Mammalian Limb Impact Simulator for Ground Stiffness Measurement
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Solution Overview
Problem
Existing devices fail to simulate the ground behavior of a mammal's limb accurately, leading to subjective assessments of sports field conditions and increased risk of accidents, particularly in equestrian surfaces, due to non-physiological loading and lack of direct measurement of penetration depth.
Innovation Solution
A device simulating a mammal's limb impact, with a vertical axis, elastic elements, and sensors to measure vertical force and penetration, replicating physiological loading conditions and providing reproducible stiffness and damping coefficient measurements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robotic device is designed to perform complex functions such as opening doors or manipulating objects, then the device complexity increases significantly, but this makes the device less suitable for deployment in large numbers across multiple environments
Solution Approach 1:
The robotic system is divided into separate functional modules: a base unit with locomotion capabilities and interchangeable end effectors (grippers, sensors, tools) that can be attached and detached. This segmentation allows complex functions to be achieved through simple combinations of basic modules, reducing overall system complexity while maintaining adaptability.
Solution Approach 2:
The base unit is designed as a universal platform that can perform multiple functions by attaching different end effectors. The same base unit can be deployed with different grippers for manipulation tasks, different sensors for environmental perception, or different tools for interaction, eliminating the need for specialized robots for each function.
2Measurement precision
If sensors and actuators are placed directly on the ground-contacting elements, then tactile sensing capability is improved, but the device becomes more susceptible to environmental hazards such as water and dust
Solution Approach 1:
Protective housings or enclosures are introduced as intermediary structures that protect sensors and actuators from environmental hazards while still allowing them to detect ground contact. The housings may include sealed compartments with controlled environments for sensitive electronics, while maintaining tactile interaction capabilities through controlled openings or flexible membranes.
3Adaptability or versatility
If the robotic device uses complex control systems to adapt to different terrains and tasks, then adaptability improves, but the computational resources and energy consumption increase
Solution Approach 1:
The robotic system incorporates pre-programmed behaviors and lookup tables for common terrains and tasks, allowing it to respond quickly without complex real-time computation. The control system selects from pre-defined motion patterns and adjustment parameters based on sensor input, reducing computational load while maintaining adaptability to various environments.
Data Source
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AI summary
Device (1) for simulating the behaviour of a mammalian limb, in particular that of an equine mammal, on the ground, and having: • - an impactor (5) in contact with the ground and intended to compress the ground, • - a mass (7) movable along a vertical rectilinear axis, • - a sensor (9) for measuring the vertical force applied to the impactor, • - a device (10) for measuring the penetration of the impactor in the ground, under the effect of the movement of the mass (7). The device can comprise a vertical shaft connected to the impactor at its lower end, and also one or more stops placed on one or more vertical rods along which the mass moves, the one or more vertical rods being connected to the vertical shaft by one or more elastic members.