Academic literature on the topic 'Spider exoskeleton'
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Journal articles on the topic "Spider exoskeleton"
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Foll, Didier Le, Evelyne Brichet, Jean Louis Reyss, Claude Lalou, and Daniel Latrouite. "Age Determination of the Spider Crab Maja squinado and the European Lobster Homarus gammarus by 228Th/228Ra Chronology: Possible Extension to Other Crustaceans." Canadian Journal of Fisheries and Aquatic Sciences 46, no. 4 (April 1, 1989): 720–24. http://dx.doi.org/10.1139/f89-091.
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A method of age determination was developed on carapaces of the spider crab, Maja squinado Herbst and European lobster Homarus gammarus L., by measuring the natural radionuclides activity ratio, 228Th/228Ra in the exoskeleton. This method allows the determination of the time elapsed since the preceding molt of the animal. It was successfully tested on five spider crabs and four lobsters which had molted in captivity and therefore had a carapace of known age. It is probable that the method could, with some reservations, be extended to all marine Decapod Crustacea bearing a well calcified exoskeleton.
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Kariko, Sarah, Jaakko V. I. Timonen, James C. Weaver, Dvir Gur, Carolyn Marks, Leslie Leiserowitz, Mathias Kolle, and Ling Li. "Structural origins of coloration in the spider Phoroncidia rubroargentea Berland, 1913 (Araneae: Theridiidae) from Madagascar." Journal of The Royal Society Interface 15, no. 139 (February 2018): 20170930. http://dx.doi.org/10.1098/rsif.2017.0930.
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This study investigates the structural basis for the red, silver and black coloration of the theridiid spider, Phoroncidia rubroargentea (Berland, 1913) from Madagascar. Specimens of this species can retain their colour after storage in ethanol for decades, whereas most other brightly pigmented spider specimens fade under identical preservation conditions. Using correlative optical, structural and chemical analysis, we identify the colour-generating structural elements and characterize their optical properties. The prominent silvery appearance of the spider's abdomen results from regularly arranged guanine microplatelets, similar to those found in other spiders and fish. The microplatelets are composed of a doublet structure twinned about the [ ] axis, as suggested by electron diffraction. The red coloration originates from chambered microspheres (approx. 1 µm in diameter), which contain structured fluorescent material. Co-localization of the red microparticles on top of the reflective guanine microplatelets appears to enhance the red coloration. The spider's thick cuticular layer, which encases its abdomen, varies in its optical properties, being transparent in regions where only guanine reflectors are present, and tanned, exhibiting light absorption where the red microspheres are found. Moreover, colour degradation in some preserved spider specimens that had suffered damage to the cuticular layer suggests that this region of the exoskeleton may play an important role in the stabilization of the red coloration.
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Schaber, Clemens F., Stanislav N. Gorb, and Friedrich G. Barth. "Force transformation in spider strain sensors: white light interferometry." Journal of The Royal Society Interface 9, no. 71 (October 26, 2011): 1254–64. http://dx.doi.org/10.1098/rsif.2011.0565.
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Scanning white light interferometry and micro-force measurements were applied to analyse stimulus transformation in strain sensors in the spider exoskeleton. Two compound or ‘lyriform’ organs consisting of arrays of closely neighbouring, roughly parallel sensory slits of different lengths were examined. Forces applied to the exoskeleton entail strains in the cuticle, which compress and thereby stimulate the individual slits of the lyriform organs. (i) For the proprioreceptive lyriform organ HS-8 close to the distal joint of the tibia, the compression of the slits at the sensory threshold was as small as 1.4 nm and hardly more than 30 nm, depending on the slit in the array. The corresponding stimulus forces were as small as 0.01 mN. The linearity of the loading curve seems reasonable considering the sensor's relatively narrow biological intensity range of operation. The slits' mechanical sensitivity (slit compression/force) ranged from 106 down to 13 nm mN −1 , and gradually decreased with decreasing slit length. (ii) Remarkably, in the vibration-sensitive lyriform organ HS-10 on the metatarsus, the loading curve was exponential. The organ is thus adapted to the detection of a wide range of vibration amplitudes, as they are found under natural conditions. The mechanical sensitivities of the two slits examined in this organ in detail differed roughly threefold (522 and 195 nm mN −1 ) in the biologically most relevant range, again reflecting stimulus range fractionation among the slits composing the array.
