In elastic wave systems, combining the powerful concepts of resonance and spatial grading within structured surface arrays enable resonant metasurfaces to exhibit broadband wave trapping, mode conversion from surface (Rayleigh) waves to bulk (shear) waves, and spatial frequency selection. Devices built around these concepts allow for precise control of surface waves, often with structures that are subwavelength, and utilise Rainbow trapping that separates the signal spatially by frequency. Rainbow trapping yields large amplifications of displacement at the resonator positions where each frequency component accumulates. We investigate whether this amplification, and the associated control, can be used to create energy harvesting devices; the potential advantages and disadvantages of using graded resonant devices as energy harvesters is considered. We concentrate upon elastic plate models for which the A ₀ mode dominates, and take advantage of the large displacement amplitudes in graded resonant arrays of rods, to design innovative metasurfaces that trap waves for enhanced piezoelectric energy harvesting. Numerical simulation allows us to identify the advantages of such graded metasurface devices and quantify its efficiency, we also develop accurate models of the phenomena and extend our analysis to that of an elastic half-space and Rayleigh surface waves.

Introduction: Soft robotic wearable devices, referred to as exosuits, can be a valid alternative to rigid exoskeletons when it comes to daily upper limb support. Indeed, their inherent flexibility improves comfort, usability, and portability while not constraining the user’s natural degrees of freedom. This review is meant to guide the reader in understanding the current approaches across all design and production steps that might be exploited when developing an upper limb robotic exosuit.Methods: The literature research regarding such devices was conducted in PubMed, Scopus, and Web of Science. The investigated features are the intended scenario, type of actuation, supported degrees of freedom, low-level control, high-level control with a focus on intention detection, technology readiness level, and type of experiments conducted to evaluate the device.Results: A total of 105 articles were collected, describing 69 different devices. Devices were grouped according to their actuation type. More than 80% of devices are meant either for rehabilitation, assistance, or both. The most exploited actuation types are pneumatic (52%) and DC motors with cable transmission (29%). Most devices actuate 1 (56%) or 2 (28%) degrees of freedom, and the most targeted joints are the elbow and the shoulder. Intention detection strategies are implemented in 33% of the suits and include the use of switches and buttons, IMUs, stretch and bending sensors, EMG and EEG measurements. Most devices (75%) score a technology readiness level of 4 or 5.Conclusion: Although few devices can be considered ready to reach the market, exosuits show very high potential for the assistance of daily activities. Clinical trials exploiting shared evaluation metrics are needed to assess the effectiveness of upper limb exosuits on target users.

We experimentally demonstrate temporal pumping of elastic waves in an electromechanical waveguide. Temporal pumping exploits a virtual dimension mapped to time, enabling the generation and control of edge states, typical of two-dimensional systems, in a one-dimensional waveguide. We show experimentally that the temporal modulation of the stiffness drives the transfer of edge states from one boundary of the waveguide to the other. The considered implementation, that consists of an elastic waveguide coupled with tunable electrical impedances, allows the pumping to occur in a controllable manner. The framework presented herein opens new avenues for the manipulation and transport of information through elastic waves, with potential technological applications for digital delay lines and digitally controlled waveguides. This Letter also explores higher-dimensional topological physics using virtual dimensions mapped to time in electromechanical systems.

In this work, we experimentally achieve 1-kHz-wide directional band gaps for elastic waves spanning a frequency range from approximately 8 to 11 kHz. One-way propagation is induced by way of a periodic waveguide consisting of an aluminum beam partially covered by a tightly packed array of piezoelectric patches. The patches are connected to shunt circuits, where switches allow a periodic modulation in time of the beam properties. A traveling stiffness profile is imposed by phasing the modulation of each active element, inducing the propagation of a plane wave along the material and establishing unidirectional wave propagation at band-gap frequencies.

The letter presents a force-tracking impedance controller granting a free-overshoots contact force (mandatory performance for many critical interaction tasks such as polishing) for partially unknown interacting environments (such as leather or hard-fragile materials). As in many applications, the robot has to gently approach the target environment (whose position is usually not well-known), then execute the interaction task. Therefore, the algorithm has been designed to deal with both the free space approaching motion (phase a.) and the succeeding contact task (phase b.) without switching from different control logics. Control gains have to be properly calculated for each phase in order to achieve the target force tracking performance (i.e., free-overshoots contact force). In detail, phase a. control gains are optimized based on the impact collision model to minimize the force error during the following contact task, while phase b. control gains are analytically calculated based on the solution of the LQR optimal control problem. The analytical solution grants the continuous adaptation of the control gains during the contact phase on the estimated value of the environment stiffness (obtained through an on-line extended Kalman filter). A probing task has been carried out to validate the performance of the control with partially unknown contact environment properties. Results show the avoidance of force overshoots and instabilities.