Legged locomotion in resistive terrains.

The utility, efficiency, and reliability of legged robots has increased dramatically in recent years. Limbed robots are now capable of locomotion across a variety of terrains, however, achieving both rapid and efficient operation when ground conditions are complex or deformable is still challenging. Resistive terrains such as streams, snow, mud, littoral regions, and tall grass are an important class or set of complex and difficult terrain which are commonly found in the desired operating environments of legged robots. This work presents a reduced-order, dynamic model designed to capture the effect of these environments on the legs of a robot while running. This model, and an experimental platform, are used to evaluate the efficacy of a pair of strategies for adapting running to the inevitable slowing that occurs in resistive terrains. Simulation and experimental results show that intelligent retraction of the foot during flight has a more beneficial effect on the maximum achievable velocity and cost of transport of the runner than a 'punting gait' for a range of fluid depths. However, this performance gap became much smaller in deep fluids suggesting that fluid depth may drive transition from a foot retraction gait to a punting gait.

A soft, synergy-based robotic glove for grasping assistance.

This paper presents a soft, tendon-driven, robotic glove designed to augment grasp capability and provide rehabilitation assistance for postspinal cord injury patients. The basis of the design is an underactuation approach utilizing postural synergies of the hand to support a large variety of grasps with a single actuator. The glove is lightweight, easy to don, and generates sufficient hand closing force to assist with activities of daily living. Device efficiency was examined through a characterization of the power transmission elements, and output force production was observed to be linear in both cylindrical and pinch grasp configurations. We further show that, as a result of the synergy-inspired actuation strategy, the glove only slightly alters the distribution of forces across the fingers, compared to a natural, unassisted grasping pattern. Finally, a preliminary case study was conducted using a participant suffering from an incomplete spinal cord injury (C7). It was found that through the use of the glove, the participant was able to achieve a 50% performance improvement (from four to six blocks) in a standard Box and Block test.

Effects of filament size on critical current density in overpressure processed Bi-2212 round wire.

Bi2Sr2CaCu2Ox (Bi-2212) conductor is the only high temperature superconductor manufactured as a round wire and is a very promising conductor for very high field applications. One of the key design parameters of Bi-2212 wire is its filament size, which has been previously reported to affect the critical current density (Jc ) and ac losses. Work with 1 bar heat treatment showed that the optimal filament diameter was about 15 µm but it was not well understood at that time that gas bubbles were the main current limiting mechanism. Here we investigated a recent Bi-2212 wire with a 121×18 filament architecture with varying wire diameter (1.0 to 1.5 mm) using 50 bar overpressure processing. This wire is part of a 1.2 km piece length of 1.0 mm diameter made by Oxford Superconducting Technology. We found that Jc is independent of the filament size in the range from 9 to 14 µm, although the n value increased with increasing filament size. A new record Jc (4.2 K, 15 T) of 4200 A/mm2 and JE (4.2 K, 15 T) of 830 A/mm2 were achieved.