For technical or medical applications, the knowledge of the exact kinematics of the human hand is key to utilizing its capability to handle and manipulate objects and to communicate with other humans or machines. The optimal relationship between the number of measurement parameters, measurement accuracy as well as complexity, usability and cost of the measuring systems is hard to find. Biomechanic assumptions, the concepts of a biomechatronic system and the mechatronic design process as well as commercially available components are used to develop a sensorized glove. The proposed wearable can measure 14 of 15 angular values of a simplified hand model introduced in this paper. Additionally, five contact pressure values at the fingertips and inertial data of the whole hand with a degree of freedom of six are gathered. Due to the modular design and a hand size examination based on anthropometric parameters, the concept of the wearable is applicable for a large variety of hand sizes and adaptable to different use cases. Validations show a combined root-mean-square error of 0.99° to 2.38° for the measurement of all joint angles at one finger, surpassing the human perception threshold and the current state of the art in science and technology for comparable systems.

Low temperature cofired ceramics (LTCC) have conquered a niche segment in biological microelectromechanical systems (BioMEMS) during the last two decades. Since 3-dimensional assembly and rapid prototyping capability are outstanding features of the technology, bioreactors with complex geometry can easily be produced. Particularly needed functions are working electrodes, e.g. for impedance measurements and reference electrodes consisting in platinum or silver-silver chloride. Although the distinct grainy surface of thick film materials influences the double layer properties, data describing the bioelectronic interface and biocompatibility of common thick film materials are rarely published up to now. This works aims to fill this gap by studying the surface properties, composition, electrochemical properties and biocompatibility of commercially available thick film materials. It was found that thick film gold is suitable as electrode material in direct cell contact since an appropriate proliferation of the cell culture was observed. Poly(3,4-ethylenedioxythiophene) coating decreases the absolute value of the zeta potential of thick film gold from 16.55 V to 11.78 mV without any change in vitality of the cells. Thick film platinum layers have a porous structure entailing an enlargement of the effective surface by a factor of 21.6 and can be used as reference instead of silver/silver chloride, which was identified to be incompatible with cell culture. The investigations show that some commercially available cost-effective thick film materials are compatible with cell culture and the here presented data give an orientation for the use of the same in LTCC bioreactors.

Continuum robots play the role of end-effector in various surgical robots and endoscopic devices. The robots may be categorized as rigid or soft continuum robots (SCRs). While the SCRs have proven advantages such as safety and compliance, more research and development are required to enhance their capability for specific medical scenarios. This research aims at designing a soft robot considering concepts of geometric and kinematic similarities. The chosen application is a semi-invasive medical application known as Transesophageal Echocardiography (TEE), but the methodology can be implemented in other similar applications. Since established rigid carrier construction make use of principles we find as well embodied in vertebral spines, the paragon for soft robot solution can be the phylogenetic precursor of the spine, the Chorda dorsalis. The feasibility of fabrication of a soft endoscopic device derived from that paragon within a robotics laboratory was shown empirically by producing a three-segment pneumatic SCR. The kinematic model was proposed based on the method of transformation matrices, and an algorithm based on a self-organizing map (SOM) was proposed and applied to realize kinematic similarity. The simulation results indicate that the algorithm acting as an open-loop controller forces the soft robot tip to follow the desired path which in this case is the path of the rigid probe. It is concluded that the solution provides a soft robot that can surrogate and succeed the traditional rigid counterpart owing to size, workspace, and kinematics.