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A variety of prosthetic ankles have been successfully developed to reproduce the locomotor ability for lower limb amputees in daily lives. However, they have not been shown to sufficiently improve the natural gait mechanics commonly observed in comparison to the able-bodied, perhaps due to over-simplified designs of functional musculoskeletal structures in prostheses. In this study, a flexible bionic ankle prosthesis with joints covered by soft material inclusions is developed on the basis of the human musculoskeletal system. First, the healthy side ankle–foot bones of a below-knee amputee were reconstructed by CT imaging. Three types of polyurethane rubber material configurations were then designed to mimic the soft tissues around the human ankle, providing stability and flexibility. Finite element simulations were conducted to determine the proper design of the rubber materials, evaluate the ankle stiffness under different external conditions, and calculate the rotation axes of the ankle during walking. The results showed that the bionic ankle had variable stiffness properties and could adapt to various road surfaces. It also had rotation axes similar to that of the human ankle, thus restoring the function of the talocrural and subtalar joints. The inclination and deviation angles of the talocrural axis, 86.2° and 75.1°, respectively, as well as the angles of the subtalar axis, 40.1° and 29.9°, were consistent with the literature. Finally, dynamic characteristics were investigated by gait measurements on the same subject, and the flexible bionic ankle prosthesis demonstrated natural gait mechanics during walking in terms of ankle angles and moments.

Accurate knowledge of the kinematics of the in vivo Ankle Joint Complex (AJC) is critical for understanding the biomechanical function of the foot and assessing postoperative rehabilitation of ankle disorders, as well as an essential guide to the design of ankle–foot assistant devices. However, detailed analysis of the continuous 3D motion of the tibiotalar and subtalar joints during normal walking throughout the stance phase is still considered to be lacking. In this study, dynamic radiographs of the hindfoot were acquired from eight subjects during normal walking. Natural motions with six Degrees of Freedom (DOF) and the coupled patterns of the two joints were analyzed. It was found that the movements of the two joints were mostly in opposite directions (including rotation and translation), mainly in the early and late stages. There were significant differences in the Range of Motion (ROM) in Dorsiflexion/Plantarflexion (D/P), Inversion/Eversion (In/Ev), and Anterior–Posterior (AP) and Medial–Lateral (ML) translation of the tibiotalar and subtalar joints (p R2 = 0.87 and 0.86, respectively), and plantarflexion of the tibiotalar joint was coupled with inversion and anterior translation of the subtalar joint during the push-off phase (R2 = 0.93 and 0.75, respectively). This coordinated coupled motion of the two joints may be a manifestation of the AJC to move flexibly while bearing weight and still have stability.

Human shoulder joints exhibit stable but highly active characteristics due to a large amount of soft tissues. Finite Element (FE) modelling plays an important role in enhancing our understanding of the mechanism of shoulder disorders. However, the previous FE shoulder models largely neglected the Three-Dimensional (3D) volume of soft tissues and their sophisticated interactions with the skeletons. This study develops a 3D model of the rotator cuff and deltoid muscles and tendons. It also includes cartilage and, for the first time, main ligaments around the joint to provide a better computational representation of the delicate interaction of the soft tissues. This model has potential value for studying the force transfer mechanism and overall joint stability variation caused by 3D pathological changes of rotator cuff tendons. Motion analysis systems and Magnetic Resonance (MR) scans were used to collect shoulder movement and geometric data from a young healthy subject, respectively. Based on MR images, a FE model with detailed representations of the musculoskeletal components was constructed. A multi-body model and the measured motion data were utilised to estimate the loading and boundary conditions. Quasi-static FE analyses simulated four instants of the measured scapular abduction. Simultaneously determined glenohumeral motion, stress/strain distribution in soft tissues, contact area, and mean/peak contact pressure were found to increase monotonically from 0° to 30° of abduction. The results of muscle forces, bone-on-bone contact force, and superior-inferior movement of the humeral centre during motion were consistent with previous experimental and numerical results. It is concluded that the constructed FE shoulder model can accurately estimate the biomechanics in the investigated range of motion and may be further used for the comprehensive study of shoulder musculoskeletal disorders.