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Gibbons, Alastair T., Alexander Idnurm, Michael Seiter, Paul S. Dyer, Matthew Kokolski, Sara L. Goodacre, Stanislav N. Gorb, and Jonas O. Wolff. "Amblypygid-fungal interactions: The whip spider exoskeleton as a substrate for fungal growth." Fungal Biology 123, no. 7 (July 2019): 497–506. http://dx.doi.org/10.1016/j.funbio.2019.05.003.
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Panek, Izabela, Shannon Meisner, and Päivi H. Torkkeli. "Distribution and Function of GABAB Receptors in Spider Peripheral Mechanosensilla." Journal of Neurophysiology 90, no. 4 (October 2003): 2571–80. http://dx.doi.org/10.1152/jn.00321.2003.
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The mechanosensilla in spider exoskeleton are innervated by bipolar neurons with their cell bodies close to the cuticle and dendrites attached to it. Numerous efferent fibers synapse with peripheral parts of the mechanosensory neurons, with glial cells surrounding the neurons, and with each other. Most of these efferent fibers are immunoreactive to γ-aminobutyric acid (GABA), and the sensory neurons respond to agonists of ionotropic GABA receptors with a rapid and complete inhibition. In contrast, little is known about metabotropic GABAB receptors that may mediate long-term effects. We investigated the distribution of GABAB receptors on spider leg mechanosensilla using specific antibodies against 2 proteins needed to form functional receptors and an antibody that labels the synaptic vesicles on presynaptic sites. Both anti-GABAB receptor antibodies labeled the distal parts of the sensory cell bodies and dendrites but anti-GABABR1 immunoreactivity was also found in the axons and proximal parts of the cell bodies and some glial cells. The fine efferent fibers that branch on top of the sensory neurons did not show GABAB receptor immunoreactivity but were densely labeled with anti-synapsin and indicated synaptic vesicles on presynaptic locations to the GABAB receptors. Intracellular recordings from sensory neurons innervating the slit sensilla of the spider legs revealed that application of GABAB receptor agonists attenuated voltage-activated Ca2+ current and enhanced voltage-activated outward K+ current, providing 2 possible mechanisms for controlling the neurons' excitability. These findings support the hypothesis that GABAB receptors are present in the spider mechanosensilla where their activation may modulate information transmission.
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Woods, Chris M. C., and Mike J. Page. "Sponge masking and related preferences in the spider crab Thacanophrys filholi (Brachyura : Majidae)." Marine and Freshwater Research 50, no. 2 (1999): 135. http://dx.doi.org/10.1071/mf98111.
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Spider crabs, Thacanophrys filholi, collected from Kaikoura, New Zealand, were predominantly masked with four species of sponge: Lissodendoryx sp., Iophon laevistylis, Paresperella sp. and Dysidea sp. Other species of sponge, as well as ascidians, brachiopods, anomiid bivalves and tube-dwelling polychaetes, were also part of the extensive epifauna covering the crabs. The act of masking is described, and the location of the hooked setae that allow attachment of material to the crabs exoskeleton is mapped. When crabs in the laboratory were simultaneously offered equal volumes of the four main sponge species with which they masked in the field, they masked equally with Lissodendoryx sp. and Dysidea sp. in preference to I. laevistylis and Paresperella sp. These masking preferences were influenced by the relative volumes in which each species of sponge was presented to the crabs.
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Templin, Julita, and Teresa Napiórkowska. "BIOMETRIC STUDIES ON OLIGOMELIC INDIVIDUALS OF THE SPIDER TEGENARIA ATRICA (ARTHROPODA, ARACHNIDA) / BADANIA BIOMETRYCZNE OSOBNIKÓW OLIGOMELICZNYCH PAJĄKA TEGENARIA ATRICA (ARTHROPODA, ARACHNIDA)." Zoologica Poloniae 58, no. 1-2 (December 1, 2013): 19–28. http://dx.doi.org/10.2478/zoop-2013-0002.
