Soft robotic shell with active thermal display.

Almost all robotic systems in use have hard shells, which is limiting in many ways their full potential of physical interaction with humans or their surrounding environment. Robots with soft-shell covers offer an alternative morphology which is more pleasant in both appearance and for haptic human interaction. A persisting challenge in such soft-shell robotic covers is the simultaneous realization of softness and heat-conducting properties.

Metal-templated synthesis of rigid and conformationally restricted cyclic bisporphyrins: specific retention times on a cyanopropyl-modified silica gel column.

A series of rigid and conformationally restricted cyclic bis(zinc porphyrin)s connected via 2,2'-bipyridine and phthalamide, isophthalamide, or terephthalamide moieties were prepared by metal-templated synthesis. The yields were significantly improved when compared with those obtained under metal-free conditions. In particular, phthalamide and terephthalamide derivatives were obtained only by metal-templated synthesis.

Transcatheter Arterial Embolization Using Cone-beam Computed Tomography during Angiography and Automated Vessel Detection Software for Obscure Colonic Diverticular Hemorrhage after Unsuccessful Endoscopic Clipping: A Report of Two Cases.

We report the usefulness of cone-beam computed tomography angiography (CBCTA) and automated vessel detection (AVD) software in transcatheter arterial embolization in two cases of obscure ascending colonic diverticular hemorrhage after unsuccessful endoscopic clipping. Arteriography of the superior mesenteric artery demonstrated no active bleeding. Considering the positional relationship of the clips, we could narrow the responsible vessel down to two candidates but could not definitively identify the responsible vessel.

Relationship between Photoelasticity of Polyurethane and Dielectric Anisotropy of Diisocyanate, and Application of High-Photoelasticity Polyurethane to Tactile Sensor for Robot Hands.

Eight types of polyurethane were synthesized using seven types of diisocyanate. It was found that the elasto-optical constant depends on the concentration of diisocyanate groups in a unit volume of a polymer and the magnitude of anisotropy of the dielectric constant of diisocyanate groups. It was also found that incident light scattered when bending stress was generated inside photoelastic polyurethanes.