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Using lower limb exoskeletons in healthcare sector like for rehabilitation is an important application. Lower limb exoskeletons can help in performing specific functions like gait assistance, and physical therapy support for patients who are lost their ability to walk again. Since active lower limb exoskeletons require more complicated control instrumentation and according to the limitations of the power/weight ratio that arises in such exoskeletons, many quasi-passive systems have developed and employed. This paper presents the design and testing of lightweight and adjustable two degree of freedom quasi-passive lower limb exoskeleton for improving gait rehabilitation. The exoskeleton consists of a high torque DC motor mounted on a metal plate above the hip joint, and a link that transmit assistance torque from the motor to the thigh. The knee joint is passively actuated with spring. The action of the passive component (spring) is combined with mechanical output of the motor to provide a good control on the designed exoskeleton during walking. The results show that muscles' efforts on both the front and the back sides of the user's leg were decreased when walking using the exoskeleton with the motor and spring.

This paper presents an artificial neural network (ANN) trained on the patterns of slip signals; these patterns were generated by using conventional sensors with a novel design of fingertip mechanism for detecting the slippage of a grasped object under different types of dynamic loads. This design is to be used with an underactuated triple finger artificial hand based on the pulleys-tendon mechanism. The grasped object is designed in a prism shape with three direct current motors with unbalance rotating mass to generate excitation in the object. Also, this object is covered with different types of surface materials, namely, spongy rubber, glass, and wood. Three types of external loads are used to disturb the grasping process represented by quasi-static pulling on the object, the dynamic load on the object, and on the artificial arm in separate form. The mathematical modeling has been derived for the proposed design to generate the signal of contact force components ratio through using the conventional sensor signals with the aid of Matlab-Simulink software. The ANN has been trained on the basis of the patterns of force component ratio signals at slippage occurrence, in order to detect slippage and then prevent it without the need for any knowledge about the surface properties of the grasped object. The experimental results are discussed in comparison with the physical aspect of the slippage phenomenon, and they show good agreement with the physical definition of the slippage phenomenon. In addition, the network evaluation results are discussed with different parameters that govern the controller operation, such as network error, classification efficiency, and delay in response time.

This paper deals with the determination of stresses and deflections of clamped circular diaphragm strengthened by one or two ring-shaped concentric ribs, under uniform static and dynamic pressures. The simulation has been achieved by using the well-known engineering software finite element package MSC/NASTRAN. As a design study, the effect of using a clamped ring, and the effect of using a ring-shaped rib on both surfaces of diaphragm instead of one, has been discussed in this work. To show the effectiveness of this study, results of this work have been compared with published data [1]. In the conclusion, the authors underline the validity of the considered design study, and the optimization of strengthened diaphragms.

Robotics manipulators with structural flexibility provide an attractive alternative to rigid robotics manipulators for many of the new and evolving applications in robotics. In certain applications their use is unavoidable. The increased complexity in modeling and control of such manipulators is offset by desirable performance enhancements in some respects. In this paperthe single- link flexible robotics manipulator was designed and implemented from Perspex and designed with 0.5 m length , 0.02 m width and with 0.004 m thickness with mass located at the tip. There are four subsystems; motion, control, accelerometer and gyro and a host computer subsystem. The work principle of single-link robotics manipulator is the base servomotor. It rotates a hub with the link on it and measure the tip deflection. the deflection was measured for three cases without load, with 27.5 and with 59.4 gram at the end of the flexible link . During each of the above cases I rotated the base servo motor at an angular velocity equals to 90 deg./s using control card based on ATMEGA640 microcontroller. the deflection was measured for the three cases and the deflection measured by MMA7631 Accelerometer and Gyro . This accelerometer controlled by using MEGA Arduino board . Then the dataI collected collected from accelerometer and plot it using MATLAB software and compared between theoretical results obtained from MATLAB program that based on Lagrange equation of motion and experimental results and we found the maximum deflection occurred when V=180 deg/sec and tip load=59.5 gram.

This research is interested to investigate the optimum design procedure for a finger driving mechanism to have a proper configuration of the finger for its utilization in hand prosthesis. To get this goal, a Genetic Algorithm (G.A) was used. Three criteria were selected to find the optimal solution. The most important of them was the percentage of the grasping stability. This criterion was evaluated as must type by using Kepner-tregos method. When the optimal solution was found, this one was modified to facilitate the fabrication of a prototype. The modifications consist of mostly rounding the parameters and uniforming the rollers dimensions. Those changes did not affect too much the forces characteristics. The prosthetic hand prototype was built of hard ABS (Acrylonitrile Butadiene Styrene) plastic using rapid prototyping. Testing results indicate that the proposed Genetic Algorithm gives reasonable -quality results in short computation time.

This paper deals with the determination of stresses and deflections of clamped circular diaphragm strengthened by one or two ring-shaped concentric ribs, under uniform static and dynamic pressures. The simulation has been achieved by using the well-known engineering software finite element package MSC/NASTRAN. As a design study, the effect of using a clamped ring, and the effect of using a ring-shaped rib on both surfaces of diaphragm instead of one, has been discussed in this work. To show the effectiveness of this study, results of this work have been compared with published data [1].In the conclusion, the authors underline the validity of the considered design study, and the optimization of strengthened diaphragms.

In the cation of the title salt {systematic name: 4-[bis(4-fluorophenyl)methyl]-1-[(2E)-3-phenylprop-2-en-1-yl]piperazin-1-ium hydrogen maleate}, C26H27F2N2+·C4H3O4−, the protonated piperazine ring is in a chair conformation. The dihedral angle between the 4-fluorophenyl rings is 68.2 (2)°. An intramolecular O—H...O hydrogen bond occurs in the anion. In the crystal, N—H...O, C—H...O and C—H...F interactions are observed, which link the ions into [001] chains.

A description is given of the resistance spot welding process in terms of internal behavior of the weld as welding takes place. Heat input due to spot welding of steel sheet plate causes temperature gradient in the parent metal. After cooling, residual stresses appear around the welding zone reducing the strength. Residual stresses are a result of the temperature gradient and the dependency of material properties on the temperature, such as yield strength, elasticity modulus, and thermal expansion coefficient. Nonlinear transient heat transfer analysis performed in order to obtain the temperature distribution in the welded part .A nonlinear thermo–plastic stress analysis is then performed to predict the stress and strain fields during and after welding. The material properties such as yield strength, elasticity modulus, convection coefficient, conduction, specific heat, and thermal expansion coefficient are used as a function of temperature. The heat transfer results are compared with experimental results performed within the scope of work of this study. On the other hand, the residual stress results are compared with experimental result obtained from literature .The comparison shows good agreement between numerical and experimental results.

A complete numerical solution of thermal compressible elastohydrodynamic lubrication of rolling / sliding contact was achieved to determine the effect of inlet boundary condition on the film shape, film pressure, and film temperature in an elastohydrodynamic line contact problem. The direct iterative technique is used to solve the simultaneous system of Reynolds, ,elasticity , and energy equations for different locations of inlet oil fed . The effect of various load, speed , and slip conditions have been investigated . the results indicate that the effects of starvation are an increase of oil film temperature and decrease in oil film thickness so that the temperature effect are significant and can not be neglected.

This paper presents a procedure for the free vibration analysis of stiffened conical shell by the finite element method. The element used is a modified eight-node superparametric shell element. The effects of the number and cross-section area of stiffeners on the conical shells were analyzed. The results showed that increasing the number of stiffeners and their cross-'i'ectional area tend to increase the natural frequency of the conical shell. These results are iompared with available research results and those obtained from MSC\NASTRAN .