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    cybehttp://cyberneticzoo.com

    rneticzoo.coma history of cybernetic animals and early robots

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    Early Bionics and related technologies

    Early Pneumatic, Fluidic and Inflatable Robots

    Updates

    1957 Artificial Muscle Joseph LawsMcKibben (American)

    Although "fluidic actuators" had been around for a long time prior to Joseph Laws McKibben's

    invention, none had been used previously for prosthetic applications, yet alone robotics. It was

    McKibben's use that coined the term "Artificial Muscle".

    Joe McKibben talks about his invention:

    More Help For Polio Victims

    To bring motion to his little daughter's polio-paralyzed hands, Dr. Joseph Laws McKibben, an

    atomic physicist at Los Alamos, N.M., has developed a new mechanical "muscle" which some day

    may help thousands of other paralyzed fingers to move, to grasp, even to write.

    The device, a simple nylon tube, powered by bottled carbon-dioxide gas, was demonstrated for the

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    first time at a conference on human disability. "This is the best thing we've had so far for aiding the

    crippled," said Dr. Kenneth Landauer of the National Foundation for Infantile Paralysis.

    Dr. McKibben, 46, is the physicist who triggered the first atomic-bomb test thirteen years

    ago at Alamogordo. In 1952, his daughter Karen, now 13, 'Was stricken with polio and was

    paralyzed from the neck down. Since then she has lived many months in an iron lung at the

    Rancho Los Amigos Respiratory Center in Los Angeles, one of the fifteen rehabilitation institutions

    set up by the polio foundation to treat a variety of patients, including many paralyzed by polio. Last

    fall, Dr. Vernon Nickell, chief orthopedist at the center, asked Karen's father to make some sort of

    mechanical gadget that would help the girl to use her useless fingers. "I had been considering a

    hook for Karen's use," Dr. McKibben said last week. "But Dr. Nickell suggested some kind of

    mechanical 'muscle' instead."

    Vital Valve: After studying hydraulic, electric, and gas methods of moving paralyzed arm muscles,

    McKibben found a report from German scientists who had designed an ingenious pneumatic

    gadget operated by carbon dioxide, which inflated a bellows, thereby compressing the arm muscles

    and creating a pinching motion of paralyzed fingers. "It was simple enough to sketch a valve for the

    device," McKibben added. "After all, I'm in the business of making vacuum valves."At the Rancho Los Amigos center, doctors and technicians teamed up to help McKibben perfect a

    workable device. As it stands now, the "muscle" is a small, rubber-lined plastic tube which lies

    along the paralyzed forearm and is fitted by a moving splint to the thumb and first and second

    fingers. When a lever is touched, gas from a 14-inch cylinder flows into the tube, causing a

    contracting motion, drawing the paralyzed fingers together When the lever Is touched again, the

    plastic tube is deflated and the fingers relax.

    "The device is a wonderful source of energy. It is lightweight, simple, and safe," said Dr. Nickell.

    At Rancho Los Amigos it is being used successfully on a small group of paralyzed patients. 1n New

    York, officials of the National Foundation for Infantile Paralysis announced that they would launch a

    crash research program in the hope that McKibben's invention will soon be adapted to move bothparalyzed shoulders and elbows. The same theory, said Dr. Landauer, may be applicable to

    artificial limbs and to arms and legs that are weakened, but not paralyzed, thus offering new variety

    for the limited lives of cripples. When perfected, the gadget will cost less than $100. From

    NEWSWEEK.

    [Source: The Buckingham Post - Mar 21, 1958 - Originally from Newsweek (date unknown).]

    It's interesting in that whilst the muscle itself was based on another German idea, it was the

    invention and utilization of the control valve that made this a workable lightweight, shoulder

    shrugging-controlled prosthetic arm. Even today (2012), it is the control valves that add to the

    complexity of usage of McKibben Muscles in robotics, orthotics, and the like. The "German idea"

    most likely was the development of pneumatically driven prosthetic hands and arms started in 1948

    at the Orthopaedic Hospital in Heidelberg. The "Heidelberg Hand" was invented by Dr O. Hfner

    (Haefner).

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    [heidelberg pic here]

    The pneumatics utilised was an expanding bellows situated within the claw-hand itself .

    Another "bellows" assisted arm that may have inspired or was inspired by McKibben's Arm.

