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Unveiling the Future of Gait Rehabilitation: Implantable Artificial Muscles Take Flight at IROS 2023

I am thrilled to share a groundbreaking milestone in the field of robotics and bioengineering! It is with great excitement that I announce the publication of my paper on implantable artificial muscles at the prestigious IROS 2023 conference.

The paper delves into the fascinating realm of merging robotics with biology, specifically focusing on the design and surgical implantation of an artificial muscle into none other than a guinea fowl. This endeavor is a significant leap forward in the pursuit of seamlessly integrating technology with living organisms, promising revolutionary implications for both the field of robotics and the broader landscape of bioengineering.

Key Highlights:

  1. Innovative Design: The paper explores a compact and miniature robotic muscle that employs a cheap and off-the-shelf DC motor. Using an innovative control scheme and a clutch mechanism using a lead screw design, the system has been miniaturized to fit within the volume of the resected Lateral Gastrocnemius muscle of the Guinea Fowl.
  2. Surgical Precision: Detailed insights into the surgical procedure show the strategy to create the synthetic muscle-tendon unit. The length-changing actuator is implanted in series with the Tibia and the Achilles tendon using bone anchors and specialty surgical knots.
  3. Biohybrid Systems: By creating a symbiotic relationship between man-made technology and the natural world, the study takes a step toward the development of biohybrid systems that can enhance the capabilities of both artificial and biological entities. The future work delves into the integration of bio-signals and implantable sensors to control the actuator.
  4. Implications for the Future: The findings presented in this paper pave the way for a future where implantable artificial muscles could be utilized not only in the realm of robotics but also in medical applications, offering solutions for the non-adherence problem of exoskeletons and other gait rehabilitation systems.

I invite you to delve into the full paper, which will soon be available. Your support and engagement in this journey towards scientific exploration are invaluable, and I am excited to embark on the next chapter of innovation together.

Thank you for being part of this incredible venture into the future!

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Mechanically-Intelligent Insect Robot published in Sensors and Actuators

I am happy to announce that my paper showcasing a mechanically controlled SMA inchworm robot, has been in published in Elsevier Sensors and Actuators A: Physical.

https://doi.org/10.1016/j.sna.2021.113115

Abstract:

Shape Memory Alloy (SMA) based actuators have become ideal candidates for use in compact and lightweight applications. These smart materials have often been referred to as artificial muscles due to their high work volume density. In this paper, a flexure-based SMA powered mechanical oscillator is developed to create an inchworm robot. Here, a novel magnetic latch system is used to create a mechanically-intelligent system that allows the abstraction of any sensors such as temperature probes. This insect robot, weighing only 9.7 g, operates without any control logic or micro-controller and is able to perform a crawling gait untethered. An analytical model of the thermal properties of the SMA coil, for the sizing of the robot speed, and an analytical model of the step length of the insect robot is presented and validated. A working prototype, with a speed of 1.55 mm/s, is showcased in this work.

Graphical Abstract

Publication in Smart Materials and Structures

I am pleased to announce that my paper titled “Designing compliant mechanisms composed of shape memory alloy and actuated by induction heating” has been published in IOPScience Smart Materials and Structures (DOI: https://doi.org/10.1088/1361-665X/ac1b15)

Abstract :

Shape memory alloys (SMAs) are a type of smart materials that reacts mechanically to heat. Due to their complex behavior, they are often used in a simple geometry such as wires. This constrains the output displacement of the alloy to a simple linear contraction of the wire. When a different output displacement is desired, the SMA is coupled to a mechanism that transforms the motion, degrading the compactness of the whole system. To alleviate such issues, we propose fabricating, directly in SMA, a compliant mechanism that performs complex output motions and thus improves integration. The first part of this paper presents a method to design such systems. When coupled with a bias-spring and a heating system, these mechanisms form a full actuator. The conventional heating system relies on Joules losses coming from direct electric conduction through the alloy. However, now that the SMA has a complex shape, passing a current through it becomes an arduous task requiring multiple electrodes making the system cumbersome and deteriorating its integrability. Magnetic induction heating is proposed to tackle this limitation, heating the mechanism without contact and conserving a compact actuator.

I would particularly like to thank my co-author Adrien Thabuis for this excellent work.

Accepted Journal in IEEE IAS

The work titled ‘Characterization and Verification of Eddy-Current Position Sensing for Magnetic Levitation‘ has been accepted to be published on IEEE Transactions on Industry Applications

Abstract :

Magnetically-levitated drives are compelling in applications where the long-lifetime operation or process chamber encapsulation is a requirement. To exploit these advantages, contactless position sensors are needed to estimate the position of the rotor. Off-the-market sensor technologies render high-performance magnetic levitation possible, yet their system integration may be challenging if a drive must be designed to fit existing sensor technology or bulky probes.

In this work, a position-estimation system based on Eddy-current generation is proposed. Two integrated circuits (or only one for less time-critical applications) excite a two-axis differential array of four miniature coils that can resolve positions in the 1 μm range.

Coupled to a microcontroller, this system can sample the position of an electrically conductive target —in this study, the permanent magnet rotor of a magnetically-levitated drive— with frequencies of over 3.5 kHz. This position estimation setup enables the successful levitation of two miniature bearingless disc drives and offers potential towards rotatory speeds in the 20 krpm range.