Inguinal hernia is a prevalent global surgical condition,accounting for millions of repairs annually.Tension-free mesh repair has become the gold standard for both open approaches(e.g.,Lichtenstein repair)and laparosc...Inguinal hernia is a prevalent global surgical condition,accounting for millions of repairs annually.Tension-free mesh repair has become the gold standard for both open approaches(e.g.,Lichtenstein repair)and laparoscopic techniques(e.g.,transabdominal preperitoneal and totally extraperitoneal[TEP]repairs).1,2,3 Guidelines updated in 2018 and 2023 emphasize mesh-based repairs,providing recommendations to optimize outcomes and minimize complications.1,2 Laparoscopic hernia repair,particularly TEP,offers several advantages,such as reduced pain,quicker recovery,and improved cosmetic outcomes.展开更多
To increase the gripping area of noncontact end grippers(NCEGs), an array-type NCEG based on the Coanda mechanism is proposed, and its performance in gripping different garment fabrics(GFs) is studied. Firstly, the st...To increase the gripping area of noncontact end grippers(NCEGs), an array-type NCEG based on the Coanda mechanism is proposed, and its performance in gripping different garment fabrics(GFs) is studied. Firstly, the structure and the working mechanism of a single Coanda-based NCEG were analyzed. Secondly, four such grippers were arranged in array to form a minimum gripping unit. Then, the structure of the connecting plate(CP) to the gripper was optimized by simulation analysis to exclude airflow interference, and the adsorption performance of GFs with different fabric parameters was measured. Finally, the experimental results were analyzed to verify the scientific validity and the feasibility of the array-type arrangement. The results show that compared with other NCEGs, the array-type ones based on the Coanda mechanism are better at gripping various large-area GFs and offer better adsorption performance. This innovation provides a new solution to the problem of insufficient gripping area in GF gripping and is very important for improving the production efficiency of garment processing.展开更多
High speed power chucks are important function units in high speed turning.The gripping force loss is the primary factor limiting the rotational speed of high-speed power chucks.This paper proposes a piecewise model c...High speed power chucks are important function units in high speed turning.The gripping force loss is the primary factor limiting the rotational speed of high-speed power chucks.This paper proposes a piecewise model considering the difference of wedge transmission's radial deformation between low-speed stage and medium-to-high-speed stage,the friction forces of chuck transmission,and the compressibility of hydraulic oil in rotary hydraulic cylinders.A corrected model of gripping force loss is also established for power chucks with asymmetric stiffness.The model is verified by experiment results.It is helpful to use the piecewise model to explain the experimental phenomenon that the overall loss coefficient of gripping force increases with the rotational speed increasing at medium and high speed stages.Besides,the loss coefficients of gripping force at each stage during speeding up and the critical rotational speed between two adjacent stages are discussed.For wedge power chucks with small wedge angel(α<20°) and ordinary lubrication(μ0>0.06),the local loss coefficient of gripping force at the low speed stage is about 70% of that at the medium to high speed stage.For wedge power chucks with larger wedge angel(α>20°) or low friction coefficient(μ0<0.06),the wedge transmissions cannot self-lock at high speed stage,and the gripping force loss at the high speed stage is related to the hydraulic lock and hydraulic oil in the rotary hydraulic cylinder;the local loss coefficients of gripping force at the third stage is about 1.75 to 2.13 times that at the second stage.This work is helpful to understand the mechanism of the gripping force loss thoroughly and to optimize power chucks.展开更多