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    TIGHTENED BY ARTIFICIAL MUSCLE LEADING DOWN HER ARM. FINGERS OF A

    PARALYZED GIRL GRASP AND MOLD A PEN

    ARTIFICIAL MUSCLE

    No part of man's body is more distinctively human than his handand when it becomes paralyzed,

    few disabilities are more tragic. For years doctors have been looking for a substitute for hand

    muscles which would enable victims of paralysis to touch fingers to thumb and pick things up. The

    device above, developed at the Rancho Los Amigos Rehabilitation Center in Downey, Calif., solvesthe problem.

    The artificial muscle is a sheath of woven nylon fitted over a rubber tube. Compressed gas from a

    cylinder is let into it by a valve which can be operated by any still usable body part. like an elbow.

    The gas blows up the tube, making it thicken and shorten.

    When gas is released, the muscle slims and length. ens again. The muscle is harnessed to two

    fingers and a thumb made rigid by braces. When it shortens, they are pulled together. When it

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    lengthens, they move apart. This is all the device doesand all it has to do to enable the user to

    grasp an object and let it go. The new device, permitting paralytics to eat and even type, took years

    to perfect. Most of the time was spent developing the braces. The muscle itself was invented four

    years ago by Joseph L McKibben after his daughter (below) was paralyzed by polio. McKibben is a

    Los Alamos physicist, famous as the man who pushed the switch to detonate the first A-bomb.

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    [Source: Life Magazine 14 March 1960]

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    Although the above article says the arm was invented by Dr Landauer, he was one of several who

    assisted in perfecting what's now called the "McKibben Artificial Muscle". The above example does

    not have the shoulder-control valve as designed and built by McKibben.

    [Source: Mechanix Illustrated - July 1958]

    More recent comments on the McKibben Muscle:

    Spinal Cord Medicine: Principles and Practice.

    Lin VW, Cardenas DD, Cutter NC, et al., editors.

    New York: Demos Medical Publishing; 2003.

    Historic Background

    The designs for upper limb orthoses were often originally developed for patients with conditions

    other than SCI. One of the earliest of these was the flexor-hinge hand splint. Originally designed for

    the polio patient, this orthosis transmitted the force generated by active wrist extension via a

    mechanical linkage to paralyzed index and long fingers, enabling finger closure against the thumb

    (10). The design of this orthosis evolved into what today is known as the wrist-driven, wristhand

    orthosis (WDWHO)formerly called flexor-hinge splint or tenodesis splint). This orthosis offered

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    prehension capability that had obvious application for the SCI patient. Individuals with C67

    lesions, with strong wrist extensors and paralyzed finger flexors, could utilize the WDWHO to

    improve function. The orthosis harnesses wrist extensor power and utilizes the power of wrist

    extension to flex the fingers at the metacarpophalangeal joints against a stable thumb.

    Some patients lacked sufficient wrist extensor strength to utilize the WDWHO. The development of

    external powered designs led to a system that utilized a CO2-powered artificial muscle to provide

    proportionally controlled prehension. This system was designed in 1957 at Rancho Los Amigos

    Hospital in collaboration with Dr. Joseph McKibben, a physicist whose daughter contracted polio

    [RH-2012 and was paralysed since 1952]. Dubbed the McKibben muscle, it featured a rubber

    bladder, which was covered with a woven fabric. This unit was attached to the side of the WHO.

    When pressurized with CO2, the bladder would expand against the woven fabric and shorten in

    length. This in turn operated a linkage bar, which propelled the fingers into flexion against the

    stable thumb. A two-way valve, operated by shoulder shrugging, released the pressure to allow

    finger extension.

    By the mid-1960s, smaller, more-powerful electric motors, brought a shift away from CO2 as a

    source of external power for upper limb orthoses. Electrical external power was coupled to the

    WDWHO through the use of cables and battery-powered motors. Again, there were obvious

    potential benefits to the patient with partial upper limb paralysis.

    Encouraged by results of the work with the WDWHO, orthotists and biomedical engineers at

    Rancho Los Amigos Hospital undertook a much more ambitious projecta battery-powered,

    multidimensional upper extremity orthosis that would attempt to duplicate all major motions of the

    arm and hand. Designed using anthropometric measurements, this tongue-switch controlled device

    offered the opportunity for high-level tetraplegic patients to achieve greater independence in ADLs.