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Abstract Oligomely is a type of developmental anomaly occurring in embryos of the spider Tegenaria atrica C.L. Koch under the teratogenic influence of temperature. This anomaly is of metameric origin, as it results from a disorder of metamere formation on the germ band during embryogenesis, resulting in the absence of one half or the whole metamere. In such a case, one or more appendages are missing on one or both sides of the body in a spider leaving a chorion. This anomaly induces changes both in the anatomical structure and exoskeleton of a spider (deformation of carapace and sternum). Carapace length and sternum area were measured, as well as the duration of the subsequent nymph stages of oligomelic individuals with one of the walking appendages missing (always on the right side of the body) was recorded. The consecutive nymph stages of oligomelic individuals lasted for a much shorter time compared with control specimens. This acceleration of development is probably to offset losses incurred during embryogenesis. In the early postembryogenesis, oligomelic specimens exhibited shorter carapace length and smaller surface area of the sternum compared to control individuals, which resulted from the lack of half of the metamere corresponding to the missing leg. However, in older nymph stages, a strong tendency for the faster growth of both carapace and sternum was observed, which can be defined as a compensatory growth increase making up for the losses caused by the anomaly.
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HOMOLA, ELLEN, AMIR SAGI, and HANS LAUFER. "Relationship of claw form and exoskeleton condition to reproductive system size and methyl farnesoate in the male spider crab,Libinia emarginata." Invertebrate Reproduction & Development 20, no. 3 (December 1991): 219–25. http://dx.doi.org/10.1080/07924259.1991.9672202.
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Blickhan, Reinhard, and Friedrich G. Barth. "Strains in the exoskeleton of spiders." Journal of Comparative Physiology A 157, no. 1 (1985): 115–47. http://dx.doi.org/10.1007/bf00611101.
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Blickhan, Reinhard, Tom Weihmann, and Friedrich G. Barth. "Measuring strain in the exoskeleton of spiders—virtues and caveats." Journal of Comparative Physiology A 207, no. 2 (January 18, 2021): 191–204. http://dx.doi.org/10.1007/s00359-020-01458-y.
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AbstractThe measurement of cuticular strain during locomotion using foil strain gauges provides information both on the loads of the exoskeleton bears and the adaptive value of the specific location of natural strain detectors (slit sense organs). Here, we critically review available literature. In tethered animals, by applying loads to the metatarsus tip, strain and mechanical sensitivity (S = strain/load) induced at various sites in the tibia were determined. The loci of the lyriform organs close to the tibia–metatarsus joint did not stand out by high strain. The strains induced at various sites during free locomotion can be interpreted based on S and, beyond the joint region, on beam theory. Spiders avoided laterad loading of the tibia–metatarsus joint during slow locomotion. Balancing body weight, joint flexors caused compressive strain at the posterior and dorsal tibia. While climbing upside down strain measurements indicate strong flexor activity. In future studies, a precise calculation and quantitative determination of strain at the sites of the lyriform organs will profit from more detailed data on the overall strain distribution, morphology, and material properties. The values and caveats of the strain gauge technology, the only one applicable to freely moving spiders, are discussed.
Dissertations / Theses on the topic "Spider exoskeleton"
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Residori, Sara. "FABRICATION AND CHARACTERIZATION OF 3D PRINTED METALLIC OR NON-METALLIC GRAPHENE COMPOSITES." Doctoral thesis, Università degli studi di Trento, 2022. https://hdl.handle.net/11572/355324.
