: Polyvinylidene fluoride (PVDF), a piezoelectric material, is commonly used in tissue engineering due to its potential for mimicking the electrical microenvironment of biological conditions for tissue development. In this present research, polyvinyl alcohol (PVA) was introduced into electrospun PVDF fabrication through an electrospinning process, aiming to enhance the nanofibrous membrane's biocompatibility properties by improving the hydrophilicity properties to act as an artificial tissue scaffold. The electrospun PVDF/PVA membranes are found to be optimum at a PVDF-to-PVA ratio of 90:10 due to its excellent mechanical, morphological, and hydrophilicity conductivity properties. Fourier transform infrared (FTIR) spectroscopy verified strong hydrogen bonding interaction formed between the fluorine group of PVDF with oxygen-containing in the hydroxyl group of PVA. In-vitro cell culture showed that the enhanced hydrophilic property of electrospun PVDF/PVA could significantly enhance the cell growth. These positive results indicated that the scaffold could be implemented as artificial tissue material for tissue engineering applications.
ABSTRAK: Polivinilidena fluorida (PVDF) adalah bahan piezoelektrik yang biasa digunakan dalam kejuruteraan tisu kerana potensinya menyerupai keadaan persekitaran mikro-elektrik biologi bagi perkembangan tisu. Dalam penyelidikan ini, polivinil alkohol (PVA) diperkenalkan ke dalam fabrikasi pintalan-elektro PVDF melalui proses pemintalan-elektro, yang bertujuan bagi mengembangkan sifat biokompatibiliti membran nanogentian dengan meningkatkan sifat hidrofilik bagi menjadi perancah tisu tiruan. Membran pintalan-elektro PVDF / PVA didapati optimum pada nisbah PVDF-ke-PVA, 90:10 kerana sifat kekonduksian, mekanikal, morfologi dan hidrofiliknya yang sangat baik. Spektroskopi transformasi inframerah Fourier (FTIR) mengesahkan interaksi ikatan hidrogen yang kuat terbentuk antara kumpulan fluoro PVDF dengan oksigen yang terkandung dalam kumpulan hidroksil PVA. Kultur sel secara in-vitro menunjukkan bahawa sifat hidrofilik pintalan-elektro PVDF / PVA dapat meningkatkan pertumbuhan sel secara signifikan. Hasil positif ini menunjukkan bahawa perancah ini dapat digunakan sebagai bahan tisu buatan bagi aplikasi kejuruteraan tisu.
-Attaining a good positioning control is an important step to be achieved for a robotic hand to safely grasp an object. The safety of the grasped object can be enhanced by providing a compliant control strategy. This paper presents a model reference adaptive compliance controller where a mass spring damper system can be introduced. The performance of model-based adaptive controller with the effect of friction and stiction is investigated. A few mathematical models of friction are considered i.e. static friction (stiction), coulomb friction (dry friction), viscous friction, drag friction and square root friction. It is observed that a good positioning and compliant control are feasible in the presence of friction and stiction in simulation. It is evident that the level of compliant control can be achieved during the object grasped.
Abstract-In order to ensure that a robotic hand can successfully grasp objects without damaging them, an active compliance control can be a very useful technique to provide a safe grasping. In particular, this paper establishes a direct force control for a 3-Finger Adaptive Robot Gripper by using a PID control. A modified FSR force sensor where a plastic cover is used to ensure the contacted force during grasping can be measured and recorded. A series of grasping tests were performed to observe the performance of PID control. The experimental results show that the PID control can be a simple and reliable control scheme to provide an active compliance control through direct force control. In addition, different compliance level is feasible particularly for a stiff spongy ball.
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