SafeNet: A methodology for integrating general-purpose unsafe devices in safe-robot rehabilitation systems

Robot-assisted neurorehabilitation often involves networked systems of sensors (“sensory rooms”) and powerful devices in physical interaction with weak users. Safety is unquestionably a primary concern. Some lightweight robot platforms and devices designed on purpose include safety properties using redundant sensors or intrinsic safety design (e.g. compliance and backdrivability, limited exchange of energy). Nonetheless, the entire “sensory room” shall be required to be fail-safe and safely monitored as a system at large. Yet, sensor capabilities and control algorithms used in functional therapies require, in general, frequent updates or re-configurations, making a safety-grade release of such devices hardly sustainable in cost-effectiveness and development time. As such, promising integrated platforms for human-in-the-loop therapies could not find clinical application and manufacturing support because of lacking in the maintenance of global fail-safe properties.     

Friction Measurements on Contact Lenses in Their Operating Environment

An important issue concerning the use of soft contact lenses is comfort, which, among other factors, has been related to the level of friction between the anterior side of the lens and the inner eyelid. Although several studies have been carried out to investigate the frictional properties of contact lenses, these have not taken the physiological environment of the eye into account. In use, lenses are in contact with proteins present in tears, with corneal cells and with the palpebral conjunctiva (clear membrane on inner eyelid). The focus of this study was to establish a biologically relevant measurement protocol for the investigation of friction of contact lenses that would mimic the eye’s physiological environment. By optimizing parameters such as the composition of the friction counter surface, the lubricant solution, the normal load and the velocity, an ideal protocol and setup for microtribological testing could be established and used to perform a comparative study of various commercially available soft contact lenses.     

Peak effect versus skating in high-temperature nanofriction

The physics of sliding nanofriction at high temperature near the substrate melting point, TM, is so far unexplored. We conducted simulations of hard tips sliding on a prototype non-melting surface, NaCl(100), revealing two distinct and opposite phenomena for ploughing and for grazing friction in this regime. We found a frictional drop close to TM for deep ploughing and wear, but on the contrary a frictional rise for grazing, wearless sliding. For both phenomena, we obtain a fresh microscopic understanding, relating the former to 'skating' through a local liquid cloud, and the latter to linear response properties of the free substrate surface. We argue that both phenomena occur more generally on surfaces other than NaCl and should be pursued experimentally. Most metals, in particular those possessing one or more close-packed non-melting surfaces, such as Pb, Al or Au(111), are likely to behave similarly.     

Optimal Energy Dissipation in Sliding Friction Simulations

Non-equilibrium molecular dynamics simulations, of crucial importance in sliding friction, are hampered by arbitrariness and uncertainties in the removal of the frictionally generated Joule heat. Building upon general pre-existing formulation, we implement a fully microscopic dissipation approach which, based on a parameter-free, non-Markovian, stochastic dynamics, absorbs Joule heat equivalently to a semi-infinite solid, and harmonic substrate. As a test case, we investigate the stick?Cslip friction of a slider over a two-dimensional Lennard-Jones solid, comparing our virtually exact frictional results with approximate ones from commonly adopted dissipation schemes. Remarkably, the exact results can be closely reproduced by a standard Langevin dissipation scheme, once its parameters are determined according to a general and self-standing variational procedure.