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Nature develops several materials with remarkable functional properties composed of comparatively simple base substances. Biological materials are often composites, which optime the conformation to their function. On the other hand, synthetic materials are designed a priori, structuring them according to the performance to
be achieved. 3D printing manufacturing is the most direct method for specific component production and earmarks the sample with material and geometry designed ad-hoc for a defined purpose, starting from a biomimetic approach to functional structures. The technique has the advantage of being quick, accurate, and with a limited waste of materials. The sample printing occurs through the deposition of material layer by layer. Furthermore, the material is often a composite, which matches the characteristics of components with different geometry and properties, achieving better mechanical and physical performances. This thesis analyses the mechanics of natural and
custom-made composites: the spider body and the manufacturing of metallic and non-metallic graphene composites. The spider body is investigated in different sections of the exoskeleton and specifically the fangs. The study involves the mechanical characterization of the single components by the nanoindentation technique, with a special focus on the hardness and Young's modulus. The experimental results were mapped, purposing to present an accurate comparison of the mechanical properties of the spider body. The different stiffness of components is due to the tuning of the same basic material (the cuticle, i.e. mainly composed of chitin) for achieving different mechanical functions, which have improved the animal adaptation to specific evolutive requirements. The synthetic composites, suitable for 3D printing fabrication, are metallic and non-metallic matrices combined with carbon-based fillers. Non-metallic graphene composites are multiscale compounds. Specifically, the material is a blend of acrylonitrile-butadiene-styrene (ABS) matrix and different percentages of micro-carbon fibers (MCF). In the second step, nanoscale filler of carbon nanotubes (CNT) or graphene nanoplatelets (GNP) are added to the base mixture. The production process of composite materials followed a specific protocol for the optimal procedure and the machine parameters, as also foreseen in the literature. This method allowed the control over the percentages of the different materials to be adopted and ensured a homogeneous distribution of fillers in the plastic matrix. Multiscale compounds provide the basic materials for the extrusion of fused filaments, suitable for 3D printing of the samples. The composites were tested in the
configuration of compression moulded sheets, as reference tests, and also in the corresponding 3D printed specimens. The addition of the micro-filler inside the ABS matrix caused a notable increment in stiffness and a slight increase in strength, with a significant reduction in deformation at the break. Concurrently, the addition of nanofillers
was very effective in improving electrical conductivity compared to pure ABS and micro-composites, even at the lowest filler content. Composites with GNP as a nano-filler had a good impact on the stiffness of the materials, while the electrical conductivity of the
composites is favoured by the presence of CNTs. Moreover, the extrusion of the filament and the print of fused filament fabrication led to the creation of voids within the structure, causing a significant loss of mechanical properties and a slight improvement in the electrical conductivity of the multiscale moulded composites. The final aim of this work is the identification of 3D-printed multiscale composites capable of the best matching of mechanical and electrical properties among the different compounds proposed. Since structures with metallic matrix and high mechanical performances are suitable for aerospace and automotive industry applications, metallic graphene composites are studied in the additive manufacturing sector. A comprehensive study of the mechanical and electrical properties of an innovative copper-graphene oxide composite (Cu-GO) was developed in collaboration with Fondazione E. Amaldi, in Rome. An extensive survey campaign on the working conditions was developed, leading to the definition of an optimal protocol of printing parameters for obtaining the samples with the highest density. The composite powders were prepared following two different routes to disperse the nanofiller into Cu matrix and, afterward, were processed by selective laser melting (SLM) technique. Analyses of the morphology, macroscopic and microscopic structure, and degree of oxidation of the printed samples were performed. Samples prepared followed the mechanical mixing procedure showed a better response to the 3D printing process in all tests. The mechanical characterization has instead provided a clear increase in the resistance of the material prepared with the ultrasonicated bath method, despite the greater porosity of specimens. The interesting comparison obtained between samples from different routes highlights the influence of powder preparation and working conditions on the printing results. We hope that the research could be useful to investigate in detail the potential applications suitable for composites in different technological fields and stimulate further comparative analysis.
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Park, Joon-Hyuk. "Wearable Torso Exoskeletons for Human Load Carriage and Correction of Spinal Deformities." Thesis, 2016. https://doi.org/10.7916/D81V5F5G.
