The modulation and control of gecko＇s foot movements were studied electrophysiologically in order to design the motor control system of a gecko-mimic robot. In this study （1） the anatomy of the peripheral nerves co...The modulation and control of gecko＇s foot movements were studied electrophysiologically in order to design the motor control system of a gecko-mimic robot. In this study （1） the anatomy of the peripheral nerves controlling the gecko＇s foot movements was determined; （2） the relationship between the limb nerves of the gecko and its foot motor patterns was studied; （3） the afferent impulses of the nerves evoked by rubbing the gecko＇s toes and palm were recorded; （4） copying the natural patterns of movement of the gecko＇s foot （abduction, adduction, flexion, and revolution） and its limb nerve modulation and control mechanism, the nerves were stimulated under computer control, and the results recorded by CCD. Results suggest that gecko＇s foot movements can be successfully controlled by artificial electrical signals.展开更多
Geckos can efficiently navigate complex terrains due to their multi-level adhesive system that is present on their toes.The setae are responsible for the gecko’s extraordinary adhesion and have garnered wide attentio...Geckos can efficiently navigate complex terrains due to their multi-level adhesive system that is present on their toes.The setae are responsible for the gecko’s extraordinary adhesion and have garnered wide attention from the scientific community.The majority of the reported works in the literature that have dealt with the peeling models mainly focus on the gecko hierarchical adhesive system,with limited attention given to investigating the influence of gecko toe structure on the detachment.Along these lines,to gain a deeper understanding of the rapid and effortless detachment abilities of gecko toes,the peeling behavior of gecko toes on vertical surfaces was primarily investigated in this work.More specifically,the detachment time of a single toe on a smooth acrylic plate was measured to be 0.41±0.21 s.Moreover,it was observed that the toe assumed a"U"-shaped structure upon complete detachment.Additionally,Finite Element Analysis(FEA)models for three different types of gecko toes were developed to simulate both the displacement-peel and the moment-peel modes.Increasing the segmentation of the adhesive layer led to a gradual decrease in the resultant force,as well as the normal and tangential components.Lastly,a gecko-inspired toe model was constructed and powered by Shape Memory Alloy(SMA).A systematic comparison between the vertical drag separation and the outward flip separation was also conducted.From our analysis,it was clearly demonstrated that outward peel separation significantly necessitated the reduction of the peeling force,thus confirming the advantageous nature of the outward motion in gecko toe detachment.Our data not only contribute to a deeper understanding of the gecko detachment behavior but also offer valuable insights for the advancement of the wall-climbing robot feet.展开更多
The 3-dimensional interactions between toes of a gecko and substrates (ceilings or walls) were measured when it moves on ceilings or walls by using a 3-dimensional force measuring array,and the correspondent morpholog...The 3-dimensional interactions between toes of a gecko and substrates (ceilings or walls) were measured when it moves on ceilings or walls by using a 3-dimensional force measuring array,and the correspondent morphology of the gecko toes was recorded by a high speed camera.The study aims to understand the relationship between adhesive and shear forces generated by the toes of the gecko and the locomotion behavior when it walks on walls and ceilings.Results showed that shear force is along the toe-only 12.6° and 3.1° away from the toe for wall-climbing and ceiling-crawling,respectively while the adhesion is big enough to balance the body weight and moment.The shear forces generated by the first and the fifth toes are in opposite directions;this redundant force increases the reliability of adhesion and stability of locomotion.The support angles of toes are equal approximately for ceiling-crawling and wall-climbing.The study greatly inspires the design of a gecko-like robot.展开更多
<strong>Background:</strong> Diabetes mellitus is a chronic disease where there is an increased blood sugar level in the body which is either caused due to inability of the pancreas to secrete insulin or t...<strong>Background:</strong> Diabetes mellitus is a chronic disease where there is an increased blood sugar level in the body which is either caused due to inability of the pancreas to secrete insulin or the body’s inability to utilize it. The prevalence of diabetes mellitus is growing rapidly worldwide. Statistics show that in the year 2014, there were a total of 422 million cases of DM. Diabetes mellitus is a major cause of heart attacks, kidney failure, blindness and leg amputations. Diabetic foot ulcers are quite common and are estimated to affect nearly 15% of all diabetic patients during their lifetime. In long standing diabetic patients with chronic non-healing ulcers, bony changes or deformities are not uncommon. These bony changes can be identified using CT scans. <strong>Materials and Methods:</strong> An observational study was conducted on a total of 40 patients with chronic non-healing ulcer attending the surgery outpatient department of Saveetha Medical College, Chennai, Tamilnadu. The CT-scans of their foot were observed for deformities or bony changes. <strong>Results:</strong> Out of 40 patients, 67.5% were males and 32.5% were females. A maximum number of subjects fell under the age group of 51 - 60 years. The most common site of the ulcer was found to be in the plantar surface of big toe (53%). Among the 40 patients, 33 of them were found to have bony abnormalities on the CT scan of foot and no apparent changes were seen in the rest. Bone erosions (35%), osteopenic changes (22.5%), Charcot’s joint (2.5%), osteophyte formation (12.5) and reduced joint space (10%) were the predominant changes observed on the CT scans of the study population.展开更多
基金This work was funded by Hi-tech Research and Development Program of China(2002AA 423230)National Natural Science Foundation of China(90205014,30400086).
