Investigation of ultra-low insertion speeds in an inelastic artificial cochlear model using custom-made cochlear implant electrodes. - In: European archives of oto-rhino-laryngology and head & neck, ISSN 1434-4726, Bd. 275 (2018), 12, S. 2947-2956
https://doi.org/10.1007/s00405-018-5159-1
Signal tuning of observables at the support of a vibrissa-like tactile sensor in different scanning scenarios. - In: High tech human touch, ISBN 978-1-5386-8183-1, (2018), S. 1138-1143
https://doi.org/10.1109/BIOROB.2018.8487961
Motion characteristics of a vibration driven mobile tensegrity structure with multiple stable equilibrium states. - In: Journal of sound and vibration, ISSN 0022-460X, Bd. 437 (2018), S. 198-208
https://doi.org/10.1016/j.jsv.2018.09.019
Histological evaluation of a cochlear implant electrode array with electrically activated shape change for perimodiolar positioning. - In: Current directions in biomedical engineering, ISSN 2364-5504, Bd. 4 (2018), 1, S. 145-148
https://doi.org/10.1515/cdbme-2018-0036
Impact of anatomical variations on insertion forces : an investigation using artificial cochlear models. - In: Current directions in biomedical engineering, ISSN 2364-5504, Bd. 4 (2018), 1, S. 509-512
https://doi.org/10.1515/cdbme-2018-0122
Minimally invasive mastoidectomy approach using a mouldable surgical targeting system : a proof of concept. - In: Current directions in biomedical engineering, ISSN 2364-5504, Bd. 4 (2018), 1, S. 403-406
https://doi.org/10.1515/cdbme-2018-0096
Dynamical investigation of crawling motion system based on a multistable tensegrity structure. - In: ICINCO 2018, (2018), S. 122-130
The basic idea of this article is the utilization of the multistable character of a compliant tensegrity structure to control the direction of motion of a crawling motion system. A crawling motion system basing on a two-dimensional tensegrity structure with multiple stable equilibrium states is considered. This system is in contact with a horizontal plane due to gravity. For a selected harmonic actuation of the system small oscillations around the given equilibrium state of the tensegrity structure occur and the corresponding uniaxial motion of the system is evaluated. A change of the equilibrium state of the tensegrity structure yields to novel configuration of the entire system. Moreover, the motion behavior of the novel configuration is totally different although the actuation strategy is not varied. In particular, the direction of motion changes. Therefore, this approach enables a uniaxial bidirectional crawling motion with a controllable direction of motion using only one actuato r with a selected excitation frequency.
Gait transitions in artificial non-standard snake-like locomotion systems using adaptive control. - In: Dynamical Systems in Applications, (2018), S. 1-12
This chapter contributes to the modeling, analysis and control of terrestrial artificial locomotion systems. Inspired by previous models, we set up an unconventional model for a snake-like locomotion systems in form of a chain of visco-elastically interconnected mass points in a plane with passive joints, but - in contrast to literature - active links (time-varying link-length) and rotatable skids to change the movement direction and to avoid obstacles. We investigate this model in a dynamical way and focus on controlling these link lengths to achieve a global movement, steered by the skids. From dynamics, the actuator forces have to adjust the prescribed link length for the locomotion. Since it is impossible to determine the necessary actuator forces a-priori, we apply an adaptive lambda-tracking controller to enable the system to adjust these force outputs on-line on its own. Prescribed motion patterns, i.e. specific gaits, are required to guarantee a controlled movement that differ in the number of resting mass points, the load of actuators and spikes, and the lateral forces of the skids. In contrast to literature, the investigated system of n = 10 mass points exhibit a large variety of possible gaits. To determine the most advantageous gaits, numerical investigations are performed and a weighting function offers a decision of best possible gaits. Using these gaits, a gait transition algorithm, which autonomously changes velocity and number of resting mass points depending on the spike, actuator and lateral skid force load, is presented and tested in numerical simulations.
https://doi.org/10.1007/978-3-319-96601-4_1
Dynamic analysis of a compliant tensegrity structure for the use in a gripper application. - In: Dynamical systems in theoretical perspective, (2018), S. 323-334
The use of compliant tensegrity structures in robotic applications offers several advantageous properties. In this work the dynamic behaviour of a planar tensegrity structure with multiple static equilibrium configurations is analysed, with respect to its further use in a two-finger-gripper application. In this application, two equilibrium configurations of the structure correspond to the opened and closed states of the gripper. The transition between these equilibrium configurations, caused by a proper selected actuation method, is essentially dependent on the actuation parameters and on the system parameters. To study the behaviour of the dynamic system and possible actuation methods, the nonlinear equations of motion are derived and transient dynamic analyses are performed. The movement behaviour is analysed in relation to the prestress of the structure and actuation parameters.
https://doi.org/10.1007/978-3-319-96598-7_26
Theoretical investigations on the behavior of artificial sensors for surface texture detection. - In: Dynamical systems in theoretical perspective, (2018), S. 311-321
Animal vibrissae are used as natural inspiration for artificial tactile sensors, e.g., the mystacial vibrissae enable rodents to perform several tasks in using these tactile hairs: object shape determination and surface texture discrimination. Referring to the literature, the Kinetic Signature Hypothesis states that the surface texture detection is a highly dynamic process. It is assumed that the animals gather information about the surface texture out of a spatial, temporal pattern of kinetic events. This process has to be analyzed in detail to develop an artificial tactile sensor with similar functionalities. Hence, we set up a mechanical model for theoretical investigations of the process. This model is analyzed in two different directions using numerical simulations: at first a quasi-static and then a fully dynamic description.
https://doi.org/10.1007/978-3-319-96598-7_25