Rolled Dielectric Elastomer Antagonistic Actuators for Biomimetic Underwater Robots.

In this study, an antagonistic actuator using dielectric elastomer actuators (DEAs) is developed to investigate the use of rolled DEAs in underwater robots. The actuator consists of a backbone, an elastic hinge, and two rolled DEAs placed in an antagonistic fashion, allowing for the generation of bidirectional movements of the actuator tip. To prove this concept, an analytical model of the actuator is built. The experimental samples are fabricated based on the specification determined by the model. In the fabricated actuator, each rolled DEA has a diameter of 6 mm and a length of 21 mm. The whole device weighs 1.7 g. In the tested voltage range of 0-1200 V, the actuator exhibits a voltage-controllable angle and torque of up to 2.2° and 11.3 mN∙mm, respectively. The actuator is then implemented into a swimming robot, which shows forward speed of 0.9 mm/s at the applied voltage of 1000 V and the driving frequency of 10 Hz. The results demonstrate the feasibility of using rolled DEAs in underwater robots.

Monolithic Stacked Dielectric Elastomer Actuators.

Dielectric elastomer actuators (DEAs) are a promising actuator technology for soft robotics. As a configuration of this technology, stacked DEAs afford a muscle-like contraction that is useful to build soft robotic systems. In stacked DEAs, dielectric and electrode layers are alternately stacked. Thus, often a dedicated setup with complicated processes or sometimes laborious manual stacking of the layers is required to fabricate stacked actuators. In this study, we propose a method to monolithically fabricate stacked DEAs without alternately stacking the dielectric and electrode layers. In this method, the actuators are fabricated mainly through two steps: 1) molding of an elastomeric matrix containing free-form microfluidic channels and 2) injection of a liquid conductive material that acts as an electrode. The feasibility of our method is investigated via the fabrication and characterization of simple monolithic DEAs with multiple electrodes (2, 4, and 10). The fabricated actuators are characterized in terms of actuation stroke, output force, and frequency response. In the actuators, polydimethylsiloxane (PDMS) and eutectic gallium-indium (EGaIn) are used for the elastomeric matrix and electrode material, respectively. Microfluidic channels are realized by dissolving a three-dimensional printed part suspended in the elastomeric structure. The experimental results show the successful implementation of the proposed method and the good agreement between the measured data and theoretical predication, validating the feasibility of the proposed method.

Characterization of Sustainable Robotic Materials and Finite Element Analysis of Soft Actuators Under Biodegradation.

Biodegradability is an important property for soft robots that makes them environmentally friendly. Many biodegradable materials have natural origins, and creating robots using these materials ensures sustainability. Hence, researchers have fabricated biodegradable soft actuators of various materials. During microbial degradation, the mechanical properties of biodegradable materials change; these cause changes in the behaviors of the actuators depending on the progression of degradation, where the outputs do not always remain the same against identical inputs. Therefore, to achieve appropriate operation with biodegradable soft actuators and robots, it is necessary to reflect the changes in the material properties in their design and control. However, there is a lack of insight on how biodegradable actuators change their actuation characteristics and how to identify them. In this study, we build and validate a framework that clarifies changes in the mechanical properties of biodegradable materials; further, it allows prediction of the actuation characteristics of degraded soft actuators through simulations incorporating the properties of the materials as functions of the degradation rates. As a biodegradable material, we use a mixture of gelatin and glycerol, which is fabricated in the form of a pneumatic soft actuator. The experimental results show that the actuation performance of the physical actuator reduces with the progression of biodegradation. The experimental data and simulations are in good agreement (R 2 value up to 0.997), thus illustrating the applicability of our framework for designing and controlling biodegradable soft actuators and robots.

Dielectric Elastomer Fiber Actuators with Aqueous Electrode.