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The human spine is an integral part of the human body. Its functions include mobilizing the torso, controlling postural stability, and transferring loads from upper body to lower body, all of which are essential for the activities of daily living. However, the many complex tasks of the spine leave it vulnerable to damage from a variety of sources. Prolonged walking with a heavy backpack can cause spinal injuries. Spinal diseases, such as scoliosis, can make the spine abnormally deform. Neurological disorders, such as cerebral palsy, can lead to a loss of torso control. External torso support has been used in these cases to mitigate the risk of spinal injuries, to halt the progression of spinal deformities, and to support the torso. However, current torso support designs are limited by rigid, passive, and non-sensorized structures. These limitations were the motivations for this work in developing the science for design of torso exoskeletons that can improve the effectiveness of current external torso support solutions. Central features to the design of these exoskeletons were the abilities to sense and actively control the motion of or the forces applied to the torso. Two applications of external torso support are the main focus in this study, backpack load carriage and correction of spine deformities. The goal was to develop torso exoskeletons for these two applications, evaluate their effectiveness, and exploit novel assistive and/or treatment paradigms.
With regard to backpack load carriage, current torso support solutions are limited and do not provide any means to measure and/or adjust the load distribution between the shoulders and the pelvis, or to reduce dynamic loads induced by walking. Because of these limitations, determining the effects of modulating these loads between the shoulders and the pelvis has not been possible. Hence, the first scientific question that this work aims to address is What are the biomechanical and physiological effects of distributing the load and reducing the dynamic load of a backpack on human body during backpack load carriage?
Concerning the correction of spinal deformities, the most common treatment is the use of a spine brace. This method has been shown to effectively slow down the progression of spinal deformity. However , a limitation in the effectiveness of this treatment is the lack of knowledge of the stiffness characteristics of the human torso. Previously, there has been no means to measure the stiffness of human torso. An improved understanding of this subject would directly affect treatment outcomes by better informing the appropriate external forces (or displacements) to apply in order to achieve the desired correction of the spine. Hence, the second scientific question that this work aims to address is How can we characterize three dimensional stiffness of the human torso for quantifiable assessment and targeted treatment of spinal deformities?
In this work, a torso exoskeleton called the Wearable upper Body Suit (WEBS) was developed to address the first question. The WEBS distributes the backpack load between the shoulders and the pelvis, senses the vertical motion of the pelvis, and provides gait synchronized compensatory forces to reduce dynamic loads of a backpack during walking. It was hypothesized that during typical backpack load carriage, load distribution and dynamic load compensation reduce gait and postural adaptations, the user’s overall effort and metabolic cost. This hypothesis was supported by biomechanical and physiological measurements taken from twelve healthy male subjects while they walked on a treadmill with a 25 percent body weight backpack. In terms of load distribution and dynamic load compensation, the results showed reductions in gait and postural adaptations, muscle activity, vertical and braking ground reaction forces, and metabolic cost. Based on these results, it was concluded that the wearable upper body suit can potentially reduce the risk of musculoskeletal injuries and muscle fatigue associated with carrying heavy backpack loads, as well as reducing the metabolic cost of loaded walking.
To address the second question, the Robotic Spine Exoskeleton (ROSE) was developed. The ROSE consists of two parallel robot platforms connected in series that can adjust to fit snugly at different levels of the human torso and dynamically modulate either the posture of the torso or the forces exerted on the torso. An experimental evaluation of the ROSE was performed with ten healthy male subjects that validated its efficacy in controlling three dimensional corrective forces exerted on the torso while providing flexibility for a wide range of torso motions. The feasibility of characterizing the three dimensional stiffness of the human torso was also validated using the ROSE. Based on these results, it was concluded that the ROSE may alleviate some of the limitations in current brace technology and treatment methods for spine deformities, and offer a means to explore new treatment approaches to potentially improve the therapeutic outcomes of the brace treatment.
Book chapters on the topic "Spider exoskeleton"
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Nentwig, Wolfgang, Jutta Ansorg, Angelo Bolzern, Holger Frick, Anne-Sarah Ganske, Ambros Hänggi, Christian Kropf, and Anna Stäubli. "How Can Spiders Grow Despite an Exoskeleton?" In All You Need to Know About Spiders, 45–53. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-90881-2_5.
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Barth, Friedrich G. "The Measurement of Strain in the Exoskeleton." In A Spider’s World, 39–72. Berlin, Heidelberg: Springer Berlin Heidelberg, 2002. http://dx.doi.org/10.1007/978-3-662-04899-3_7.
