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The basic principle of fish propulsion with the presence of a solid boundary was studied. The problem of a two-dimensional potential flow over a flexible plate swimming adjacent to a planar wall is treated. This is solved by applying the method of images. The motion of the flexible plate consists of a progressive wave traveling along the body of the plate. The energy imparted to the fluid, the power...
Nowadays, studies of the interventional micro-robots have been hot topics in the field of medical device. The ultimate goal of medical micro robots is to reach currently inaccessible areas of the human body. In this paper, a novel bio-inspired interventional micro-robot in screw-in swim way is presented, which can move along the line, turn at the corner, and spinning. Based on the propulsion mechanism...
The acoustic radiation force has been used as the method to examine the physical properties of materials in several areas. Vibro-acoustography is an acoustic radiation force technique that is being used to perform analysis of mechanical properties of materials. In this application a focused acoustic modulated force excites target which vibrates at the frequency of modulation. The emitted sound is...
In this study, we propose a leg-robot with a compact MR fluid clutch (CMRFC) to demonstrate haptic control of abnormal spastic movements of brain-injured patients. This system can be used in the practical training for trainees of physical therapy. In this paper, basic structure and characteristics of the leg-robot are explained. Then, we suggest a control method to reproduce clonus-like movements,...
Many kinds of actuator-based (active type) haptic devices have developed and utilized as rehabilitation robots. These systems have great advantages for rehabilitative activities, for example assistive forces and so on. However, from the view point of safety, we have a room to consider utilizing brake-based (passive type) haptic devices as rehabilitation-tools. The effects and roles of active / passive...
Strengthening muscle force by training, e.g., an isokinetic exercise is widely used in rehabilitative activities or sports rehabilitations. However, many conventional isokinetic exercise machines cost expensive depending on its actuation device and safety system (hardware and software). In this study, we have developed highly safe isokinetic exercise systems using only brakes with functional fluids...
Grasping of objects by robotic hands in unstructured environments demands a sensor surface that is durable, compliant, and responsive to various force and slip conditions. A compliant and robust skin can be as critical to grasping objects as the sensor it protects. In an effort to combine compliant mechanics and robust sensing, a biomimetic tactile sensor is being developed. Deformations of its skin...
Medical ultrasound contrast agents (UCA) have evolved from straight image enhancers to pathophysiological markers and drug delivery vehicles. However, the exact dynamic behavior of the encapsulated bubbles composing UCA is still not entirely known. In this article, we propose to characterize full populations of UCA, by looking at the translational effects of ultrasound radiation force on each bubble...
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