Dielectric elastomer actuators (DEAs) are one of the promising actuation technologies for soft robotics. This study proposes a fiber-shaped DEA, namely dielectric elastomer fiber actuators (DEFAs). The actuator consisted of a silicone tube filled with the aqueous electrode (sodium chloride solution). Furthermore, it could generate linear and bending actuation in a water environment, which acts as the ground side electrode. Linear-type DEFA and bending-type DEFA were fabricated and characterized to prove the concept. A mixture of Ecoflex 00-30 (Smooth-On) and Sylgard 184 (Dow Corning) was employed in these actuators for the tube part, which was 75.0-mm long with outer and inner diameters of 6.0 mm and 5.0 mm, respectively. An analytical model was constructed to design and predict the behavior of the devices. In the experiments, the linear-type DEFA exhibited an actuation strain and force of 1.3% and 42.4 mN, respectively, at 10 kV (~20 V/µm) with a response time of 0.2 s. The bending-type DEFA exhibited an actuation angle of 8.1° at 10 kV (~20 V/µm). Subsequently, a jellyfish-type robot was developed and tested, which showed the swimming speed of 3.1 mm/s at 10 kV and the driving frequency of 4 Hz. The results obtained in this study show the successful implementation of the actuator concept and demonstrate its applicability for soft robotics.

Cartilage structure increases swimming efficiency of underwater robots.

Underwater robots are useful for exploring valuable resources and marine life. Traditional underwater robots use screw propellers, which may be harmful to marine life. In contrast, robots that incorporate the swimming principles, morphologies, and softness of aquatic animals are expected to be more adaptable to the surrounding environment. Rajiform is one of the swimming forms observed in nature, which swims by generating the traveling waves on flat large pectoral fins. From an anatomical point of view, Rajiform fins consist of cartilage structures encapsulated in soft tissue, thereby realizing anisotropic stiffness. We hypothesized that such anisotropy is responsible for the generation of traveling waves that enable a highly efficient swimming. We validate our hypothesis through the development of a stingray robot made of silicone-based cartilages and soft tissue. For comparison, we fabricate a robot without cartilages, as well as the one combining soft tissue and cartilage materials. The fabricated robots are tested to clarify their stiffness and swimming performance. The results show that inclusion of cartilage structure in the robot fins increases the swimming efficiency. It is suggested that arrangement and distribution of soft and hard areas inside the body structure is a key factor to realize high-performance soft underwater robots.

Sensitivity Improvement of Highly Stretchable Capacitive Strain Sensors by Hierarchical Auxetic Structures.

Highly stretchable sensors that can detect large strains are useful in deformable systems, such as soft robots and wearable devices. For stretchable strain sensors, two types of sensing methods exist, namely, resistive and capacitive. Capacitive sensing has several advantages over the resistive type, such as high linearity, repeatability, and low hysteresis. However, the sensitivity (gauge factor) of capacitive strain sensors is theoretically limited to 1, which is much lower than that of the resistive-type sensors. The objective of this study is to improve the sensitivity of highly stretchable capacitive strain sensors by integrating hierarchical auxetic structures into them. Auxetic structures have a negative Poisson's ratio that causes increase in change in capacitance with applied strains, and thereby improving sensitivity. In order to prove this concept, we fabricate and characterize two sensor samples with planar dimensions 60 mm × 16 mm. The samples have an acrylic elastomer (3M, VHB 4905) as the dielectric layer and a liquid metal (eutectic gallium-indium) for electrodes. On both sides of the sensor samples, hierarchical auxetic structures made of a silicone elastomer (Dow Corning, Sylgard 184) are attached. The samples are tested under strains up to 50% and the experimental results show that the sensitivity of the sensor with the auxetic structure exceeds the theoretical limit. In addition, it is observed that the sensitivity of this sensor is roughly two times higher than that of a sensor without the auxetic structure, while maintaining high linearity (R 2 = 0.995), repeatability (≥104 cycles), and low hysteresis.

An autopsy case of fatal repellent air freshener poisoning.

We describe a first fatal case of repellent air freshener ingestion. A 79-year-old Japanese man with Alzheimer-type senile dementia orally ingested repellent air freshener containing three surfactants: polyoxyethylene 9-lauryl ether, polyoxyethylene (40) hydrogenated castor oil, and lauric acid amidopropyl amine oxide (weight ratio of 1.3%). About 1h after the collapse, he was in cardiopulmonary arrest and subsequently died 10h after his arrival. The forensic autopsy performed 5.5h after death revealed the 380ml of stomach contents with a strong mint perfume identical to that of the repellent air freshener and the findings of acute death. Toxicologically, 9.1µg/ml and 558.2µg/ml of polyoxyethylene 9-lauryl ether were detected from the serum and stomach contents taken at autopsy. Generally, ingestion of anionic or non-ionic surfactants have been considered as safe. However, because the patient suffered from cardiac insufficiency with a low dose of repellent air freshener ingestion, medical staff members must evaluate the elderly patient for cardiac and circulatory problems regardless of the ingested dose. Not only medical and nursing staff members, but also families who are obliged to care for elderly persons must be vigilant to prevent accidental ingestion of toxic substances generally used in the household.

Simultaneous identification of the enantiomers and diastereomers of N,O-di-trifluoroacetylated ephedrine and norephedrine in blood plasma using chiral capillary gas chromatography-mass spectrometry with selected ion monitoring.

A method for identifying the enantiomers of N,O-di-trifluoroacetylated ephedrine (EP) and norephedrine (NE) and the enantiomers of pseudoephedrine (PEP) and pseudonorephedrine (PNE) in plasma was developed using chiral capillary gas chromatography-mass spectrometry (GC-MS) with selected ion monitoring (SIM). N,O-Di-trifluoroacethyl (TFA) derivatization was accomplished in a dried hydrochloride extract of plasma (minimum quantity of 0.2 mL). An SIM GC-MS method with a ß-cyclodextrin chiral capillary column allowed the successful and simultaneous detection of each TFA-derivatized stereoisomer of EP, NE, PEP, PNE, and an internal standard (IS; S-(+)-ethylamphetamine). Each TFA-drivatized stereoisomer was identified using four mass fragment ions (m/z 140, 154, 168, and 230). The TFA-derivatized stereoisomers of EP, NE, PEP, PNE, and IS were separated completely and were detected with sufficient sensitivity. The assay allowed the stereoisomers to be determined in a linear range of 12.5-1250 ng/mL for the EP stereoisomers and a linear range of 5-1250 ng/mL for the PEP, NE, and PNE stereoisomers. The detection limits were 7.5 ng/mL for the EP stereoisomers and 2.5 ng/mL for the PEP, NE, and PNE stereoisomers. The intra- and interday precisions were less than 5.9% and 8.2%, respectively. This chiral capillary SIM GC-MS method was sufficiently effective in the analysis of plasma from users of over-the-counter cold medicines and was also fully applicable to the plasma analysis of guinea pigs following their treatment with racemic EP.

Differential gene expression of multiple chondroitin sulfate modification enzymes among neural stem cells, neurons and astrocytes.

Chondroitin sulfate/dermatan sulfate (CS/DS) polysaccharides have been reported to play a crucial role in the proliferation and maintenance of neural stem cells (NSCs). However, little is known about the structural changes and functional role of CS/DS chains in the differentiation of NSCs. Western blots of NSCs, neurons and astrocytes in culture, with three CS-polysaccharide antibodies of different specificities, revealed marked differences in CS structure among the three cell types. To confirm this finding, we measured gene expression levels of CS sulfotransferases and C5-epimerase in these cell types, as these are responsible for producing the high structural diversity of CS/DS. Expressions of chondroitin 4-O-sulfotransferase, chondroitin 6-O-sulfotransferase, and N-acetylgalactosamine 4-sulfate 6-O-sulfotransferase mRNAs were low in cultures of differentiated neural cells, such as neurons and astrocytes, in comparison to NSCs. In contrast, expressions of uronyl 2-O-sulfotransferase and C5-epimerase mRNAs were higher in the differentiated neural cells than NSCs. Thus, we first provide evidence to support the hypothesis that CS/DS undergoes structural changes during NSC differentiation. The structural changes in CS/DS may be implicated in the regulation of NSC differentiation through interactions with growth/neurotrophic factors and cytokines.

Analysis of maxillofacial injuries of vehicle passengers involved in frontal collisions.

PURPOSE: To clarify the incidence and mechanisms of maxillofacial injuries sustained by motor vehicle passengers, in-depth data from the Institute for Traffic Accident Research and Data Analysis, Japan, were retrospectively analyzed. MATERIALS AND METHODS: From the Institute for Traffic Accident Research and Data Analysis in-depth data for 1993 through 2005, data were collected for 226 individuals with maxillofacial injuries who were adult passengers involved in frontal motor vehicle collisions. The accident information, a subject's medical data, and anatomic Injury Severity Scores were examined. RESULTS: The median Injury Severity Score was 2, and the mean equivalent barrier speed of the vehicles was 35.2 ± 13.0 km/hour. The most common maxillofacial injuries were lacerations (46.7%), followed by abrasions (41.9%), fractures (14.0%), and dental injuries (5.7%). Maxillofacial fractures occurred more often in unrestrained drivers without airbag deployment (18.4%) and less often in restrained drivers with airbag deployment (4.3%). The incidences of fractures caused by impacts with areas other than the steering wheel were markedly decreased using any safety device (35.5% to 0%). CONCLUSION: Combined use of seat belts and airbags by occupants decreases fractures compared with completely unrestrained occupants. Furthermore, wearing a seat belt prevents the free flight of drivers within a vehicle and contact with the interior of a vehicle (other than the steering wheel). Although the anatomic Injury Severity Score of maxillofacial injuries was relatively low, because these injuries are also associated with socioeconomic costs, the correct use of safety devices and further development of more effective injury prevention systems are needed.