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Leather, Simon. "1. In the beginning." In Insects: A Very Short Introduction, 1–18. Oxford University Press, 2022. http://dx.doi.org/10.1093/actrade/9780198847045.003.0001.
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‘In the beginning’ introduces arthropods, which are described as the most diverse and successful group of animals in the world. Arthropods include the insects, spiders, millipedes, scorpions, shrimps, crabs, woodlice, and the barnacles. The word arthropod means hardened appendages with rings of soft unsclerotized cuticle in between. This word can be translated as jointed foot. Arthropods are characterized by tagmata. The body of an arthropod is covered by a chitinous exoskeleton to which the body parts and muscles are attached internally. The success of arthropods can be attributed to their very adaptable body plan.
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Stevens, Martin. "Stars of the Tactile World." In Secret Worlds, 107–35. Oxford University Press, 2021. http://dx.doi.org/10.1093/oso/9780198813675.003.0005.
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This chapter addresses the supreme level of refinement found in many animals for analysing tactile and pressure information. It begins by looking at the sensory organ of the star-nosed mole. The mole’s star-shaped organ is used purely for collecting tactile information. The chapter then considers the Eimer’s organs which cover every appendage that comprises the nose, some of which are used for initial prey detection, while others are for identification. Owing to the number of Eimer’s organs, their tiny size, and the way that the sensory cells respond to patterns of stimulation across parts of each individual Eimer’s organ, the mole obtains exquisite detail on texture, almost to a microscopic level. The chapter also discusses the highly refined tactile sense of spiders, looking at how they rely on vibrations transmitted through the ground, the silk web strands, or the surface waves and air for prey detection and capture. Spiders are equipped with a variety of sensors to detect mechanical information, including fine hairs sensitive to wind movement and touch, and special organs called slit sensilla around the joints of legs that measure physical forces acting on the exoskeleton. Finally, the chapter studies the nature and function of integumentary sense organs or ISOs in both crocodiles and alligators. The heavily built bodies of crocodiles and alligators belie a high sensitivity, being able to detect the slightest changes in touch and pressure.
Conference papers on the topic "Spider exoskeleton"
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Lura, Derek, and Rajiv Dubey. "Spinal Movement Centers of Rotation for Modeling and Development of Rehabilitation and Exoskelton Devices." In ASME 2010 Summer Bioengineering Conference. American Society of Mechanical Engineers, 2010. http://dx.doi.org/10.1115/sbc2010-19624.
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Recent years have seen the rapid development of various upper limb devices, especially in prosthetic [1] and exoskeleton devices [2–5]. Although the capabilities of these devices have been greatly increased, the effect of these devices in real world applications is still being tested. In exoskeletons and prostheses, the majority of development has been focused on lower and upper extremity devices, many times excluding the effects of torso movement. The torso contributes a significant amount of movement in the performance of tasks, and the spine is prone to injury if overexerted [6]. For continued development and expansion of these devices the movements of the torso must be considered. This paper presents work done in the development of functional joint centers of the spine to be used in upper body modeling for development and testing of prostheses and exoskeletons.
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Giovanelli, Yonnel, Fréderic Puel, Camélia Mahdi, Arnaud Gouelle, and William Bertucci. "Comparative evaluation of cervical exoskeletons using IMUs." In 13th International Conference on Applied Human Factors and Ergonomics (AHFE 2022). AHFE International, 2022. http://dx.doi.org/10.54941/ahfe1001483.
