Upload
tu-delft-opencourseware
View
418
Download
0
Tags:
Embed Size (px)
Citation preview
Bio-Inspired DesignWb2436-05
Paul Breedveld
Lecture 3 – Part 2
Hydrostatic Stiffness & Motion
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
“Moving without Bones”
ResultingTechnology
Cable-RingMechanism
Rolling DonutMechanism
BiologicalMechanism
HydrostaticMuscular System
HydrostaticSkeleton System
TendonSheath
Overview
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro SkeletonTendon Sheath
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath =Low friction bearing
between tendon & tissue
Human Hand
Tendon Sheath Hydro MuscularHydro Skeleton
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath =“Bag” filled with fluid
Human Finger
Tendon Sheath Hydro MuscularHydro Skeleton
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
F
V=constant
Tendon Sheath Hydro MuscularHydro Skeleton
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Stick
Push
Rolling Donut
Pushing from behindcauses buckling
& pain
Colonoscopy
Pain!
Pain!
Pain! Pain!
Tendon Sheath Hydro MuscularHydro Skeleton
Push
Pull Pulling from the fronteliminates buckling
Solution
Rolling Donut
Tendon Sheath Hydro MuscularHydro Skeleton
V=constant
Rolling Donut
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Rolling Donut
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Mesh giveshigh Friction
Rolling Donut
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Ø3cm
Rolling Donut
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Rolling Donut
Crank
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Rolling Donut
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
“How to Push when you can only Pull?”
Hydrostatic Skeleton System =Skeleton consisting of
segments filled with fluid & surrounded by muscles
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Longitudinal Muscles(shorter & thicker)
Circular Muscles(longer & thinner)
Helical Muscles(axial rotation)
Fluid(V=constant)
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Antagonists:Control of torsion stifness
Antagonists:Control of
bending stiffness & longitudinal stiffness
Increasing stiffnessleads to higher
hydrostatic pressure
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Leech
Tendon Sheath Hydro MuscularHydro Skeleton
Asymmetric contractionBending motion
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Asymmetric contractionPeristaltic motion
Earthworm
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Anemone:Lot of connective tissue
Not stretchable
Tendon Sheath Hydro MuscularHydro Skeleton
Earthworm:No helical muscles
Leech
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Hydrostatic Muscular System =Skeleton consisting of
interacting muscles
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Transverse Muscles(longer & thinner)
LongitudinalMuscle Bundles
(shorter & thicker)
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Squid Tentacle Sea SlugWb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Complex StructureComplex Motion
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
“How doelephantskeep their
nose open?”
Increasing stiffnessleads to higher
hydrostatic pressure
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Muscular spine:Flexible link
around whichtrunc can bend
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Cable Ring
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Rigid Endoscope
Tendon Sheath Hydro MuscularHydro Skeleton
Cable Ring
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Improved depth perception!
Tendon Sheath Hydro MuscularHydro Skeleton
Cable Ring
Steerable Endoscope
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Gastroscopes & Colonoscopes
Tendon Sheath Hydro MuscularHydro Skeleton
Cable Ring
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Steerable Laparoscopic Instruments
Tendon Sheath Hydro MuscularHydro Skeleton
Cable Ring
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
CoilSpring
Tendon Sheath Hydro MuscularHydro Skeleton
Cable Ring
RingSpring
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Cable Ring
CoilSpring
RingSpring
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Cable RingMechanism
Tendon Sheath Hydro MuscularHydro Skeleton
Cable Ring
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Cable Ring
Cable RingMechanism
Ø 5 mm
2004: Endo-Periscope III
Tendon Sheath Hydro MuscularHydro Skeleton
Cable Ring
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Cable Ring
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
• New steerable mechanism• with great possibilities
• Very simple, very cheap
• Extreme miniaturisation possible
• World-wide patent application
Tendon Sheath Hydro MuscularHydro Skeleton
Cable Ring
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Tendon Sheath Hydro MuscularHydro Skeleton
Cable Ring
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion
Biology gives creativity!
No imitation but inspiration!
Still a wealth ofunused ideas..
Tendon Sheath Hydro MuscularHydro Skeleton
Cable Ring
Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion