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Continuum Robots For Space Applications Based On Layer-Jamming Scales With Stiffness Capability, Jessie Lee C. Santiago
Continuum Robots For Space Applications Based On Layer-Jamming Scales With Stiffness Capability, Jessie Lee C. Santiago
All Theses
Continuum robots, which have continuous mechanical structures comparable to the flexibility in elephant trunks and octopus arms, have been primarily geared toward the medical and defense communities. In space, however, NASA projects these robots to have a place in irregular inspection routines. The inherent compliance and bending of these continuum arms are especially suitable for inspection in obstructed spaces to ensure proper equipment functionality. In this paper, we propose a new solution that improves on the functionality of previous continuum robots, via a novel mechanical scaly layer-jamming design. Layer-jamming assisted continuum arms have previously required pneumatic sources for actuation, which …
Scratch Damage Evolution On Metals In Total Joint Replacements, Caleb Eljach
Scratch Damage Evolution On Metals In Total Joint Replacements, Caleb Eljach
All Theses
The goal of total joint replacement (TJR) is to replace nonfunctioning joint components and relieve pain, improve quality of life, and to improve joint function. Although TJR is a successful procedure, more than 54,000 knee revisions occur each year due to factors, such as wear, loosening, infection, fracture, instability, and patient related factors (Ranawat, 2010). TJRs consist of components typically composed of polyethylene and a metallic counterface (Navarro, 2008). The sliding contact that occurs between the metal and polyethylene components has been well studied and is shown to produce both surface damage and wear of the implant components (Barbour, 1997; …