Bio Inspired Design - Lecture 3. Bioconstruction_Hydrostatic stiffness & motion

Bio-Inspired DesignWb2436-05

Paul Breedveld

Lecture 3 – Part 2

Hydrostatic Stiffness & Motion

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

“Moving without Bones”

Mariza

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http://monsterfinance.wordpress.com/2008/08/18/16/

Mariza

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ResultingTechnology

Cable-RingMechanism

Rolling DonutMechanism

BiologicalMechanism

HydrostaticMuscular System

HydrostaticSkeleton System

TendonSheath

Overview


Tendon Sheath Hydro MuscularHydro SkeletonTendon Sheath


Tendon Sheath =Low friction bearing

between tendon & tissue

Human Hand

Tendon Sheath Hydro MuscularHydro Skeleton


Tendon Sheath =“Bag” filled with fluid

Human Finger



F

V=constant




Stick

Push

Rolling Donut

Pushing from behindcauses buckling

& pain

Colonoscopy

Pain!

Pain!

Pain! Pain!

Mariza

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http://visualsunlimited.photoshelter.com/image/I0000pWOFIcXzjDA


Push

Pull Pulling from the fronteliminates buckling

Solution

Rolling Donut

Mariza

Typewritten Text

http://visualsunlimited.photoshelter.com/image/I0000pWOFIcXzjDA


V=constant

Rolling Donut



Rolling Donut



Mesh giveshigh Friction

Rolling Donut



Ø3cm

Rolling Donut



Rolling Donut

Crank



Rolling Donut



“How to Push when you can only Pull?”

Hydrostatic Skeleton System =Skeleton consisting of

segments filled with fluid & surrounded by muscles



Longitudinal Muscles(shorter & thicker)

Circular Muscles(longer & thinner)

Helical Muscles(axial rotation)

Fluid(V=constant)



Antagonists:Control of torsion stifness

Antagonists:Control of

bending stiffness & longitudinal stiffness

Increasing stiffnessleads to higher

hydrostatic pressure


Leech


Asymmetric contractionBending motion



Asymmetric contractionPeristaltic motion

Earthworm


Anemone:Lot of connective tissue

Not stretchable


Earthworm:No helical muscles

Leech





Hydrostatic Muscular System =Skeleton consisting of

interacting muscles



Transverse Muscles(longer & thinner)

LongitudinalMuscle Bundles

(shorter & thicker)



Squid Tentacle Sea SlugWb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion


Complex StructureComplex Motion



“How doelephantskeep their

nose open?”

Increasing stiffnessleads to higher

hydrostatic pressure



Muscular spine:Flexible link

around whichtrunc can bend



Cable Ring


Rigid Endoscope


Cable Ring


Improved depth perception!


Cable Ring

Steerable Endoscope


Gastroscopes & Colonoscopes


Cable Ring


Steerable Laparoscopic Instruments


Cable Ring


CoilSpring


Cable Ring

RingSpring



Cable Ring

CoilSpring

RingSpring


Cable RingMechanism


Cable Ring




Cable Ring

Cable RingMechanism

Ø 5 mm

2004: Endo-Periscope III


Cable Ring



Cable Ring


• New steerable mechanism• with great possibilities

• Very simple, very cheap

• Extreme miniaturisation possible

• World-wide patent application


Cable Ring



Cable Ring


Biology gives creativity!

No imitation but inspiration!

Still a wealth ofunused ideas..


Cable Ring


Education

Bio Inspired Design - Lecture 3. Bioconstruction_Hydrostatic stiffness & motion