    In practice, however, externally powered systems typically proved difficult to maintain. Without

    ready access to technical support personnel who could repair delicate electronic parts, the orthoses

    fell into disrepair and were discarded. Patient training was, therefore, crucial to the successful use

    of the orthoses. The complexity of orthotic design required a well-organized training program by

    occupational therapists. These two factors often proved a deterrent to continued use by all but the

    most committed patients.

    Designs reverted to more simple mechanical components, which proved easier to operate and

    maintain. One design adapted prosthetic harnessing systems to the WDWHO. Upper limb

    prostheses have long been powered by the use of strapping systems that utilize contralateral

    shoulder protraction to operate a cable that opens the terminal device. This principle was applied to

    the WDWHO with limited success.

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    Current designs continue to utilize simple mechanical components, which are more easily

    maintained.

    The Life and Times of Joseph Laws McKibben:

    ....McMillan travelled throughout the country evaluating cyclotrons that might be used for the project

    and chose the Harvard cyclotron as the best. Manley selected the University of Illinois' Cockcroft-

    Walton accelerator and two Van de Graaff accelerators at the University of Wisconsin: the "long

    tank," a 22-foot-long machine that could produce energies of up to 2.6 million electron-volts, and

    the "short tank," a 17-foot-long machine built by Joseph McKibben, a graduate physics student at

    the University of Wisconsin who accompanied both accelerators to Los Alamos.

    JOE MCKIBBEN is an 82-year-old (as at 1995) retired Los Alamos physicist who made the final

    connections to the atomic bomb after it was suspended in its tower. He was the last to leave the

    Trinity site before the explosion.

    McKibben, who still lives in the town of Los Alamos, spent the final night at ground zero to ensure

    the gadget wasn't tampered with. Mattresses had been laid at the tower base as a precautionary

    move in case the bomb fell, and at 2 a.m. McKibben lay down to get some sleep. He was

    awakened by a pre-dawn lightning storm that spattered him with rain.

    He closed the switches at the base of the tower, drove 800 yards to a relay station and threw

    switches there, then came back to the tower. Because of the storm the test was pushed back an

    hour, to 5:30 a.m. Communication was difficult because scientists were using the same radio

    frequency as a nearby Voice of America station. Finally, he made his final connections and drove to

    his bunker about two miles away. Photo floodlights were turned on inside to allow cameras to

    record the final countdown.

    Then the bomb went off.

    "I had a photo flood on, but suddenly realized there was a lot more light coming in the back door,"

    he recalled. "It was very brilliant outside." He threw one more switch to trigger instruments

    measuring the blast, then rushed outside 13 seconds after the bomb ignited. "I ran out and took a

    look at it. It was a big ball of fire, brilliantly colored and highly turbulent. The color was somewhere

    between red and purple."

    What was he thinking? "I felt we had been successful in our project. I knew the war would soon be

    over."

    Four hours after the explosion, the cruiser Indianapolis steamed out of San Francisco Bay bearinga bomb nicknamed Little Boy. It was headed for the bomber base on Tinian Island in the South

    Pacific, where it would be loaded on a Boeing B-29 and dropped on Hiroshima, Japan, on Aug. 6.

    Little Boy was not quite as powerful as Fat Man; it exploded with a force of about 16,000 tons of

    TNT.

    After its delivery, the Indianapolis was torpedoed by a Japanese submarine and its crew was spilled

    into the water. More than 500 of them drowned or were devoured by sharks.

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    Pieces of a copy of Trinity's Fat Man, again fueled with Hanford plutonium, were delivered by air to

    Tinian, assembled and dropped on Nagasaki, three days after Hiroshima. It exploded with the

    power of 22,000 tons of TNT.

    Because of the chaos and obliteration following the bombings and uncertainty about attributing

    cancer deaths to radiation, estimates of deaths from the two bombs range from 115,000 to

    340,000. If the latter is correct -- and it is closer to the historical consensus -- the two "gadgets"

    killed more Japanese than all the Americans killed in all the battles of World War II.

    They also ended a war that had, with conventional weapons, already claimed at least 40 million

    people. In just one horrific example, the Japanese army is estimated to have massacred as many

    as 200,000 Chinese civilians in Shanghai in 1937.

    Tags:1957,Air Muscle,American,Artificial Muscle,Fluidic Actuator,Fluidic Muscle,Joseph Laws

    McKibben, McKibben Muscle,pneumatic muscle,Prosthesis

    This entry was posted on Sunday, April 8th, 2012 at 3:28 pm and is filed underBionics,Man Amplifiers,Teleoperators. You

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