This paper proposes a novel piezoelectric energy harvesting device driven by aeroelastic flutter vibrations of a simple pin connected flap and beam. The system is subject to a modal convergence flutter response above a critical wind speed and then oscillates in a limit cycle at higher wind speeds. A linearized analytical model of the device is derived to include the effects of the three-way coupling between the structural, unsteady aerodynamic, and electrical aspects of the system. A stability analysis of this model is presented to determine the frequency and wind speed at the onset of the flutter instability, which dictates the cut-in conditions for energy harvesting. In order to estimate the electrical output of the energy harvester, the amplitude and frequency of the flutter limit cycle are also investigated. The limit cycle behavior is simulated in the time domain with a semi-empirical nonlinear model that accounts for the effects of the dynamic stall over the flap at large deflections. Wind tunnel test results are presented to determine the empirical aerodynamic model coefficients and to characterize the power output and flutter frequency of the energy harvester as functions of incident wind speed.

In spite of extensive modeling and characterization efforts, little is known about the energetics of McKibben muscle actuators. This article experimentally investigates the effectiveness of traditional McKibben muscles at converting fluid energy delivered to the actuator to mechanical output work over full actuation cycles. Once these efficiency metrics are established, a comparison of the efficiencies of traditional pneumatic fluidic artificial muscles and hydraulic fluidic artificial muscles is presented. Two new hydraulic oil compatible bladder materials are tested-an elastomeric Viton bladder and an inelastic low-density polyethylene bladder. The performance of these muscle variants is compared by measuring blocked force and free contraction as a function of pressure, hysteresis, and energy efficiencies. The measurement of fluid volume delivered to the fluidic artificial muscles over their actuation ranges is shown to be useful for evaluating the accuracy of existing cylindrical volume models. Models of the energy conversion efficiency are developed and compared to the experimental data. The results show that using an inelastic bladder significantly improves the efficiency, force capacity, and contraction range of McKibben muscles; however, it also increases the actuator's hysteretic behavior. Powering the muscles hydraulically and operating at higher pressures improves the efficiency as well.

The therapeutic and toxic effects of drugs are often generated through effects on distinct cell types in the body. Selective delivery of drugs to specific cells or cell lineages would, therefore, have major advantages, in particular, the potential to significantly improve the therapeutic window of an agent. Cells of the monocyte-macrophage lineage represent an important target for many therapeutic agents because of their central involvement in a wide range of diseases including inflammation, cancer, atherosclerosis, and diabetes. We have developed a versatile chemistry platform that is designed to enhance the potency and delivery of small-molecule drugs to intracellular molecular targets. One facet of the technology involves the selective delivery of drugs to cells of the monocyte-macrophage lineage, using the intracellular carboxylesterase, human carboxylesterase-1 (hCE-1), which is expressed predominantly in these cells. Here, we demonstrate selective delivery of many types of intracellularly targeted small molecules to monocytes and macrophages by attaching a small esterase-sensitive chemical motif (ESM) that is selectively hydrolyzed within these cells to a charged, pharmacologically active drug. ESM versions of histone deacetylase (HDAC) inhibitors, for example, are extremely potent anticytokine and antiarthritic agents with a wider therapeutic window than conventional HDAC inhibitors. In human blood, effects on monocytes (hCE-1-positive) are seen at concentrations 1000-fold lower than those that affect other cell types (hCE-1-negative). Chemical conjugates of this type, by limiting effects on other cells, could find widespread applicability in the treatment of human diseases where monocyte-macrophages play a key role in disease pathology.

We investigate taking advantage of the lightweight, compliant nature of fluidic artificial muscles to create variable recruitment actuators in the form of artificial muscle bundles. Several actuator elements at different diameter scales are packaged to act as a single actuator device. The actuator elements of the bundle can be connected to the fluidic control circuit so that different groups of actuator elements, much like individual muscle fibers, can be activated independently depending on the required force output and motion. This novel actuation concept allows us to save energy by effectively impedance matching the active size of the actuators on the fly based on the instantaneous required load. This design also allows a single bundled actuator to operate in substantially different force regimes, which could be valuable for robots that need to perform a wide variety of tasks and interact safely with humans. This paper proposes, models and analyzes the actuation efficiency of this actuator concept. The analysis shows that variable recruitment operation can create an actuator that reduces throttling valve losses to operate more efficiently over a broader range of its force-strain operating space. We also present preliminary results of the design, fabrication and experimental characterization of three such bioinspired variable recruitment actuator prototypes.