The minimum gripping force applied is expected to prevent objects from mechanical damage when an agricultural robot is applied to handle and manipulate fruits and vegetables.In this research,a sensitive slipping senso...The minimum gripping force applied is expected to prevent objects from mechanical damage when an agricultural robot is applied to handle and manipulate fruits and vegetables.In this research,a sensitive slipping sensor was developed with a piezo resistor to control the griping force of the agricultural robot.Firstly,an output of the slipping sensor was analyzed in a frequency domain by using a short time Fourier transform.Then rules for discriminating slipping signal from the output of a slipping sensor were proposed based on detail coefficients of discrete wavelet transform.Finally,a controller based on adaptive Neuro-Fuzzy inference system was developed to adjust the grasping force of the agricultural robot in real time.The detail coefficients and the normal gripping force were applied as input of the controller,and Fuzzy rules were simplified through subtractive clustering.With a two-finger end-effector of the agricultural robot,the experimental results showed that the slipping signal could be effectively extracted regardless of change in the normal gripping force,and the gripping force had been controlled successfully when grasping tomatoes and apples.This method was a promising way to optimize the gripping force of the agricultural robot grasping the fruits and vegetables.展开更多
Force closure and stability problems exist in heavy gripping devices.Based on a typical gripping device for forging operations, the workpiece and the gripping device are innovatively considered as a single mechanism i...Force closure and stability problems exist in heavy gripping devices.Based on a typical gripping device for forging operations, the workpiece and the gripping device are innovatively considered as a single mechanism in this paper,and its global topological configuration is obtained.The changing element method is used to establish the optimized topology geometry of the gripping device by decreasing the degrees of freedom of the gripping mechanism and improving the force closure performance. Therefore,a new idea for the innovative design of heavy-duty forging gripping devices is provided.As the effect of revolute joint friction on loading capacity of the gripping device cannot be ignored,a unified mechanical equation including friction in terms of the topological adjacency matrix is established to analyze the force closure performance and calculate the loading capacity.The conclusions are provided by experiments.展开更多
Exercise produces a decrease in pain sensitivity via an effect called exercise-induced hypoalgesia(EIH).Transcranial direct current stimulation(tDCS),acting on similar analgesic mechanisms as EIH,represents a potentia...Exercise produces a decrease in pain sensitivity via an effect called exercise-induced hypoalgesia(EIH).Transcranial direct current stimulation(tDCS),acting on similar analgesic mechanisms as EIH,represents a potential complementary intervention that may amplify the effects of exercise on pain.This study aimed to explore if anodal tDCS could enhance the effect of exercise on pain compared to exercise alone.A total of 35 healthy participants aged 19–37 years completed a familiarisation session followed by two separate sessions where active and sham tDCS was applied in a randomised cross-over design.The familiarisation session involved familiarisation to the pain assessment and exercise tasks,while the subsequent tDCS sessions involved pain sensitivity assessment,exercise and either anodal tDCS or sham tDCS.tDCS doses were applied at 2 mA over the primary motor cortex for 10 min,with the reference electrode placed over the contralateral supraorbital area.The exercise task involved a sustained isometric grip strength contraction at 35%of maximal voluntary contraction(MVC)until volitional exhaustion.Pain sensitivity was evaluated as pressure pain threshold before tDCS,after tDCS,and after exercise.Across both tDCS conditions,pain threshold was higher after exercise when compared to pre-and post-tDCS measurement.This increase in pain threshold did not differ between active and sham tDCS conditions.Our findings suggest that the hypoalgesic effects of active anodal tDCS over the motor cortex prior to exercise are no greater than the effects of sham tDCS prior to exercise.展开更多
