Soft grippers, a rapidly growing subfield of soft robotics, utilize compliant and flexible materials capable of conforming to various shapes. This feature enables them to exert gentle yet, if required, strong gripping forces. In this study, we elaborate on the material selection and fabrication process of gripping fingers based on the dielectric elastomer actuation technique. We study the effects of mixing the silicone elastomer with a silicone thinner on the performance of the actuators. Inspired by nature, where the motion of end-effectors such as soft limbs or fingers is, in many cases, directed by a stiff skeleton, we utilize backbones for translating the planar actuation into a bending motion. Thus, the finger does not need any rigid frame or pre-stretch, as in many other DEA approaches. The idea and function of the backbone strategy are demonstrated by finite element method simulations with COMSOL Multiphysics 6.5. The paper describes the full methodology from material choice and characterization, design, and simulation to characterization to enable future developments based on our approach. Finally, we present the performance of these actuators in a gripper demonstrator setup. The developed actuators bend up to 68.3° against gravity, and the gripper fingers hold up to 10.3 g against gravity under an actuation voltage of 8 kV.
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http://dx.doi.org/10.3390/biomimetics9080505 | DOI Listing |
Nat Commun
January 2025
Macromolecular Machines Laboratory, The Francis Crick Institute, London, NW1 1AT, UK.
The MCM motor of the eukaryotic replicative helicase is loaded as a double hexamer onto DNA by the Origin Recognition Complex (ORC), Cdc6, and Cdt1. ATP binding supports formation of the ORC-Cdc6-Cdt1-MCM (OCCM) helicase-recruitment complex where ORC-Cdc6 and one MCM hexamer form two juxtaposed rings around duplex DNA. ATP hydrolysis by MCM completes MCM loading but the mechanism is unknown.
View Article and Find Full Text PDFArch Orthop Trauma Surg
January 2025
BG Klinikum Unfallkrankenhaus Berlin, Department of Hand-, Replantation- and Microsurgery and Chair of Hand-, Replantation- and Microsurgery, Charité Universitätsmedizin Berlin, Berlin, Germany.
Introduction: Rhizarthrosis, or osteoarthritis of the trapeziometacarpal joint, predominantly affects women over 50, with up to 30% experiencing some degree of arthritis in this joint. Traditional surgical approaches, such as trapeziectomy with ligament reconstruction, can result in some patients in persistent pain or limited functionality. TMC ball-in-socket arthroplasty, with a cup placed in the distal scaphoid, offers a promising alternative to traditional arthrodesis or resection-suspension arthroplasty.
View Article and Find Full Text PDFMethodsX
June 2025
Department of Artificial Intelligence and Machine Learning, Symbiosis Institute of Technology, Pune Campus, Symbiosis International (Deemed University), Lavale, Pune, Maharashtra, India.
The increasing demand for soft robotic systems in agricultural, biomedical and other applications has driven the development of actuators that can mimic the flexibility and adaptability of human muscles. Several studies have explored the design and implementation of soft actuators for robotic applications, however, there is a need for soft actuators demonstrating delicate gripping capabilities but also excel in specific biomedical applications, such as therapeutic massaging. The objective of this work is to develop a multi-finger soft pneumatic actuator mimicking human fingers for Ayurvedic therapeutic massaging and gripping applications.
View Article and Find Full Text PDFOsteoarthr Cartil Open
March 2025
Center for Treatment of Rheumatic and Musculoskeletal Diseases (REMEDY), Diakonhjemmet Hospital, Oslo, Norway.
Objective: Previous studies on the efficacy of methotrexate in people with hand osteoarthritis (OA) have shown conflicting results. The MERINO trial aims to investigate the efficacy and safety of methotrexate in people with painful inflammatory erosive hand OA.
Design: In total 163 participants with erosive hand OA, synovitis by ultrasound, and finger joint pain of 40-80 mm on a visual analogue scale (VAS) will be recruited from a rheumatology outpatient clinic.
Microsurgery
January 2025
Department of Orthopedic Surgery and Plastic Surgery, Emory University, Atlanta, Georgia, USA.
Background: Loss of key-pinch sensation after median nerve injury poses significant functional detriment. Nerve transfers are utilized to improve function after nerve injury and size matching of donor and recipient nerves is important to optimize success. This anthropometric study investigates the anatomy of the superficial branch of the radial nerve (SBRN) to the thumb and index finger and explores radial to median sensory nerve transfers, a necessary but not heavily discussed facet of nerve transfers for the hand.
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