文摘The modulation and control of gecko＇s foot movements were studied electrophysiologically in order to design the motor control system of a gecko-mimic robot. In this study （1） the anatomy of the peripheral nerves controlling the gecko＇s foot movements was determined; （2） the relationship between the limb nerves of the gecko and its foot motor patterns was studied; （3） the afferent impulses of the nerves evoked by rubbing the gecko＇s toes and palm were recorded; （4） copying the natural patterns of movement of the gecko＇s foot （abduction, adduction, flexion, and revolution） and its limb nerve modulation and control mechanism, the nerves were stimulated under computer control, and the results recorded by CCD. Results suggest that gecko＇s foot movements can be successfully controlled by artificial electrical signals.
基金Research Fund of State Key Laboratory of Mechanics and Control for Aerospace Structures,1005-IZD23002-25Aihong Ji,National Natural Science Foundation of China,51861135306,Aihong Ji,51875281Aihong Ji,Nanjing University of Aeronautics and Astronautics Doctoral Student Short-Term Overseas Visiting Program,230304DF05,Qingfei Han.
文摘Geckos can efficiently navigate complex terrains due to their multi-level adhesive system that is present on their toes.The setae are responsible for the gecko’s extraordinary adhesion and have garnered wide attention from the scientific community.The majority of the reported works in the literature that have dealt with the peeling models mainly focus on the gecko hierarchical adhesive system,with limited attention given to investigating the influence of gecko toe structure on the detachment.Along these lines,to gain a deeper understanding of the rapid and effortless detachment abilities of gecko toes,the peeling behavior of gecko toes on vertical surfaces was primarily investigated in this work.More specifically,the detachment time of a single toe on a smooth acrylic plate was measured to be 0.41±0.21 s.Moreover,it was observed that the toe assumed a"U"-shaped structure upon complete detachment.Additionally,Finite Element Analysis(FEA)models for three different types of gecko toes were developed to simulate both the displacement-peel and the moment-peel modes.Increasing the segmentation of the adhesive layer led to a gradual decrease in the resultant force,as well as the normal and tangential components.Lastly,a gecko-inspired toe model was constructed and powered by Shape Memory Alloy(SMA).A systematic comparison between the vertical drag separation and the outward flip separation was also conducted.From our analysis,it was clearly demonstrated that outward peel separation significantly necessitated the reduction of the peeling force,thus confirming the advantageous nature of the outward motion in gecko toe detachment.Our data not only contribute to a deeper understanding of the gecko detachment behavior but also offer valuable insights for the advancement of the wall-climbing robot feet.
基金supported by the National High Technology Research and Development Program of China ("863" Program)(Grant No. 2007AA04Z201)National Natural Science Foundation of China (Grant Nos. 60535020,60910007,30770285,30700068)
文摘The 3-dimensional interactions between toes of a gecko and substrates (ceilings or walls) were measured when it moves on ceilings or walls by using a 3-dimensional force measuring array,and the correspondent morphology of the gecko toes was recorded by a high speed camera.The study aims to understand the relationship between adhesive and shear forces generated by the toes of the gecko and the locomotion behavior when it walks on walls and ceilings.Results showed that shear force is along the toe-only 12.6° and 3.1° away from the toe for wall-climbing and ceiling-crawling,respectively while the adhesion is big enough to balance the body weight and moment.The shear forces generated by the first and the fifth toes are in opposite directions;this redundant force increases the reliability of adhesion and stability of locomotion.The support angles of toes are equal approximately for ceiling-crawling and wall-climbing.The study greatly inspires the design of a gecko-like robot.
文摘<strong>Background:</strong> Diabetes mellitus is a chronic disease where there is an increased blood sugar level in the body which is either caused due to inability of the pancreas to secrete insulin or the body’s inability to utilize it. The prevalence of diabetes mellitus is growing rapidly worldwide. Statistics show that in the year 2014, there were a total of 422 million cases of DM. Diabetes mellitus is a major cause of heart attacks, kidney failure, blindness and leg amputations. Diabetic foot ulcers are quite common and are estimated to affect nearly 15% of all diabetic patients during their lifetime. In long standing diabetic patients with chronic non-healing ulcers, bony changes or deformities are not uncommon. These bony changes can be identified using CT scans. <strong>Materials and Methods:</strong> An observational study was conducted on a total of 40 patients with chronic non-healing ulcer attending the surgery outpatient department of Saveetha Medical College, Chennai, Tamilnadu. The CT-scans of their foot were observed for deformities or bony changes. <strong>Results:</strong> Out of 40 patients, 67.5% were males and 32.5% were females. A maximum number of subjects fell under the age group of 51 - 60 years. The most common site of the ulcer was found to be in the plantar surface of big toe (53%). Among the 40 patients, 33 of them were found to have bony abnormalities on the CT scan of foot and no apparent changes were seen in the rest. Bone erosions (35%), osteopenic changes (22.5%), Charcot’s joint (2.5%), osteophyte formation (12.5) and reduced joint space (10%) were the predominant changes observed on the CT scans of the study population.
