Biomechatronics /

Biomechatronics is rapidly becoming one of the most influential and innovative research directions defining the 21st century. The second edition Biomechatronics provides a complete and up-to-date account of this advanced subject at the university textbook level. This new edition introduces two new c...

Full description

Bibliographic Details
Corporate Author:	ScienceDirect (Online service)
Other Authors:	Popovic, Marko B. (Editor)
Format:	eBook
Language:	English
Published:	London : Academic Press, [2025]
Edition:	Second edition.
Subjects:	Mechatronics. Biomechanics. Mécatronique. Biomécanique. Electronic books.
Online Access:	Connect to the full text of this electronic book

Table of Contents:

Front Cover
Biomechatronics
Copyright
Memorial
Contents
Contributors
Chapter 1: Introduction
References
Chapter 2: Kinematics and dynamics
Chapter outline
2.1. Introduction
2.2. Kinematics
2.2.1. Forward kinematics
2.2.2. Inverse kinematics
2.2.3. Jacobian of coordinate transformation
2.3. Dynamics
2.3.1. Virtual work, ``inverse´´ and ``forward´´ dynamics, inverse and forward dynamics
2.3.2. Newton's equations
2.3.3. Connection between virtual work and Newton Euler approach
2.3.4. Euler-Lagrange method
2.3.5. Euler-Lagrange method vs Newton-Euler method
2.3.6. Dynamics in noninertial accelerating and rotating coordinate frame
2.3.7. Hamilton method
2.3.8. Lagrange multipliers, forces of constraints, and ground (or base) reaction forces
2.3.9. Locomotor dynamics, ground reaction forces, and ZMP
2.3.10. Static vs dynamic balance
2.3.11. Zero-moment vs moment balance strategy
2.3.12. Example of reliable balance metric for dynamic balance
2.4. Propulsion in fluids
2.5. Rotation transformation matrix
2.5.1. Orthogonal coordinate transformation and direction cosine matrix
2.5.2. The expression of the rotation matrix corresponding to an angle-Axis vector: Rodrigues formula
2.5.3. Rotation transformation matrix in the case of spherical motion of a rigid body: Euler angles
References
Chapter 3: Actuators
Chapter outline
3.1. Introduction
3.2. Synthetic muscles
3.2.1. Pneumatic artificial muscle (PAM)
McKibben muscle
3.2.2. Hydro Muscle
3.2.3. Pure fluidic elastomer actuators (FEAs)
3.2.4. Cable-driven ``muscles´´
3.2.4.1. OTM mechanism
3.2.4.2. Coiled capstan actuator
3.2.4.3. Bidirectional ratchet or how to easily introduce nonback-drivability.
3.2.4.4. Cable-driven artificial muscle attachment: From mechanical engineering to anatomy
3.2.5. Liquid-vapor transition and chemical reaction-based ``muscles´´
3.3. Electroactive polymers
3.4. Shape-memory alloys and shape-memory polymers
3.5. Variable stiffness/impedance actuators
3.5.1. Elastic element configuration and design
3.5.2. Example of practical approach to design and manufacture nonlinear spring
3.6. A brief review of nonbiologically (or less biologically) inspired conventional actuators
3.6.1. Linear actuators
3.6.2. Rotary actuators
3.7. Biological actuators: Muscles
3.7.1. Actuation of biological muscles
A. Appendix: Braided, helically wound mesh for McKibben like artificial muscle
References
Chapter 4: Sensors: Natural and synthetic
Chapter outline
4.1. Introduction
4.2. Natural sensors
4.2.1. The nervous system
4.3. Sensory receptors
4.4. Sensory receptors classified by stimulus type detected
4.4.1. Chemoreceptors
4.4.2. Mechanoreceptors
4.4.3. Thermoreceptors
4.4.4. Nociceptors
4.4.5. Electromagnetic receptors
4.5. Sensory receptors classified by stimulus location
4.5.1. Proprioceptors
4.5.2. Interoceptors
4.5.3. Extroreceptors
4.6. Synthetic biological sensors
4.6.1. Overview and challenges
4.7. Synthetic sensors
4.7.1. Chemical sensors
4.7.2. Electric sensors
4.7.3. Optical sensors
4.7.4. Mechanical sensors
4.7.5. Thermal sensors
