Bio-Inspired DesignWb2436-05

Paul Breedveld

Lecture 3 – Part 2

Hydrostatic Stiffness & Motion

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

“Moving without Bones”

ResultingTechnology

Cable-RingMechanism

Rolling DonutMechanism

BiologicalMechanism

HydrostaticMuscular System

HydrostaticSkeleton System

TendonSheath

Overview

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro SkeletonTendon Sheath

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath =Low friction bearing

between tendon & tissue

Human Hand

Tendon Sheath Hydro MuscularHydro Skeleton

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath =“Bag” filled with fluid

Human Finger

Tendon Sheath Hydro MuscularHydro Skeleton

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

F

V=constant

Tendon Sheath Hydro MuscularHydro Skeleton

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Stick

Push

Rolling Donut

Pushing from behindcauses buckling

& pain

Colonoscopy

Pain!

Pain!

Pain! Pain!

Tendon Sheath Hydro MuscularHydro Skeleton

Push

Pull Pulling from the fronteliminates buckling

Solution

Rolling Donut

Tendon Sheath Hydro MuscularHydro Skeleton

V=constant

Rolling Donut

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Rolling Donut

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Mesh giveshigh Friction

Rolling Donut

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Ø3cm

Rolling Donut

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Rolling Donut

Crank

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Rolling Donut

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

“How to Push when you can only Pull?”

Hydrostatic Skeleton System =Skeleton consisting of

segments filled with fluid & surrounded by muscles

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Longitudinal Muscles(shorter & thicker)

Circular Muscles(longer & thinner)

Helical Muscles(axial rotation)

Fluid(V=constant)

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Antagonists:Control of torsion stifness

Antagonists:Control of

bending stiffness & longitudinal stiffness

Increasing stiffnessleads to higher

hydrostatic pressure

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Leech

Tendon Sheath Hydro MuscularHydro Skeleton

Asymmetric contractionBending motion

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Asymmetric contractionPeristaltic motion

Earthworm

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Anemone:Lot of connective tissue

Not stretchable

Tendon Sheath Hydro MuscularHydro Skeleton

Earthworm:No helical muscles

Leech

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Hydrostatic Muscular System =Skeleton consisting of

interacting muscles

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Transverse Muscles(longer & thinner)

LongitudinalMuscle Bundles

(shorter & thicker)

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

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

Tendon Sheath Hydro MuscularHydro Skeleton

Complex StructureComplex Motion

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

“How doelephantskeep their

nose open?”

Increasing stiffnessleads to higher

hydrostatic pressure

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Muscular spine:Flexible link

around whichtrunc can bend

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Cable Ring

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Rigid Endoscope

Tendon Sheath Hydro MuscularHydro Skeleton

Cable Ring

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Improved depth perception!

Tendon Sheath Hydro MuscularHydro Skeleton

Cable Ring

Steerable Endoscope

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Gastroscopes & Colonoscopes

Tendon Sheath Hydro MuscularHydro Skeleton

Cable Ring

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Steerable Laparoscopic Instruments

Tendon Sheath Hydro MuscularHydro Skeleton

Cable Ring

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

CoilSpring

Tendon Sheath Hydro MuscularHydro Skeleton

Cable Ring

RingSpring

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Cable Ring

CoilSpring

RingSpring

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Cable RingMechanism

Tendon Sheath Hydro MuscularHydro Skeleton

Cable Ring

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Cable Ring

Cable RingMechanism

Ø 5 mm

2004: Endo-Periscope III

Tendon Sheath Hydro MuscularHydro Skeleton

Cable Ring

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Cable Ring

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

• New steerable mechanism• with great possibilities

• Very simple, very cheap

• Extreme miniaturisation possible

• World-wide patent application

Tendon Sheath Hydro MuscularHydro Skeleton

Cable Ring

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Tendon Sheath Hydro MuscularHydro Skeleton

Cable Ring

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion

Biology gives creativity!

No imitation but inspiration!

Still a wealth ofunused ideas..

Tendon Sheath Hydro MuscularHydro Skeleton

Cable Ring

Wb2436-05, Paul Breedveld, Hydrostatic Stiffness & Motion