Frailty has emerged as a pivotal determinant of post-liver transplant(LT)outcomes,yet its integration into clinical practice remains inconsistent.Defined by functional impairments and reduced physiologic reserve,frail...Frailty has emerged as a pivotal determinant of post-liver transplant(LT)outcomes,yet its integration into clinical practice remains inconsistent.Defined by functional impairments and reduced physiologic reserve,frailty transcends traditional metrics like the model for end-stage liver disease(MELD)score,demonstrating increasing predictive value for mortality beyond the immediate postoperative period.Recent findings suggest that frail recipients experience significantly higher mortality within the first 12 months following transplantation—a period when traditional monitoring often wanes.This raises critical questions about the adequacy of current assessment and follow-up protocols.The observed dissociation between MELD scores and long-term survival underscores the limitations of existing selection criteria.Frailty,as a dynamic and modifiable condition,represents an opportunity for targeted intervention.Prehabilitation programs focusing on nutritional optimization,physical rehabilitation,and psychosocial support could enhance resilience in transplant candidates,reducing their risk profile and improving post-transplant outcomes.Furthermore,these findings call for an expanded approach to post-transplant monitoring.Extending surveillance for frail recipients beyond standard timelines may facilitate early detection of complications,mitigating their impact on survival.Incorporating frailty into both pre-and post-transplant protocols could redefine how transplant centers evaluate and manage risk.This editorial advocates for a paradigm shift:Frailty must no longer be viewed as a secondary consideration but as a core element in LT care.By addressing frailty comprehensively,we can move toward more personalized,effective strategies that improve survival and quality of life for LT recipients.展开更多
Objective:While albumin and the weight-standardized hand grip strength(HGS/W)serve as valuable prognostic indicators for cancer patients,their correlation with the prognosis in frail cancer patients remains inadequate...Objective:While albumin and the weight-standardized hand grip strength(HGS/W)serve as valuable prognostic indicators for cancer patients,their correlation with the prognosis in frail cancer patients remains inadequately explored.This study aimed to investigate the prognostic importance of the albumin level and HGS/W in cancer patients with frailty and to further investigate their combined prognostic value.Moreover,this comprehensive evaluation aimed to facilitate timely intervention and treatment for frail patients.Methods:The research enrolled 5,794 cancer patients identified with frailty from a multicenter research database.The diagnosis of frailty was based on the FRAIL scale.An Albumin-HGS/W score was constructed by combining the albumin and HGS/W values.Cox proportional hazard regression was utilized to examine the association between the albumin level and HGS/W and patient outcomes.Results:Among these patients,2,543 were females and 3,251 were males,with a median age of 60.0 years.Optimal stratification based on patient survival revealed the ideal threshold for HGS/W to be 0.48 for males and 0.39 for females,and for albumin to be 38 for both sexes.The fully adjusted model revealed that higher Albumin-HGS/W scores were correlated with a poorer patient prognosis.Notably,an Albumin-HGS/W score of 2 was associated with a higher risk of mortality compared with a score of 0 in the total population(HR:1.813,95%CI:1.580-2.080,P<0.001).Conclusions:Low albumin or HGS/W values are associated with low survival in cancer patients with frailty.Elevated Albumin-HGS/W scores were linked to decreased survival rates in cancer patients with frailty.展开更多
BACKGROUND Morphomics,a computed tomography-based body composition assessment,helps predicting esophageal cancer outcomes,but its link to bioelectrical impedance analysis(BIA)and functional assessments such as hand gr...BACKGROUND Morphomics,a computed tomography-based body composition assessment,helps predicting esophageal cancer outcomes,but its link to bioelectrical impedance analysis(BIA)and functional assessments such as hand grip strength(HGS)and cardiopulmonary exercise testing(CPET)remains unclear.AIM To investigate correlations between morphomics and BIA,HGS,CPET,and assess its ability to predict low cardiorespiratory fitness(CRF).METHODS Fifty esophageal cancer patients underwent multi-level morphomics,BIA,HGS,and CPET.Correlations were analyzed using heatmaps and scatter plots,and logistic regression assessed morphomic predictive value for low CRF.RESULTS T11 is the only level with complete morphomic data,making it the most applicable.To ensure reliability,T11 and its adjacent levels,T10-12,were included in the subsequent analysis.Dorsal muscle group volume from T10-12 morphomics all correlated positively with BIA muscle components(r=0.56-0.68,all P<0.001),HGS(r=0.4-0.48,all P<0.001),and CPET variables(r=0.43-0.51,all P<0.001).Subcutaneous fat area and visceral fat area from morphomics correlated with body fat percentage(r=0.58-0.67,all P<0.001)and negatively with CPET parameters(r=-0.33 to-0.52,all P<0.05).Morphomics also showed potential in identifying low CRF,with an area under the receiver operating characteristic curve of 0.778.CONCLUSION T11 morphomics shows strong correlation with BIA,HGS,and CPET,and may serve as a practical tool for preoperative risk assessment in esophageal cancer patients.展开更多
