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This paper aims to investigate the perception threshold (PT) of electrotactile stimulation under non-steady contact condition (NSCC) which is rarely considered in previous reports mainly because of the difficulty with experimental control. Three factors of NSCC are involved, including the current alternating frequency, the tapping interval of stimulation and the stimulating area of skin. The study is aimed at providing the basic PT data for design and application of wearable and portable electrotactile device.

The up-down method was selected to assess PT, and 72 experimental scenarios were constructed. During the study, we developed an experimental platform with the function of data record and programmable current stimulation. With psychophysical experiment, more than 10,000 data were collected. Furthermore, statics analysis and ANOVA test were opted for exploring the main factor influencing PT.

NSCC has different PTs on each body location, and PT has a positive correlation with frequency. In general, PT in NSCC is significantly lower than that in SCC. In some cases, it can be lower by more than 60 per cent. In addition, women have a lower PT than men across all age groups, and the younger is generally more sensitive than the older in electro-sensation.

Limited factors of NSCC were considered in this study. Contact time and break interval should be investigated in the future work.

The paper includes implications for the development of smart electrotactile device.

This paper fulfills a challenge in assessing the PT under NSCC.

Soft rod-climbing robots have been known to have great potential in a wide variety of working conditions, including cable inspection and pipeline maintenance. However, one of the most notable issues preventing their popular adoption is their inability to effectively cross obstacles or transfer between rods. To overcome these difficulties, this paper aims to propose an inchworm-inspired soft robot with omni-directional steering.

Theoretical models are first established to analyze the telescopic deformation, bending, steering and climbing ability of the soft robot. The main modes of movement the soft robot is expected to encounter is then determined through controlled testing so to verify their effectiveness (those being rod climbing, steering and obstacle surmounting).

The soft robot demonstrated a capability to cross obstacles 1.3 times its own width and bend 120° omni-directionally, evidencing outstanding abilities in both omni-directional steering and obstacle surmounting. In addition, the soft robot also exhibited acceptable climbing performance in a variety of working conditions such as climbing along vertical rods, transferring between rods with differing diameters or friction surfaces and bearing a payload.

The soft robot proposed in this paper possesses abilities that are both exceptional and crucial for practical use, specifically with regard to its omni-directional steering and obstacle surmounting.

The purpose of this paper is to examine the application of low-end, low-fidelity (gaming/consumer-level) haptic devices for medical-based, surgical skills development (surgical bone-based drilling in particular) with serious games and virtual simulations as an affordable training solution with the potential of complementing current and traditional training methods.

The authors present the adaptation of two low-end haptic devices (Novint Falcon and Geomagic 3D Touch) to simulate a surgical drill drilling through bone for a serious game developed for total knee arthroplasty training. The implementation was possible through the analysis of the bone drilling mechanics. The authors provide a quantitative comparison of both haptic devices with respect to forces, movements, and development.

Although further testing is required, the initial results demonstrate that the low-end, consumer-level haptic devices can be incorporated into virtual environments/serious games to allow for the simulation of surgical drilling. The authors also believe that the results will generalize and allow these devices to be used to simulate a variety of technical-based medical procedures.

In contrast to previous work where the focus is placed on cost-prohibitive haptic devices, this approach considers affordable consumer-level solutions that can be easily incorporated into a variety of serious games and virtual simulations. This holds promise that haptic-based virtual simulation and serious games become more widespread, ultimately ensuring that medical trainees are better prepared before exposure to live patients.

The purpose of this paper is to consider various possible constraints of the problem of production and maintenance planning control for a multi-machine under subcontracting constraint, in order to bring the manufacturer industry closer to real mode. In this paper, we present an efficient and feasible optimal solution, by comparing optimization procedures.

Our manufacturing system is composed of parallel machines producing a single product, to satisfy a random demand under a given service level. In fact, the demand is greater than the total capacity of the set of machines; hence there rises a necessity of subcontracting to complete the missing demand. In addition, we consider that the unit cost of subcontracting is a variable depending on the quantity subcontracted. As a result, we have developed a stochastic optimal control model. Then, to solve the problem we compared three optimization methods: (exact/approximate), the genetic algorithm (GA), the Pattern Search (PS) and finally fmincon. Thus, we validate our approach via a numerical example and a sensitivity analysis.

This paper defines an internal production plan, a subcontracting plan and an optimal maintenance strategy. The optimal solution presented in this paper significantly improves the ability of the decision maker to consider larger instances of the integrated model. In addition, the decision maker can answer the following question: Which is the most optimal subcontractor to choose?

The approach developed deals with the case of the real-mode manufacturing industry, taking into consideration different constraints and determining decision variables which allow it to expand the profits of the manufacturing industry in different domains such as automotive, aeronautics, textile and pharmacies.

This paper is one of the few documents dealing with the integrated maintenance in subcontracting constraint production which considers the complex aspect of the multi-machine manufacturing industry. We also dealt with the stochastic aspect of demand and failures. Then, we covered the impact of the unit cost variation of subcontracting on the total cost. Finally, we shed light on a comparison between three optimization methods in order to arrive at the most optimal solution.