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Musculoskeletal disorders and pain in the neck and shoulders are commonly reported in workers whose activities imply overhead tasks. Repetitive passive head support or traumatic movements of the neck can cause damage to the ligaments and tendons of this region, with mild to severe long-term consequences. Exoskeletons are one of the solutions to help workers and their evaluation requires scientific methods and protocols to prove their effectiveness and make recommendations (Crea et al., 2021) (De Bock et al., 2022). Cervical exoskeletons could therefore be a valuable ergonomic solution to reduce stress on the neck and shoulders. However, while the growth of exoskeleton technology has led to multiple systems available on the market, it is still difficult to objectively determine which type or model of neck exoskeleton is the best adapted for overhead work and if the user’s perception matches with biomechanical outcomes.In this randomized crossover design study, 8 participants (3 women) performed dynamic and static extensions of the head in sitting position without trunk support for a period of 3 minutes (then 3 minutes of rest) while wearing three different head/neck exoskeletons in comparison with a situation without an exoskeleton. This allowed us to evaluate comfort, utility, usability, safety and impact (AFNOR, 2017) (Giovanelli & Touchard, 2018). A solution, based on synchronized merger of wireless inertial sensors, EMG signals, Polar OH1+ optical heart rate sensor (Hettiarachchi et al., 2019) and videos of the task (Motion CAPTIV, TEA, France) (Peeters et al., 2019) was used to examine joint angles of the head and spine movements, the bioelectrical activity of the sternocleidomastoid muscle and heart rate. Further these biomechanical and physiological outcomes, the perception of intensity was assessed by the Borg scale (Meyer, 2014) : CR10 Scale for the cervical and lumbar spine as well by the Rated Perceived Exertion (RPE) Scale for the global level of activity.The synthesis of this comparative analysis was carried out and compiled in the form of a conceptual basis from the C-K theory (Hatchuel & Weil, 2003) from the analysis of the design logic of exoskeletons.The results of this comparative analysis showed differences in terms of comfort, utility, usability, safety depending on the design logic of the solutions tested, but also depending on the morphology of the testers.
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Ophaswongse, Chawin, Rosemarie C. Murray, and Sunil K. Agrawal. "Design of a Parallel Architecture Robotic Spine Exoskeleton With Series Elastic Actuators." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-67842.
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This paper proposes a novel methodology for the design of series elastic actuators in parallel-actuated platforms which have full six degrees-of-freedom in position and orientation. Series elastic actuators can potentially contribute to lower power consumption and provide a better human-machine interface for the user. This is an important consideration in the use of a robotic spine exoskeleton for human subjects, which motivates this work. In the study of parallel-actuated systems with full six degrees-of-freedom, the effect of compliance in series with actuators has not been adequately studied from the perspective of kinematics and wrench capabilities. These analyses are performed in this paper with the goal to improve the design of the robotic spine exoskeleton (ROSE) and its human usage.
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Wehner, Michael, David Rempel, and Homayoon Kazerooni. "Lower Extremity Exoskeleton Reduces Back Forces in Lifting." In ASME 2009 Dynamic Systems and Control Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/dscc2009-2644.
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We propose a lower extremity exoskeleton device which adds a passive extensor moment (restoring moment) about the hips during squat lifting, thus reducing forces on the lower back by reducing the required extensor muscle force. Video sequences were recorded of normal speed sagittal squat lifting 44.5 N (10 lb) and 133.5 N (30 lb) packages for marker tracking. Calculations suggested that the device reduces maximum spine compressive forces by approximately 1300 N. Surface electromyography (EMG) was performed on 6 subjects supporting 44.5 N (10 lb) and 133.5 N (30 lb) packages in the static squat posture. With the device, back muscles demonstrated a 54% reduction in muscle activity. This exoskeleton device includes features not available on other devices including highly adjustable moment profile and elimination of high contact stress in the lower extremities by connecting directly with the ground.
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Lakhtakia, Akhlesh, Raúl J. Martín-Palma, and Carlo G. Pantano. "Towards replication of the exoskeleton of Lamprocyphus augustus for photonic applications." In SPIE NanoScience + Engineering, edited by Raul J. Martin-Palma and Akhlesh Lakhtakia. SPIE, 2009. http://dx.doi.org/10.1117/12.823409.
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Nishimura, Takuya, Yoshihiko Nomura, and Ryota Sakamoto. "A restrained-torque-based motion instructor: forearm flexion/extension-driving exoskeleton." In IS&T/SPIE Electronic Imaging, edited by Juha Röning and David Casasent. SPIE, 2013. http://dx.doi.org/10.1117/12.2003683.
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Smith, Patrice, and Theodore B. Terry. "The influence of active vision on the exoskeleton of intelligent agents." In SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, edited by Raúl J. Martín-Palma, Akhlesh Lakhtakia, and Mato Knez. SPIE, 2016. http://dx.doi.org/10.1117/12.2219507.
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