In 2019,China had over 13.14 million dementia cases,with incidence rates of(56.47–207.08)/100,000[1].Early cognitive impairment—a key dementia symptom—reduces quality of life,increases care dependence,and lowers su...In 2019,China had over 13.14 million dementia cases,with incidence rates of(56.47–207.08)/100,000[1].Early cognitive impairment—a key dementia symptom—reduces quality of life,increases care dependence,and lowers survival in older adults[2].A decline in physical function can also be observed in older adults with increasing age.Grip strength has been shown to be a marker of overall physiological function in older adults.展开更多
In current research on soft grippers,pneumatically actuated soft grippers are generally fabricated using fully soft materials,which have the advantage of flexibility as well as the disadvantages of a small gripping fo...In current research on soft grippers,pneumatically actuated soft grippers are generally fabricated using fully soft materials,which have the advantage of flexibility as well as the disadvantages of a small gripping force and slow response speed.To improve these characteristics,a novel pneumatic soft gripper with a jointed endoskeleton structure(E-Gripper)is developed,in which the muscle actuating function has been separated from the force bearing function.The soft action of an E-Gripper finger is performed by some air chambers surrounded by multilayer rubber embedded in the restraining fiber.The gripping force is borne and transferred by the rigid endoskeleton within the E-Gripper finger Thus,the gripping force and action response speed can be increased while the flexibility is maintained.Through experiments,the bending angle of each finger segment,response time,and gripping force of the E-Gripper have been measured,which provides a basis for designing and controlling the soft gripper The test results have shown that the maximum gripping force of the E-Gripper can be 35 N,which is three times greater than that of a fully soft gripper(FS-Gripper)of the same size.At the maximum charging pressure of 150 kPa,the response time is1.123 s faster than that of the FS-Gripper.The research results indicate that the flexibility of a pneumatic soft gripper is not only maintained in the case of the E-Gripper,but its gripping force is also obviously increased,and the response time is reduced.The E-Gripper thus shows great potential for future development and applications.展开更多
文摘Inguinal hernia is a prevalent global surgical condition,accounting for millions of repairs annually.Tension-free mesh repair has become the gold standard for both open approaches(e.g.,Lichtenstein repair)and laparoscopic techniques(e.g.,transabdominal preperitoneal and totally extraperitoneal[TEP]repairs).1,2,3 Guidelines updated in 2018 and 2023 emphasize mesh-based repairs,providing recommendations to optimize outcomes and minimize complications.1,2 Laparoscopic hernia repair,particularly TEP,offers several advantages,such as reduced pain,quicker recovery,and improved cosmetic outcomes.
基金National Key Research and Development Program of China (No.2018YFB1308801)。
文摘To increase the gripping area of noncontact end grippers(NCEGs), an array-type NCEG based on the Coanda mechanism is proposed, and its performance in gripping different garment fabrics(GFs) is studied. Firstly, the structure and the working mechanism of a single Coanda-based NCEG were analyzed. Secondly, four such grippers were arranged in array to form a minimum gripping unit. Then, the structure of the connecting plate(CP) to the gripper was optimized by simulation analysis to exclude airflow interference, and the adsorption performance of GFs with different fabric parameters was measured. Finally, the experimental results were analyzed to verify the scientific validity and the feasibility of the array-type arrangement. The results show that compared with other NCEGs, the array-type ones based on the Coanda mechanism are better at gripping various large-area GFs and offer better adsorption performance. This innovation provides a new solution to the problem of insufficient gripping area in GF gripping and is very important for improving the production efficiency of garment processing.