It is generally known that forelimbs and hindlimbs play different roles during locomotion, but the possible differences in the biomechanical functions of the metacarpal pad and metatarsal pad remain unknown. This study combined kinematic and pressure data from dogs to investigate the key roles of the metacarpal and metatarsal pads. The peak vertical ground reaction force of the metacarpal pad was found to be larger than that of the metatarsal pad, whereas the peak vertical ground reaction force of the fore toes was equal to that of hind toes, and the vertical deformations of the metacarpal and metatarsal pads were almost equal; moreover, the obtained stiffness of the metacarpal pad was several times greater than that of metatarsal pad based on in vivo measurement data. The results showed that the metacarpal pad demonstrated the biomechanical characteristics of cushion and support; however, the support characteristics of the metatarsal pad were weak. Furthermore, magnetic resonance imaging was performed to gather evidence to interpret the various roles played by the metacarpal pad and the metatarsal pad. It was found that the morphology and volumes of internal adipose tissues were closely related to the functions played by the metapodial pad during movement.

The morphology and wettability of Water Bamboo Leaves (WBL) and their biomimetic replicas were investigated. The particular morphology structures of samples were characterized by Scanning Electron Microscopy (SEM) and Confocal Laser Scanning Microscopy (CLSM). The static wettability of samples was assessed by contact angle measurements, while the dynamic wettability was analyzed by high speed camera system. The wettability mechanism of WBL was also explained by Cassie model. Artificial surfaces were fabricated by duplicating WBL surface microstructures using PDMS in large area (5 cm × 3 cm). The results show the main structure characteristics of this leaf surface are sub-millimeter groove arrays, micron-scale papillae and a superimposed layer with 3D epicuticular wax sculptures hierarchical structure, and the static Water Contact Angle (WCA) of 151°±2° and Water Sliding Angle (WSA) of 4°–6° indicate that WBL surface is superhydrophobic. The combination of wax film and microstructure of WBL surface gives its surface excellent superhydrophobic property. Complex hierarchical patterns with features from sub-millimeter to micron-scale range are well reproduced. The reason for the absence of nanostructures is melting of plant epidermal wax during the curing process. The WCA values on artificial WBL and negative PDMS replica are 146° ± 3° and 137° ± 2°, respectively, demonstrating preferable hydrophobicity. Differences in wetting behavior between natural leaves and artificial leaves originate from an inaccurate replication of the chemistry and structures of the three-dimensional wax projections on the leaf surface. Nevertheless, the morphological features of the leaf transferred to the replica improve significantly the hydrophobic properties of the replica when compared with the smooth PDMS reference. This study may provide an inspiration for the biomimetic design and construction of large area roughness-induced hydrophobic and anti-sticking material surface.

Biological musculoskeletal system (MSK), composed of numerous bones, cartilages, skeletal muscles, tendons, ligaments etc., provides form, support, movement and stability for human or animal body. As the result of million years of selection and evolution, the biological MSK evolves to be a nearly perfect mechanical mechanism to support and transport the human or animal body, and would provide enormously rich resources to inspire engineers to innovate new technology and methodology to develop robots and mechanisms as effective and economical as the biological systems. This paper provides a general review of the current status of musculoskeletal biomechanics studies using both experimental and computational methods. This includes the use of the latest three-dimensional motion analysis systems, various medical imaging modalities, and also the advanced rigid-body and continuum mechanics musculoskeletal modelling techniques. Afterwards, several representative biomimetic studies based on ideas and concepts inspired from the structures and biomechanical functions of the biological MSK are discussed. Finally, the major challenges and also the future research directions in musculoskeletal biomechanics and its biomimetic studies are proposed.

Extenics is a newly developed interdisciplinary subject combining mathematics, philosophy and engineering. It provides useful formalized qualitative tools and quantitative tools for solving contradictory problems. In this paper, extension theory is introduced briefly and the primary applications of this theory and methods in bionic engineering research are discussed. The extension model of biological coupling functional system is established. In order to identify the primary and secondary sequencing of coupling elements, the Extension Analytic Hierarchy Process (EAHP) was adopted to analyze the contribution of each coupling element to the coupling functional system. Thus, the influence weight factor of each coupling element can be determined, so as to provide a new approach for solving primary and secondary sequencing problem of coupling elements in a quantitative way, and facilitate the subsequent bionic coupling study.