Experimental analysis of the relationship between simulated low-velocity rear-end collisions and fetal outcomes of pregnant rats.

Our study aimed to define the risk for a human fetus of rear-end vehicle collisions. We therefore performed drop tests using pregnant SLC Wistar rats. Pressure applied to the rat uterus and rectum at various stages of acceleration was measured. After being dropped, rats were observed throughout pregnancy. At birth, the numbers, weight and the occurrence of physical anomalies among pups were followed-up for 28 days. Uterine pressure increased exponentially from 2.1 +/- 0.3 kPa at 19-fold gravity (G) to 13.9 +/- 0.8 kPa at 92-fold G. These values are much lower than the mechanical failure level of human fetal membrane tissue or of those at risk of adverse fetal outcomes. Neither the average number of offspring per pregnant rat nor the average body weight of newborn pups differed significantly between control pregnant rats and those which had been exposed to acceleration of 46-fold or 92-fold G. Other variables such as maternal mental distress, motion effects of amniotic fluid or seatbelt-induced uterine injuries might contribute to fetal loss.

Comparison of the antioxidant activity of albumin from various animal species.

We measured the antioxidant activity of human, rat, bovine, rabbit, and guinea pig albumins against the superoxide, hydroxyl, and 1,1-diphenyl-2-picryl-hydrazyl (DPPH) radicals. The albumins of different animal species did not differ in antioxidant activity against superoxide. Human and rat albumins exhibited antioxidant activity against hydroxyl radicals, but bovine, rabbit, and guinea pig albumins showed weaker antioxidant activity than human and rat albumins. Human, rat, rabbit, and guinea pig albumins, but not bovine albumin, exhibited strong antioxidant activity against DPPH radicals. Human and rat albumins with strong antioxidant activity against hydroxyl radicals contained methionine-123 in domain 1, but bovine, rabbit, and guinea pig albumins did not. Rat, rabbit, and guinea pig albumins with strong antioxidant activity against DPPH radicals had methionine-264 in domain 2. Human albumin did not have methionine-264, but methionine-298 and methionine-329 in domain 2. Bovine albumin, with the weakest antioxidant activity against DPPH radicals, contained no methionine residues in domain 2. These results suggest that methionine residues in domain 1 or 2 influence the antioxidant activity of albumin.

Sudden death while driving a four-wheeled vehicle: an autopsy analysis.

We retrospectively analysed forensic autopsies to resolve various issues associated with sudden natural death while driving. We collected information about the medical history, drug treatment, anthropometry and body mass index (BMI) of 34 individuals who suddenly died of natural causes while driving four-wheeled vehicles. The reasons for driving, details of the vehicle, type of collision, perspective of vehicle behaviour and types of avoidance manoeuvres were also examined. The injury severity score (ISS), the Abbreviated Injury Scale (AIS) and the degree of cardiomegaly of the driver were determined from autopsy findings. The dominant cause of death was ischemic heart disease, which closely agreed with previous findings. However, forensic signs indicated that only 20.6% of deceased drivers had attempted avoidance manoeuvres such as braking or steering before the fatal accident, which contradicts previous findings.

Facilitatory effects of subanesthetic sevoflurane on excitatory synaptic transmission and synaptic plasticity in the mouse hippocampal CA1 area.