基金supported by the National Natural Science Foundation of China (Grant No. 50875234)the National Science and Technology Support Program of China (Grant No. 2006BAF01B09-7)
文摘High speed power chucks are important function units in high speed turning.The gripping force loss is the primary factor limiting the rotational speed of high-speed power chucks.This paper proposes a piecewise model considering the difference of wedge transmission's radial deformation between low-speed stage and medium-to-high-speed stage,the friction forces of chuck transmission,and the compressibility of hydraulic oil in rotary hydraulic cylinders.A corrected model of gripping force loss is also established for power chucks with asymmetric stiffness.The model is verified by experiment results.It is helpful to use the piecewise model to explain the experimental phenomenon that the overall loss coefficient of gripping force increases with the rotational speed increasing at medium and high speed stages.Besides,the loss coefficients of gripping force at each stage during speeding up and the critical rotational speed between two adjacent stages are discussed.For wedge power chucks with small wedge angel(α<20°) and ordinary lubrication(μ0>0.06),the local loss coefficient of gripping force at the low speed stage is about 70% of that at the medium to high speed stage.For wedge power chucks with larger wedge angel(α>20°) or low friction coefficient(μ0<0.06),the wedge transmissions cannot self-lock at high speed stage,and the gripping force loss at the high speed stage is related to the hydraulic lock and hydraulic oil in the rotary hydraulic cylinder;the local loss coefficients of gripping force at the third stage is about 1.75 to 2.13 times that at the second stage.This work is helpful to understand the mechanism of the gripping force loss thoroughly and to optimize power chucks.
基金This work was supported by the Key Research and Development Program of Jiangsu(Grant No.BE2017370)the National Natural Science Foundation of China(Grant No.31471419)the Natural Science Funds of Jiangsu(Grant No.BK20140729).
文摘The minimum gripping force applied is expected to prevent objects from mechanical damage when an agricultural robot is applied to handle and manipulate fruits and vegetables.In this research,a sensitive slipping sensor was developed with a piezo resistor to control the griping force of the agricultural robot.Firstly,an output of the slipping sensor was analyzed in a frequency domain by using a short time Fourier transform.Then rules for discriminating slipping signal from the output of a slipping sensor were proposed based on detail coefficients of discrete wavelet transform.Finally,a controller based on adaptive Neuro-Fuzzy inference system was developed to adjust the grasping force of the agricultural robot in real time.The detail coefficients and the normal gripping force were applied as input of the controller,and Fuzzy rules were simplified through subtractive clustering.With a two-finger end-effector of the agricultural robot,the experimental results showed that the slipping signal could be effectively extracted regardless of change in the normal gripping force,and the gripping force had been controlled successfully when grasping tomatoes and apples.This method was a promising way to optimize the gripping force of the agricultural robot grasping the fruits and vegetables.
文摘Force closure and stability problems exist in heavy gripping devices.Based on a typical gripping device for forging operations, the workpiece and the gripping device are innovatively considered as a single mechanism in this paper,and its global topological configuration is obtained.The changing element method is used to establish the optimized topology geometry of the gripping device by decreasing the degrees of freedom of the gripping mechanism and improving the force closure performance. Therefore,a new idea for the innovative design of heavy-duty forging gripping devices is provided.As the effect of revolute joint friction on loading capacity of the gripping device cannot be ignored,a unified mechanical equation including friction in terms of the topological adjacency matrix is established to analyze the force closure performance and calculate the loading capacity.The conclusions are provided by experiments.