4.7.6. Wearable sensors
4.8. Sensor fusion and integration
4.9. Integrated systems for obtaining sensory feedback
4.9.1. Force plates
4.9.2. Motion capture systems
4.9.3. VO2/CO2 sensors
4.9.4. Electrocardiography
4.9.5. Electromyography
4.10. Conclusions and future perspective
References
Further reading
Chapter 5: Control and physical intelligence.
6.2.1.1. Material of recording electrode
6.2.1.2. Electrochemical property of recording electrode
6.2.1.3. Type of recording electrode
6.2.2. Electrode configuration
6.3. Electrical stimulation
6.3.1. Theory
6.3.2. Stimulation electrode
6.4. Optical recording and stimulation
6.4.1. Optical recording
6.4.2. Optical stimulation
6.5. Applications of BMI
6.5.1. Overview of BMI application
6.5.2. Invasive BMI
6.5.3. Noninvasive BMI
6.6. Direct neural interfaces and ``proprioception´´
6.6.1. Proprioception from mechanical approach, case study
6.6.2. Agonist-antagonist myoneural interface (AMI)
References
Chapter 7: Artificial organs, tissues, and support systems
Chapter outline
7.1. Introduction
7.2. Cardiovascular and respiratory devices
7.2.1. Artificial heart-lung, circulation-assisting device, artificial heart
7.2.2. Artificial heart valve
7.2.3. Artificial blood vessel
7.2.4. Pacemaker
7.2.5. Artificial respirator
7.3. Metabolic and digestive devices
7.3.1. Artificial dialyzer
7.3.2. Artificial pancreatic islet
7.4. Sensory devices
7.4.1. Ear
7.4.1.1. Hearing process
Importance of the hearing relative to other senses
7.4.1.2. Definition of sound and the hearing process in the human ear
7.4.1.3. Hearing aids
7.4.1.4. Outer ear hearing aids
7.4.1.5. Middle ear implantable hearing aids
7.4.1.6. Bone conduction hearing aids
7.4.1.7. Cochlear implants
7.4.1.8. Brainstem implants
7.4.1.9. Balance
7.4.1.10. New concepts for cochlear implants
7.4.1.11. New concepts for bone conduction devices
7.4.2. Eye
7.4.2.1. Artificial cornea
7.4.2.2. Intraocular lens
7.4.2.3. Visual prosthesis
7.4.3. New concepts for speech and smell neuroprosthetics
7.5. Orthopedic, dentistry, plastic, and reconstructive devices.
7.5.1. Breast prosthesis
7.5.2. Dental implant
7.5.3. Artificial skin
7.5.4. Artificial dura mater
7.5.5. Artificial bone and artificial joint
7.6. Neuromodulation
References
Chapter 8: Molecular and cellular level-Applications in biotechnology and medicine addressing molecular and cellu
Chapter outline
8.1. Introduction and overview
8.2. Scaling laws
8.3. Physical considerations at the microscale
8.3.1. Microscale fluid dynamics
8.3.2. Microscale adhesion
8.3.3. Van der Waals forces
8.3.4. Capillary forces
8.3.5. Electrostatic forces
8.3.6. Friction at the microscale
8.4. Physical considerations at the nanoscale
8.4.1. Brownian motion
8.5. Approaches to micro- and nanoscale propulsion
8.5.1. Mechanically powered propulsion
8.5.2. Chemical-powered propulsion
8.5.3. Magnetically powered propulsion
8.5.4. Acoustic propulsion
8.5.5. Optical/thermal-powered propulsion
8.5.6. Propulsion through integration with motile organisms
8.5.7. Artificial intelligence control strategies
8.6. Applications of micro- and nanorobots at the molecular and cellular levels
8.6.1. Imaging
8.6.2. Diagnosis and health monitoring
8.6.3. Surgical
8.6.4. Cell manipulation
8.6.5. Cancer detection and treatment
8.6.6. Drug delivery and targeted therapy
8.6.7. Tissue engineering
8.6.8. Detoxification
8.7. Future perspective
References
Further reading
Chapter 9: Prosthetic limbs
Chapter outline
9.1. Introduction
9.1.1. Demographics and statistics
9.1.2. Passive and active prostheses
9.1.3. Engineering design challenges
9.2. Prosthetic biomechanics
9.2.1. Biomechanical fundamentals
9.2.1.1. Functional anatomy
9.2.1.2. Locomotion basics
9.2.2. Modeling and simulation
9.2.3. Experimental studies.