arXiv subjects

Sushma Santapuri

Publications and source records attributed to Sushma Santapuri.

2 recordsLinked to original sources

arXiv2023

Modeling and parametric optimization of 3D tendon-sheath actuator system for upper limb soft exosuit

This paper presents an analysis of parametric characterization of a motor driven tendon-sheath actuator system for use in upper limb augmentation for applications such as rehabilitation, therapy, and industrial automation. The double tendon sheath system, which uses two sets of cables (agonist and antagonist side) guided through a sheath, is considered to produce smooth and natural-looking movements of the arm. The exoskeleton is equipped with a single motor capable of controlling both the flexion and extension motions. One of the key challenges in the implementation of a double tendon sheath system is the possibility of slack in the tendon, which can impact the overall performance of the system. To address this issue, a robust mathematical model is developed and a comprehensive parametric study is carried out to determine the most effective strategies for overcoming the problem of slack and improving the transmission. The study suggests that incorporating a series spring into the system's tendon leads to a universally applicable design, eliminating the need for individual customization. The results also show that the slack in the tendon can be effectively controlled by changing the pretension, spring constant, and size and geometry of spool mounted on the axle of motor.

cs.RO↗

arXiv2016

Thermodynamic restrictions on linear reversible and irreversible thermo-electro-magneto-mechanical processes

A unified thermodynamic framework for characterization of functional materials is developed. This framework encompasses linear reversible and irreversible processes with thermal, electrical, magnetic, and/or mechanical effects coupled. The comprehensive framework combines the principles of classical equilibrium and non-equilibrium thermodynamics with electrodynamics of continua in the infinitesimal strain regime. In the first part of this paper, linear Thermo-Electro-Magneto-Mechanical (TEMM) quasistatic processes are characterized. Thermodynamic stability conditions are further imposed on the linear constitutive model and restrictions on the corresponding material constants are derived. The framework is then extended to irreversible transport phenomena including thermoelectric, thermomagnetic and the state-of-the-art spintronic and spin caloritronic effects. Using Onsager's reciprocity relationships and the dissipation inequality, restrictions on the kinetic coefficients corresponding to charge, heat and spin transport processes are derived. All the constitutive models are accompanied by multiphysics interaction diagrams that highlight the various processes that can be characterized using this framework.

cond-mat.mtrl-sci↗