文摘Exercise produces a decrease in pain sensitivity via an effect called exercise-induced hypoalgesia(EIH).Transcranial direct current stimulation(tDCS),acting on similar analgesic mechanisms as EIH,represents a potential complementary intervention that may amplify the effects of exercise on pain.This study aimed to explore if anodal tDCS could enhance the effect of exercise on pain compared to exercise alone.A total of 35 healthy participants aged 19–37 years completed a familiarisation session followed by two separate sessions where active and sham tDCS was applied in a randomised cross-over design.The familiarisation session involved familiarisation to the pain assessment and exercise tasks,while the subsequent tDCS sessions involved pain sensitivity assessment,exercise and either anodal tDCS or sham tDCS.tDCS doses were applied at 2 mA over the primary motor cortex for 10 min,with the reference electrode placed over the contralateral supraorbital area.The exercise task involved a sustained isometric grip strength contraction at 35%of maximal voluntary contraction(MVC)until volitional exhaustion.Pain sensitivity was evaluated as pressure pain threshold before tDCS,after tDCS,and after exercise.Across both tDCS conditions,pain threshold was higher after exercise when compared to pre-and post-tDCS measurement.This increase in pain threshold did not differ between active and sham tDCS conditions.Our findings suggest that the hypoalgesic effects of active anodal tDCS over the motor cortex prior to exercise are no greater than the effects of sham tDCS prior to exercise.
文摘Frailty has emerged as a pivotal determinant of post-liver transplant(LT)outcomes,yet its integration into clinical practice remains inconsistent.Defined by functional impairments and reduced physiologic reserve,frailty transcends traditional metrics like the model for end-stage liver disease(MELD)score,demonstrating increasing predictive value for mortality beyond the immediate postoperative period.Recent findings suggest that frail recipients experience significantly higher mortality within the first 12 months following transplantation—a period when traditional monitoring often wanes.This raises critical questions about the adequacy of current assessment and follow-up protocols.The observed dissociation between MELD scores and long-term survival underscores the limitations of existing selection criteria.Frailty,as a dynamic and modifiable condition,represents an opportunity for targeted intervention.Prehabilitation programs focusing on nutritional optimization,physical rehabilitation,and psychosocial support could enhance resilience in transplant candidates,reducing their risk profile and improving post-transplant outcomes.Furthermore,these findings call for an expanded approach to post-transplant monitoring.Extending surveillance for frail recipients beyond standard timelines may facilitate early detection of complications,mitigating their impact on survival.Incorporating frailty into both pre-and post-transplant protocols could redefine how transplant centers evaluate and manage risk.This editorial advocates for a paradigm shift:Frailty must no longer be viewed as a secondary consideration but as a core element in LT care.By addressing frailty comprehensively,we can move toward more personalized,effective strategies that improve survival and quality of life for LT recipients.
基金supported by a Henan Province Science and Technology Research Project(No.252102311033)the National Key Research and Development Program(No.2022YFC2009600 and No.2022YFC2009601).
文摘Objective:While albumin and the weight-standardized hand grip strength(HGS/W)serve as valuable prognostic indicators for cancer patients,their correlation with the prognosis in frail cancer patients remains inadequately explored.This study aimed to investigate the prognostic importance of the albumin level and HGS/W in cancer patients with frailty and to further investigate their combined prognostic value.Moreover,this comprehensive evaluation aimed to facilitate timely intervention and treatment for frail patients.Methods:The research enrolled 5,794 cancer patients identified with frailty from a multicenter research database.The diagnosis of frailty was based on the FRAIL scale.An Albumin-HGS/W score was constructed by combining the albumin and HGS/W values.Cox proportional hazard regression was utilized to examine the association between the albumin level and HGS/W and patient outcomes.Results:Among these patients,2,543 were females and 3,251 were males,with a median age of 60.0 years.Optimal stratification based on patient survival revealed the ideal threshold for HGS/W to be 0.48 for males and 0.39 for females,and for albumin to be 38 for both sexes.The fully adjusted model revealed that higher Albumin-HGS/W scores were correlated with a poorer patient prognosis.Notably,an Albumin-HGS/W score of 2 was associated with a higher risk of mortality compared with a score of 0 in the total population(HR:1.813,95%CI:1.580-2.080,P<0.001).Conclusions:Low albumin or HGS/W values are associated with low survival in cancer patients with frailty.Elevated Albumin-HGS/W scores were linked to decreased survival rates in cancer patients with frailty.
