) joints. When fully deployed, the array operates at 5.7 GHz. A significant shift is not seen in the operational frequency until the folding exceeds 60° (5.7–5.61 GHz). This shows that the array, even in a state of near extreme faulty deployment, will operate as intended. An 8 × 6 prototype array was fabricated using a Rogers DiClad 880. When fully deployed, the array is extended in a surface area of 280 × 198 × 1.524 mm and can be folded into a 35.5 × 198 × 12.5-mm compartment. The array held its integrity well after 100 cycles. (One cycle starts at a state of full deployment, moves to a state of being fully packaged, and goes back to a state of full deployment.) Measurements show that the active reflection coefficients are in good agreement with the finite array simulations. The measured realized gains at 5.7 GHz for 0° and 30° folds were 22.4 and 21.4 dBi, respectively. At the 60° fold, a realized gain of 20.6 dBi was achieved at the frequency of 5.61 GHz.

Investigation on the site of coronal deformities in Hallux valgus

Hallux valgus (HV) is a common foot deformity that is more prevalent in females, characterised by abnormal adduction of the first metatarsal (MT) and valgus deviation of the phalanx on the transverse plane. Increasing evidence indicates that HV is more than a 2D deformity but a 3D one with rotational malalignment. Pronation deformity is seen during clinical examination for HV patients, but the exact origin of this rotational deformity is still unknown. Some attribute it to first tarsometatarsal (TMT) joint rotation, while others attribute it to intra-metatarsal bony torsion. In addition, the correlation between the rotational and transverse plane deformity is inconclusive. Identifying the origin of the rotational deformity will help surgeons choose the optimal surgical procedure while also enhancing our understanding of the pathophysiology of HV. This study aims to (1) develop an objective method for measuring the first MT torsion and first TMT joint rotation; (2) investigate the exact location of the coronal deformity in HV; (3) investigate the relationship between the severity of deformity on the transverse and coronal planes as well as the correlation between deformity severity and foot function/symptoms in HV. Age-matched females with and without HV were recruited at the Foot and Ankle Clinic of the Department of Orthopaedics and Traumatology. Computed tomography was conducted for all subjects with additional weight-bearing dorsal-plantar X-ray examination for HV subjects. Demographic information of all subjects was recorded, with symptoms and functions related to HV evaluated. The intra-class correlation was used to explore the relationship between deformities on different planes and the deformity severity and functional outcomes, respectively. An Independent t-test was used to compare joint rotation and bone torsion degrees. TMT joint rotation is significantly correlated with foot function. HV patients had more TMT joint rotation but not MT torsion compared to normal controls. No relationship was found between the coronal rotation and the 1,2-intermetatarsal angle (IMA) or Hallux valgus angle (HVA) on the transverse plane. Our results indicate that coronal deformities in HV may originate from TMT joint rotation. In addition, the severity of the TMT joint coronal rotation correlates with worse foot function; thus, multi-plane assessment and examination will be necessary for more precise surgical correction.

Laser Forming of Compliant Mechanisms

AbstractSmall-scale flexible (or compliant) mechanisms are valuable in replacing rigid components while retaining comparable motion and behavior. However, fabricating such mechanisms on this scale (from 0.01 to 10 cm) proves difficult, especially with thin sheet metals. The manufacturing method of laser forming, which uses a laser to cut and bend metal into desired shapes, could facilitate this fabrication. However, specific methods for designing mechanisms formed by lasers need to be developed. This work presents laser forming as a means for creating compliant mechanisms on this scale with thin sheet metal. The unique challenges for designing mechanisms to be laser formed are explored, and new adaptations of existing designs are fabricated and discussed. The design of basic “building-block” features is developed for several mechanisms: a parallel-guided mechanism, a cross-axis flexural pivot, a lamina emergent torsional (LET) joint array, a split-tube flexure, and a bi-stable switch. These mechanisms are shown to perform repeatable behavior and motion comparable to existing nonlaser-formed versions. The further possibilities for fabricating compliant mechanisms with laser forming are explored, as advanced applications can benefit from using lasers to create compliant mechanisms from thin sheet metal.

A Torsion-Bending Antagonistic Bistable Actuator Enables Untethered Crawling and Swimming of Miniature Robots.