Behavioral investigations have shown that general anesthetics at low concentration have enhancing effects on learning and memory in some animal models. In the present experiments, in order to elucidate the cellular mechanisms underlying such memory enhancement, the effects of anesthetics at low doses on synaptic plasticity in the hippocampus were investigated. Tight-seal whole-cell recordings were made from CA1 pyramidal cells in hippocampal slices prepared from adult male mice, and the effects of subanesthetic concentrations of the volatile anesthetic sevoflurane on the glutamatergic excitatory postsynaptic currents (EPSCs) were investigated. In addition, extracellular recordings of field excitatory postsynaptic potential (fEPSP) and population spike (PS) were made, and the effects of subanesthetic sevoflurane on long-term potentiation (LTP) of the fEPSP slope and on LTP of PS amplitude were analyzed. Sevoflurane at anesthetic concentration inhibited the amplitude of EPSCs with an increase in the paired-pulse facilitation (PPF) ratio. In contrast, subanesthetic sevoflurane increased the amplitude of EPSCs without any appreciable changes in the PPF ratio. Subanesthetic sevoflurane also showed facilitatory influences on LTP of PS amplitude but not on LTP of the fEPSP slope. These observations suggest that sevoflurane at anesthetic concentration presynaptically inhibits excitatory synaptic transmission and at subanesthetic concentration postsynaptically enhances excitatory synaptic transmission in the hippocampal CA1 region. Further, subanesthetic sevoflurane seems to exert facilitatory effects on the EPSP-to-spike coupling process in the postsynaptic neurons. These results might provide clues as to the cellular mechanism of light level of sevoflurane anesthesia.

Analysis of cervical injuries in persons with head injuries.

To determine which clinical factors are useful for predicting concomitant injuries of the cervical spine and cervical spinal cord in persons with head injuries, we examined the nature and mechanisms of cervical injuries. For 109 forensic autopsies of persons with head injuries, the cause of injury, mechanism of cervical injury, survival time, and anatomic injury severity (1990 revision of the abbreviated injury scale [AIS] and injury severity score) were determined. Traffic accidents were the most common cause of injuries (41.3%), followed by slips and falls (24.8%), assaults (17.4%), and falls from height (9.2%). The mean maximum AIS scores and the AIS scores of the head or neck were similar in the 4 groups. Cervical spine injuries and epidural or subdural hemorrhages of the cervical spinal cord were more common in persons dying in traffic accidents and falls from height than in persons dying in slips and falls or assaults. Cervical injuries were significantly more common in persons sustaining frontal impacts than lateral or rear impacts. The most common cervical hyperextension injuries were atlanto-occipital and atlantoaxial dislocation and injuries of the 5th intervertebral disc. Our results suggest that persons with injuries of the head due to high-energy frontal impacts should be carefully examined for concomitant cervical injuries. These findings should be helpful for decreasing preventable deaths from undiagnosed cervical injuries in head-injured persons.

Stereoisomeric identification of norephedrine derived from methamphetamine or amphetamine: urinalysis results of 33 methamphetamine abusers and 1 amphetamine abuser in Japan.

Stereoisomeric identification of norephedrine (NE) derived from methamphetamine (MA) or amphetamine (AM) was investigated by SIM-GC/MS assay using the urine of 33 MA abusers and 1 AM abuser. The assay simultaneously identified TFA-derivatized MA and AM metabolites, including AM, p-hydroxyl-MA (p-HMA), and p-hydroxyl-AM (p-HAM). The analysis lasted approximately 43 min, with a signal-to-noise ratio of >or=3 and a detection limit of 50 ng/mL. Among 12 urine samples from different subjects, only the S (+) form of MA and its metabolites (AM, p-HMA, p-HAM) was detected, however, a (1R,2S)-(-)-NE stereoisomer was also identified. Among the urine samples of two subjects, only the R (-) form of MA and its metabolites (AM, p-HMA, p-HAM) was detected, while NE was not detected. Following urinalysis of urine obtained from 19 MA abusers and 1 AM abuser, only the (1R,2S)-(-)-NE stereoisomer was identified, while unmetabolized MA, AM, and their metabolites (p-HMA, p-HAM), showed stereoselective metabolism. Although (1R,2S)-(-)-ephedrine (EP) alone was found in the urine of 1 (S)-(+)-MA user and 1 (S)-(+)- and (R)-(-)-MA user among 33 MA users, it was not present in the urine of the remaining 31 subjects. Therefore, (1R,2S)-(-)-NE was likely not of (1R,2S)-(-)-EP origin and was most likely from (S)-(+)-AM of the MA metabolite. The production ratio of (1R,2S)-(-)-NE to (S)-(+)-AM ranged from 0.01 to 0.25 in MA abusers and was 0.12 in AM abusers.