基金Supported by Chang Gung Memorial Hospital,Taiwan,No.CMRPG3N1171,No.CMRPG3N1172,No.CORPVVN0071,No.CMRPVVK0111-3 and No.CMRPVVL0121-3National Science and Technology Council,Taiwan,No.MOST 114-2314-B-182A-066-.
文摘BACKGROUND Morphomics,a computed tomography-based body composition assessment,helps predicting esophageal cancer outcomes,but its link to bioelectrical impedance analysis(BIA)and functional assessments such as hand grip strength(HGS)and cardiopulmonary exercise testing(CPET)remains unclear.AIM To investigate correlations between morphomics and BIA,HGS,CPET,and assess its ability to predict low cardiorespiratory fitness(CRF).METHODS Fifty esophageal cancer patients underwent multi-level morphomics,BIA,HGS,and CPET.Correlations were analyzed using heatmaps and scatter plots,and logistic regression assessed morphomic predictive value for low CRF.RESULTS T11 is the only level with complete morphomic data,making it the most applicable.To ensure reliability,T11 and its adjacent levels,T10-12,were included in the subsequent analysis.Dorsal muscle group volume from T10-12 morphomics all correlated positively with BIA muscle components(r=0.56-0.68,all P<0.001),HGS(r=0.4-0.48,all P<0.001),and CPET variables(r=0.43-0.51,all P<0.001).Subcutaneous fat area and visceral fat area from morphomics correlated with body fat percentage(r=0.58-0.67,all P<0.001)and negatively with CPET parameters(r=-0.33 to-0.52,all P<0.05).Morphomics also showed potential in identifying low CRF,with an area under the receiver operating characteristic curve of 0.778.CONCLUSION T11 morphomics shows strong correlation with BIA,HGS,and CPET,and may serve as a practical tool for preoperative risk assessment in esophageal cancer patients.
基金supported by the Shanghai New Three-year Action Plan for Public Health(Grant No.GWV-10.1-XK16)the US National Institute on Aging(RO1-AGO34479).
文摘In 2019,China had over 13.14 million dementia cases,with incidence rates of(56.47–207.08)/100,000[1].Early cognitive impairment—a key dementia symptom—reduces quality of life,increases care dependence,and lowers survival in older adults[2].A decline in physical function can also be observed in older adults with increasing age.Grip strength has been shown to be a marker of overall physiological function in older adults.
基金Supported by National Natural Science Foundation of China(Grant No.51305202)Jiangsu Provincial Natural Science Foundation of China(Grant No.BK20130764)
文摘In current research on soft grippers,pneumatically actuated soft grippers are generally fabricated using fully soft materials,which have the advantage of flexibility as well as the disadvantages of a small gripping force and slow response speed.To improve these characteristics,a novel pneumatic soft gripper with a jointed endoskeleton structure(E-Gripper)is developed,in which the muscle actuating function has been separated from the force bearing function.The soft action of an E-Gripper finger is performed by some air chambers surrounded by multilayer rubber embedded in the restraining fiber.The gripping force is borne and transferred by the rigid endoskeleton within the E-Gripper finger Thus,the gripping force and action response speed can be increased while the flexibility is maintained.Through experiments,the bending angle of each finger segment,response time,and gripping force of the E-Gripper have been measured,which provides a basis for designing and controlling the soft gripper The test results have shown that the maximum gripping force of the E-Gripper can be 35 N,which is three times greater than that of a fully soft gripper(FS-Gripper)of the same size.At the maximum charging pressure of 150 kPa,the response time is1.123 s faster than that of the FS-Gripper.The research results indicate that the flexibility of a pneumatic soft gripper is not only maintained in the case of the E-Gripper,but its gripping force is also obviously increased,and the response time is reduced.The E-Gripper thus shows great potential for future development and applications.