Miniature robots show great potential in exploring narrow and confined spaces to perform various tasks, but many applications are limited by the dependence of these robots on electrical or pneumatic tethers to power supplies outboard. Developing an onboard actuator that is small in size and powerful enough to carry all the components onboard is a major challenge to eliminate the need for a tether. Bistability can trigger a dramatic energy release during switching between the 2 stable states, thus providing a promising way to overcome the intrinsic limitation of insufficient power of small actuators. In this work, the antagonistic action between torsional deflection and bending deflection in a lamina emergent torsional joint is utilized to achieve bistability, yielding a buckling-free bistable design. The unique configuration of this bistable design enables integrating of a single bending electroactive artificial muscle in the structure to form a compact, self-switching bistable actuator. A low-voltage ionic polymer-metal composites artificial muscle is employed, yielding a bistable actuator capable of generating an instantaneous angular velocity exceeding 300 °/s by a 3.75-V voltage. Two untethered robotic demonstrations using the bistable actuator are presented, including a crawling robot (gross weight of 2.7 g, including actuator, battery, and on-board circuit) that can generate a maximum instantaneous velocity of 40 mm/s and a swimming robot equipped with a pair of origami-inspired paddles that swims breaststroke. The low-voltage bistable actuator shows potential for achieving autonomous motion of various fully untethered miniature robots.

Towards the Design and Development of a Robotic Transcatheter Delivery System for Mitral Valve Implant.

Minimally-invasive surgeries using transcatheter approaches and sophisticated imaging modalities are gaining popularity to treat mitral regurgitation (MR). This paper proposes the next generation of a robotic catheter to deliver an implant onto the mitral valve (MV) through a transseptal approach. The proposed robot has an outer diameter (OD) of 5.7 mm, a rigid distal end length of 20 mm, a prismatic tube that can be advanced by 50-60 mm, and a bending joint that can easily bend 120° to reach the valve opening. The implant can be rotated 75° bidirectionally by the distal torsion joint to orient it with the MV leaflet for precise implantation. The robotic joints are modeled individually, the forward and inverse kinematics are derived, and the robot motion validation is carried out through experimentation. A modified kinematics (MK) model, Prandtl-Ishlinskii (PI) hysteresis model, and hybrid of MK and PI model are used to compensate for the catheter nonlinearities. A preliminary study is conducted to evaluate if force sensing can be used to compensate for the effects of fluid flow. Also, the implantation procedure is demonstrated in a phantom heart.

Reference values, minimum repetitions for stable measures, and test-retest reliability in the torsion and conventional cervical joint position sense tests in asymptomatic individuals

ObjectiveTo determine reference values, including the appropriate number of repetitions, and test-retest reliability of the torsion and conventional cervical joint position sense (JPS) tests. MethodsPhase 1) Cross-sectional design to determine reference values and the appropriate number of repetitions; Phase 2) repeated-measures concordance design (test-retest reliability). Sixty-eight healthy participants performed 10 repetitions of randomized rotation left and right for both cervical JPS tests using a laser projected onto a target. Thirty participants returned for the same evaluation process one week later. ResultsThe age-stratified reference values for the torsion JPS test showed greater absolute error as age increased. Stable levels of performance were obtained with 6–7 repetitions for both tests. Moderate to good reliability was found with 7 or more repetitions for left rotation [Torsion JPS test, Intraclass Correlation Coefficient (ICC; 95% CI) = 0.85 (0.68–0.93); Conventional JPS test, ICC = 0.78 (0.53–0.89)], and 6–7 or more repetitions for right rotation [Torsion JPS test, 6 repetitions, ICC = 0.79 (0.56–0.90); Conventional JPS test, 7 repetitions, ICC = 0.82 (0.61–0.91)]. Standard Error of Measurement (SEM) and Minimal Detectable Change (MDC) stabilized at 7 repetitions in both tests [Torsion JPS test (SEM ≤ 1.0°; MDC90 ≤ 2.4°; MDC95 ≤ 2.9°); Conventional JPS test (SEM ≤ 1.2°; MDC90 ≤ 2.8°; MDC95 ≤ 3.3°)]. ConclusionsThe reference values generated for the torsion JPS test may help identify the presence of impairments cervical proprioception. At least 7 repetitions optimize stability, reliability and responsiveness in the torsion and conventional cervical JPS tests.

Design of mmWave Foldable Vertically Stacked Yagi–Uda Antenna Inspired by Origami and Kirigami Theories

This letter presents a foldable vertically stacked Yagi–Uda antenna at millimeter-wave (mmWave) frequency band. The proposed antenna is built on a FR4 substrate. The antenna consists of a balun, feed dipole element, stacked folded dipole, and inside lamina emergent torsional (LET) joint array. The LET joint array is introduced to reduce and distribute the mechanical stress generated in folding the rigid FR4 substrate. In the planar mode, the antenna results in a measured gain value of 4.9 dBi at the design frequency 24 GHz with a cross-polarization suppression level of less than 12 dB. In the folded mode, the antenna has a measured gain value of 3.9 dB at the target frequency 24 GHz with a cross-polarization suppression level of less than 10 dB. Both operation modes of the proposed antenna cover the broad bandwidth from 23 to 28 GHz (about 20 <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\%$</tex-math></inline-formula> ).

