Feasibility of manual teach-and-replay and continuous impedance shaping for robotic locomotor training following spinal cord injury

Robotic gait training is an emerging technique for retraining walking ability following spinal cord injury (SCI). A key challenge in this training is determining an appropriate stepping trajectory and level of assistance for each patient, since patients have a wide range of sizes and impairment levels. Here, we demonstrate how a lightweight yet powerful robot can record subject-specific, trainer-induced leg trajectories during manually assisted stepping, then immediately replay those trajectories. Replay of the subject-specific trajectories reduced the effort required by the trainer during manual assistance, yet still generated similar patterns of muscle activation for six subjects with a chronic SCI. We also demonstrate how the impedance of the robot can be adjusted on a step-by-step basis with an error-based, learning law. This impedance-shaping algorithm adapted the robot's impedance so that the robot assisted only in the regions of the step trajectory where the subject consistently exhibited errors. The result was that the subjects stepped with greater variability, while still maintaining a physiologic gait pattern. These results are further steps toward tailoring robotic gait training to the needs of individual patients.     

A CMOS threshold voltage reference source for very-low-voltage applications

This paper describes a CMOS voltage reference that makes use of weak inversion CMOS transistors and linear resistors, without the need for bipolar transistors. Its operation is analogous to the bandgap reference voltage, but the reference voltage is based on the threshold voltage of an nMOS transistor. The circuit implemented using 0.35 μm n-well CMOS TSMC process generates a reference of 741 mV under just 390 nW for a power supply of only 950 mV. The circuit presented a variation of 39 ppm/°C (after individual resistor trimming) for the −20 to +80 °C temperature range, and produced a line regulation of 25 mV/V for a power supply of up to 3 V.     

Energy Management Fuzzy Logic Supervisory for Electric Vehicle Power Supplies System

This paper introduces an energy management strategy based on fuzzy logic supervisory for road electric vehicle, combining a fuel cell power source and two energy storage devices, i.e., batteries and ultracapacitors. The control strategy is designed to achieve the high-efficiency operation region of the individual power source and to regulate current and voltage at peak and average power demand, without compromising the performance and efficiency of the overall system. A multiple-input power electronic converter makes the interface among generator, energy storage devices, and the voltage dc-link bus. Classical regulators implement the control loops of each input of the converter. The supervisory system coordinates the power flows among the power sources and the load. The paper is mainly focused on the fuzzy logic supervisory for energy management of a specific power electronic converter control algorithm. Nevertheless, the proposed system can be easily adapted to other converters arrangements or to distributed generation applications. Simulation and experimental results on a 3-kW prototype prove that the fuzzy logic is a suitable energy management control strategy.     

Remarkable change in the broadband electrical behavior of poly(vinylidene fluoride)–multiwalled carbon nanotube nanocomposites with the use of different processing routes

Poly(vinylidene fluoride) (PVDF) nanocomposites have plenty of applications in the electronic realm. In this study, we produced nanocomposites based on PVDF and multiwalled carbon nanotubes (MWCNTs), with various MWCNT loadings, using three different processing routes: solution mixing, melt mixing, and electrospinning. The broadband electrical behavior of these nanocomposites was studied and compared via impedance spectroscopy. The morphologies of the nanocomposites were characterized by transmission electron microscopy and scanning electron microscopy. The results reveal that the electrical behaviors of the samples were completely different according to the processing route used. Solution mixing was the most suitable method for producing nanocomposites with the highest conductivities, at low MWCNT loadings, whereas electrospinning was the most suitable method for producing nanocomposites with the lowest dielectric permittivity. These differences were attributed to the different arrangements of the MWCNTs caused by the different processes. Although the solution-mixed samples exhibited long and twisted MWCNTs, the melt-mixed samples had shorter MWCNTs, and the electrospun samples had MWCNTs embedded and aligned inside the insulating polymer nanofibers. Thus, these results project a vast horizon for tailoring the structure and thereby the broadband electrical behavior of PVDF–MWCNT nanocomposites for different types of applications. © 2018 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2019 , 136, 47409.     

Enhancements in sugar immobilization in polymeric macroporous matrices for affinity capture

The use of macroporous monolithic matrices in the purification of biocompounds is constantly growing and developing. In this work, the objective was to optimize the quantity of N-acetyl-D-glucosamine (D-GlcNAc) immobilized on the surface of macroporous polymeric cryogels for capture of lectins from less clarified solutions. Surface response methodology was applied and it was observed that the immobilization temperature of the glutaraldehyde (GLU) and the D-GlcNAc concentration influenced the amount of sugar immobilized. The matrices produced with 1.1% of allyl glycidyl ether were functionalized by GLU. Optimal maximum condition was obtained with mean value of 160.39 ± 26.38 mg of D-GlcNAc immobilized per gram of dry cryogel. Characterization analyses of the matrices showed that the activation process was effective, maintaining the macroporous structure and physical characteristics. The adsorbents produced were tested for capture of lectins from a crude protein solution of barley. At tested conditions, adsorbent capture around 11% of protein in solution but reduce the hemaglutinating capacity in 40%, demonstrating its selectivity. The cryogels functionalized with D-GlcNAc present potential for use in capture compounds by affinity with carbohydrates, such as lectins. © 2019 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2019 , 136, 47956.     

Influence of annealing on the permeation properties of a thermoplastic elastomer

The use of plastic films with specific diffusion or permeation properties for industrial applications has grown at a considerable rate. Some useful applications are found in medical devices, bioreactors, and combustible fuel storage where polymer films function as separation membranes that allow permeation of different gases at different rates. In this work, the permeation and diffusion properties of a polyester‐based thermoplastic polyurethane (TPU) were investigated. TPU injected and extruded specimens were subjected to thermal treatment (annealing) at 100°C for 20 h. Injected samples were exposed to certain hygrothermal conditions and films were prepared to evaluate the influence of annealing on the permeation of gases. In order to achieve a complete analysis, tests such as differential scanning calorimetry, tensile tests, and Fourier transform infrared spectroscopy were conducted to examine the morphological changes. These were then correlated to the TPU permeation behavior after annealing. Water uptake by the polymer—measured as weight gain—likely indicates an increase in the free volume in the amorphous domains. Similarly, in permeation and water immersion tests, the diffusion rate of gases and H₂O through the TPU was higher for the annealed samples when compared to those without treatment, indicating that diffusion within the polymer is dependent on the postprocessing thermal treatment. POLYM. ENG. SCI., 59:1810–1817, 2019. © 2019 Society of Plastics Engineers     

Direct ink writing of macroporous lead-free piezoelectric Ba0.85Ca0.15Zr0.1Ti0.9O3

Direct ink writing (DIW) has become a widespread additive manufacturing technique for material engineering, but its application in lead-free Ba_0.85Ca_0.15Zr_0.1Ti_0.9O₃ piezoelectric ceramics from aqueous systems has not been reported so far to our knowledge. The main obstacle is the high extent of hydrolysis reactions undergone by the starting powders when dispersed in water, hindering the attainment of stable water-based colloidal suspensions. This paper reports on the preparation of stable aqueous inks from a deagglomerated and surface-treated powder synthesized by solid-state reaction and on DIW of macroporous lead-free piezoelectrics. Based on zeta potential and rheological measurements, the optimal amounts of processing additives (dispersant, binder, and coagulating agent) were selected to transform the initial fluid suspension to a viscoelastic paste with sufficient stiffness and stability for the printing process. Dielectric and piezoelectric properties of samples sintered under different temperatures were also investigated.