Objectives. The aim of this study was to develop and validate three-dimensional (3D) finite element modeling for prediction of orthodontic tooth movement. Materials and Methods. Two orthodontic patients were enrolled in this study. Computed tomography (CT) was captured 2 times. The first time was at T₀ immediately before canine retraction. The second time was at T₄ precisely at 4 months after canine retraction. Alginate impressions were taken at 1 month intervals (T₀–T₄) and scanned using a digital scanner. CT data and scanned models were used to construct 3D models. The two measured parameters were clinical tooth movement and calculated stress at three points on the canine root. The calculated stress was determined by the finite element method (FEM). The clinical tooth movement was measured from the differences in the measurement points on the superimposed model. Data from the first patient were used to analyze the tooth movement pattern and develop a mathematical formula for the second patient. Calculated orthodontic tooth movement of the second patient was compared to the clinical outcome. Results. Differences between the calculated tooth movement and clinical tooth movement ranged from 0.003 to 0.085 mm or 0.36 to 8.96%. The calculated tooth movement and clinical tooth movement at all reference points of all time periods appeared at a similar level. Differences between the calculated and clinical tooth movements were less than 0.1 mm. Conclusion. Three-dimensional FEM simulation of orthodontic tooth movement was achieved by combining data from the CT and digital model. The outcome of the tooth movement obtained from FEM was found to be similar to the actual clinical tooth movement.

Total-contact orthosis (TCO) is one kind of foot orthosis (FO) that is used to adjust biomechanics in flexible flatfoot. To determine the effects of a TCO on the MLA moment, MLA deformation angle and lower limb biomechanics. Cross-sectional study. Seven-flatfoot and thirteen-normal foot subjects were recruited by footprint and radiographs. The biomechanics of subjects with normal foot (NF), flatfoot with shoe only (FWOT) and flatfoot with TCO (FWT) were collected in a 3D motion analysis laboratory and force plates. The MLA and lower limb biomechanics in each condition during specific sub-phases of stance were analyzed. The NF had larger MLA eversion moment after shod walking (p = 0.001). The FWT condition compared with the FWOT condition had a significantly larger peak MLA upward moment (p = 0.035) during pre-swing, larger peak knee external rotation angle (p = 0.040) during mid stance, smaller peak knee extension moment during terminal stance (p = 0.035) and a larger ground reaction force in the anterior-posterior direction during early stance (p < 0.05). Our study found positive effects from the customized TCOs which included an increased TCO angle that led to a decreased peak MLA moment in the frontal plane in flexible flatfoot subjects during walking. Lower limb biomechanics is different from normal in subjects with flexible flatfoot. The design of a TCO affects MLA, ankle and knee biomechanics and may be used to clinically correct biomechanical changes in flexible flatfoot.

Soft actuator technology is extensively utilized in robotic manipulation applications. However, several existing designs of soft actuators suffer from drawbacks such as a complex casting process, a multi-air chamber configuration, and insufficient grasping force. In this study, we propose a novel soft bellow design featuring a single air chamber, which simplifies the fabrication process of the actual model. To enhance the performance of the proposed design, we employ the Box–Behnken response surface design to generate a design matrix for implementing different levels of design factors in the finite element model. The FEA response is then subjected to an analysis of variance to identify significant factors and establish a regression model for deformation and stress response prediction. Among the considered responses, the wall thickness emerges as the most influential factor, followed by the divided ratio of radians and the number of bellows. Validation of the optimized soft bellow actuator’s deformation response is performed through comparison with experimental data. Moreover, the soft bellow actuator is capable of exerting a pulling force of 8.16 N when used in conjunction with a simple gripper structure design, enabling effective object manipulation. Additionally, the soft bellow design boasts cost-effectiveness and easy moldability, facilitating seamless integration with different gripper frames for diverse applications. Its simplicity and versatility make it a promising choice for various robotic manipulation tasks.

Stroke is a primary cause of death and the leading cause of permanent disability in adults. There are many stroke survivors, who live with a variety of levels of disability and always need rehabilitation activities on daily basis. Several studies have reported that usage of rehabilitation robotic devices shows the better improvement outcomes in upper-limb stroke patients than the conventional therapy-nurses or therapists actively help patients with exercise-based rehabilitation. This research focuses on the development of an autonomous robotic trainer designed to guide a stroke patient through an upper-limb rehabilitation task. The robotic device was designed and developed to automate the reaching exercise as mentioned. The designed robotic system is made up of a four-wheel omni-directional mobile robot, an ATI Gamma multi-axis force/torque sensor used to measure contact force and a microcontroller real-time operating system. Proportional plus Integral control was adapted to control the overall performance and stability of the autonomous assistive robot. External force control was successfully implemented to establish the behavioral control strategy for the robot force and velocity control scheme. In summary, the experimental results indicated satisfactorily stable performance of the robot force and velocity control can be considered acceptable. The gain tuning for proportional integral (PI) velocity control algorithms was suitably estimated using the Ziegler-Nichols method in which the optimized proportional and integral gains are 0.45 and 0.11, respectively. Additionally, the PI external force control gains were experimentally tuned using the trial and error method based on a set of experiments which allow a human participant moves the robot along the constrained circular path whilst attempting to minimize the radial force. The performance was analyzed based on the root mean square error (E_RMS) of the radial forces, in which the lower the variation in radial forces, the better the performance of the system. The outstanding performance of the tests as specified by the E_RMS of the radial force was observed with proportional and integral gains of K_p = 0.7 and K_i = 0.75, respectively.