Fore-Aft Asymmetry Improves the Stability of Trotting in the Transverse Plane: A Modeling Study.

Quadrupedal mammals have fore-aft asymmetry in their body structure, which affects their walking and running dynamics. However, the effects of asymmetry, particularly in the transverse plane, remain largely unclear. In this study, we examined the effects of fore-aft asymmetry on quadrupedal trotting in the transverse plane from a dynamic viewpoint using a simple model, which consists of two rigid bodies connected by a torsional joint with a torsional spring and four spring legs. Specifically, we introduced fore-aft asymmetry into the model by changing the physical parameters between the fore and hind parts of the model based on dogs, which have a short neck, and horses, which have a long neck. We numerically searched the periodic solutions for trotting and investigated the obtained solutions and their stability. We found that three types of periodic solutions with different foot patterns appeared that depended on the asymmetry. Additionally, the asymmetry improved gait stability. Our findings improve our understanding of gait dynamics in quadrupeds with fore-aft asymmetry.

Coronal Plane Rotation of the Medial Column in Hallux Valgus: A Retrospective Case-Control Study.

We previously reported an increase in pronation of the first metatarsal (M1) head relative to the ground in hallux valgus (HV) patients compared to controls. Still, the origin and location of this hyperpronation along the medial column is unknown. Recent studies showed that presence of progressive collapsing foot deformities (PCFDs), which is a condition frequently associated with HV, can strongly influence the medial column coronal plane alignment. The objective of this study was to assess the coronal rotation of the medial column bones in HV feet, HV feet with radiologic markers of PCFD, and controls. We hypothesized that hyperpronation in HV will originate from a combination of M1 intrinsic torsion and first tarsometatarsal joint malposition. The same cohort of 36 HV and 20 controls matched on age, gender, and body mass index was used. Previously, a validation of the measurements was carried out through a cadaveric study. Using these metrics, we assessed the coronal plane rotation of the navicular, medial cuneiform, and the M1 at its base and head with respect to the ground using weightbearing CT images. We measured the Meary angle and the calcaneal moment arm in our 36 HV subjects. We subdivided our cohort into an HV group and a potential PCFD HV group according to these measurements. Comparisons on medial column bones coronal rotation were performed between HV, PCFD HV, and control groups. Twenty-two HV cases were included in the HV group and 14 in the PCFD HV group. Both groups presented an increase in pronation of the first metatarsal head relative to the ground when compared to the control group (P < .001). Comparing HV and controls showed an 8.3 degrees increase in pronation of M1 intrinsic torsion (P < .001) and a 4.7 degrees pronated malposition of the first tarsometatarsal joint (P = .02) in HV. A 9.7 degrees supinated malposition of the first naviculocuneiform joint (P < .001) was also observed in HV. Comparing PCFD HV and controls showed a significant increase in pronation of the navicular (respectively, 17.2 ± 5.4 and 12.3 ± 3.4 degrees, P = .007) and a 5.5 degrees increase in pronation of M1 intrinsic torsion (P = .02) in PCFD HV, without malposition of the first tarsometatarsal and naviculocuneiform joints. Hyperpronation of the M1 head relative to the ground originated from both increases in pronation of M1 intrinsic torsion and first tarsometatarsal joint malposition in HV, although partially counterbalanced by a supinated malposition of the first naviculocuneiform joint. On the other hand, PCFD HV patients showed a generalized pronated position throughout the medial column from the navicular to the M1 head and may be related to the midfoot and hindfoot deformities frequently present in PCFD. Level III, retrospective comparative study.

IMU Motion Capture Method with Adaptive Tremor Attenuation in Teleoperation Robot System.

Teleoperation robot systems can help humans perform tasks in unstructured environments. However, non-intuitive control interfaces using only a keyboard or joystick and physiological tremor reduce the performance of teleoperation. This paper presents an intuitive control interface based on the wearable device gForcePro+ armband. Two gForcePro+ armbands are worn at the centroid of the upper arm and forearm, respectively. Firstly, the kinematics model of the human arm is established, and the inertial measurement units (IMUs) are used to capture the position and orientation information of the end of the arm. Then, a regression model of angular transformation is developed for the phenomenon that the rotation axis of the torsion joint is not perfectly aligned with the limb segment during motion, which can be applied to different individuals. Finally, to attenuate the physiological tremor, a variable gain extended Kalman filter (EKF) fusing sEMG signals is developed. The described control interface shows good attitude estimation accuracy compared to the VICON optical capture system, with an average angular RMSE of 4.837° ± 1.433°. The performance of the described filtering method is tested using the xMate3 Pro robot, and the results show it can improve the tracking performance of the robot and reduce the tremor.

Design and Performance Analysis of Lamina Emergent Torsional Joints Based on Double-Laminated Material Structure

Flexibility and accuracy are two key aspects of the performances of compliant joints. In order to obtain high flexibility while maintain high accuracy, this paper proposes a design method to improve the tensile stiffness of Lamina Emergent Torsional (LET) joint by utilizing double-laminated material structure. The joint is made of a LET joint and a layer of flexible H18 aluminum foil fixing on it (called double-laminated LET, DL-LET). The kinetostatic model for the joint is given, and the equations needed to calculate the equivalent spring constant are derived. The model is verified using finite element analysis (FEA). The results obtained through two different ways coincide with each other very well. The results show that DL-LET and LET joints have similar bending stiffness, while the tensile stiffness of the DL-LET joint is much larger than that of the LET joint. The results are validated by tensile tests. Finally, to further demonstrate the extension of this idea, a DL-Triple-LET joint is presented and compared to the Triple-LET joint.

Dynamic responses and control of geared transmission system based on multibody modeling methodology

In this study, an innovative modeling approach is put forward to research the effect of eccentricity on the nonlinear dynamical behaviors of geared-bearing system. This refined model contains the rigid body of the rotor-bearing system and separated gear teeth which are considered as individual bodies elastically attached to the gear hub with revolute joints. The internal and external excitations of the proposed model include torsional joint stiffness, roll bearing forces, friction between gear pair, gear eccentricity, and so on. The systematic procedure for the calculation of torsional joint stiffness, bearing forces and friction coefficient considering elastohydrodynamic is also conducted. After that, the influence of eccentricity on nonlinear dynamic characteristics of the geared transmission system is analyzed. To avoid the system moving in the unstable motion state, a dry friction damper controller is designed to control the nonlinear behaviors simulated on the basis of above model. The linear feedback and periodic excitation non-feedback control strategies are, respectively, selected to design the actuator. It is indicated that undesirable behaviors of the geared transmission system can be avoided effectively by applying the proposed control method.

Packable and Readily Deployable Tightly Coupled Dipole Array (TCDA) With Integrated Planar Balun

To overcome the limited payload dedicated to onboard antennas for CubeSat/SmallSat applications, this paper presents a novel, foldable, dual-polarized Tightly Coupled Dipole Array (TCDA). In comparison to previous vertical feeds used for TCDAs, this array integrates a planar microstrip balun feed to enable foldability. The proposed array attains 5.4:1 (0.6-3.20 GHz) impedance bandwidth with VSWR < 3 at broadside and scans down to 45∘ at all azimuth planes. Notably, a substrate-integrated in-plane folding mechanism based on Lamina Emergent Torsion (LET) joints is employed to achieve foldability coupled with a simple fabrication process. The average simulated radiation efficiency was 95% across the band. A 5 × 8 prototype array was fabricated and tested to verify the finite array’s foldability, bandwidth, and gain performance. This prototype achieves 80% one-dimensional size reduction, yielding 60% overall volume reduction. Consequently, the array prototype can be folded and stowed in a compact volume of 1.4U ( 25 cm× 7.2 cm× 9 cm ).

Cohesive zone analysis of torsional tubular joints with an epoxy adhesive

Nowadays, adhesive bonding gained a lot of presence in the design of mechanical structures in the most varied industries, especially aeronautics and automotive. Such a method of joining has several advantages over more traditional methods such as welding or mechanical joining. These advantages include the weight reduction of the structure and the easiest application of the adhesive. In terms of manufacturing time and cost, this is a versatile method that enables the bonding of different materials, including composites, without damaging the structures to be bonded. Tubular adhesive joints have varying applications, such as in trusses, machine axles, and piping. This work evaluated the torsional performance of a structural adhesive in aluminum tubular joints (AW6082-T651), considering the variation of the main geometric parameters: overlap length (LO), and tube thickness. In order to predict the strength, the Finite Element Method (FEM) was used with the Cohesive Zone Model (CZM), whose analysis was based on the analysis of shear stresses (τxy) and joint strength, measured by the maximum torsional moment (Mm). Previously, validation with experimental data was carried out. The technique was positively validated, and a significant geometry effect on Mm was found.

종이접기와 키리가미 이론에 기반한 3차원 T-자형 다이폴 안테나 설계

In this study, the design of a 3D foldable T-shaped dipole antenna inspired by origami and kirigami theory is presented. The origami- and kirigami-inspired techniques map 2D to 3D space. Moreover, the lamina emergent torsional (LET) joint is designed to fold the planar structure. The proposed antenna, including the LET joint, is printed on a planar 0.5 mm thick FR4 substrate. The proposed antenna is fed by a capacitively coupled microstrip line to achieve a 20 % fractional bandwidth (2.7~3.3 GHz), with a measured antenna gain value of 6.5 dBi.