What is Biomechatronics?

Biomechatronics blends biology with mechatronics (mechanical, electrical, and electronic engineering) to
create devices that mimic or enhance biological functions. It is goal to replicate human body processes,
from prosthetics to advanced medical solutions.

The role of actuators in biomechatronic systems

Actuators are the "muscles" of biomechatronic systems, converting control signals into physical
movement. Following is a division of their primary functions:

 Enabling Motion:

Actuators generate the forces and displacements needed for biomechatronic devices to replicate or
enhance biological movement. This encompasses such things as bending the limb of a prosthetic,
managing the grasp of a robotic hand, or energizing the movement of an exoskeleton.

 Mimicking Biological Function:

One of the fundamental objectives of biomechatronics is to emulate the inherent movements of living
organisms. Actuators enable this through controlled and exact motion that is similar to the roles of
muscles and other biological effectors.

 Promoting Engagement:

Actuators allow biomechatronic devices to interact with both the environment and the user. This
interaction may include a range of activities, from simple movements like grasping objects to complex
functions such as enabling ambulation in patients with mobility impairment.
Providing Feedback:
In most sophisticated biomechatronic systems, actuators are combined with sensors to enable feedback
mechanisms. This enables closed-loop control, in which the system can modify its movement according
to real-time feedback.

 Diversity of Categories:

Actuators used in biomechatronic systems can take many forms. Some examples are:
 Electric motors (DC, servo, stepper)
 Pneumatic actuators
 Hydraulic actuators

Shape memory alloys (SMAs) Essentially, actuators serve as the "muscles" of biomechatronic systems,
enabling movement and interaction with the environment around them.
 The importance of actuators in motion and force generation

There are several types of actuators used in industrial applications:

1. Electrical actuators

 These actuators convert electrical energy into mechanical movement. They find wide use in
robotics, control systems of automation, and precision control applications.

2. Pneumatic actuators

 Pneumatic actuators can utilize gas or compressed air to generate mechanical motion. They are
utilized in industries that need a clean and efficient power source.

3. Hydrolic actuators

 These actuators utilize pressurized fluid to produce movement. They are appropriate for high-end
applications and offer high force output.

4. Mechanical actuators

 Mechanical actuators utilize mechanical components such as gears, screws, or belts to produce
motion from energy. They are used in simple applications that require linear or rotational
movement.

Actuators play a vital role in the generation of force and motion and are the
interface that brings together control systems and physical action. The following
are the key roles that are their principal functions:

1) Energy Conversion:

Actuators transform power from power sources (pneumatic, hydraulic,

electrical) into mechanical force or motion. This is the fundamental
transformation to allow machines to perform physical work.

2) Empowering Regulated Mobility:

They provide accurate control over motion, allowing for exact positioning,
velocity, and force exertion. This level of precision is required in a wide
variety of applications, ranging from intricate surgical operations to
sophisticated industrial automation.
3) Driving Automation:

Actuators are the fundamental elements of automation that enable machines

to do things automatically. This results in greater efficiency, productivity, and
consistency in industries.

4) Facilitating Different Applications:

Actuators play a prominent role in many different technologies across fields

such as robotics, manufacturing, medical devices, and automobile systems.
Due to their natural versatility, actuators can be designed to meet varying
application demands.

5) Enabling Mechanical Function:

Essentially, they are what causes something to move. Without them,

electronic signals, and computer commands would have no way to enact
physical change on the real world.

Benefits of using actuators

1) Increased Efficiency:

 Automation through actuators reduces manual labor and increases

productivity.

2) Improved Accuracy:

 Precise control enhances product quality and reduces errors.

3) Enhanced Safety:

 Automated systems can perform hazardous tasks, reducing risks to human

workers.

4) Versatility:

 A wide range of actuator types allows for adaptation to diverse application

needs.

Actuator Types
 1. Hydrolic Actuators

 Linear

This actuators are used where linear motion required.

 Rotary

This actuators are used where rotary motion required.

 Telescopic

These actuators are used for applications requiring long strokes but small retracted cylinder lengths.

Hydraulic actuator definition is, a device that is used to change the fluid’s pressure energy into
mechanical is known as a hydraulic actuator.

The working principle of Hydraulic actuator is, it employs liquid pressure to operate rather than
instrument air pressure to exert a force on the diaphragm to displace the valve actuator, subsequently to
the position valve system.

 Advantages of using hydrolic actuators in biomechatronics

Increased Force and Power Focus

Hydraulic systems can produce extremely high forces in a relatively compact setup. Biomchatronic
applications that need great strength, like heavy exoskeletons and strong prosthetic limbs, require this
characteristic.

Smooth and Precise Movement

Hydraulic fluids possess incompressibility, which makes it possible to control motion easily and
precisely. These properties are essential for the simulation of human movements, which often require
small adjustments.

High Load Capacity

Hydraulic actuators are able to withstand high loads with minimal loss of performance. They are therefore
well-suited for heavy lifting or resistance operations.

Resilience and Longevity

Hydraulic systems are normally defined by their durability and strength, allowing them to survive harsh
conditions and prolonged use. This quality is beneficial for biomechatronic devices intended for
prolonged or strenuous use.

Natural feeling of strength

The way that hydraulic systems propagate force can be quite intuitive to a human operator. This has
important implications in the area of prosthetics and exoskeletons.

 Disadvantages of using hydrolic actuators in biomechatronics

Mass and Gravity:

Hydraulic systems also need pumps, reservoirs, and fluid lines, which introduce bulk and weight. This
can be a major drawback for wearable biomechatronic devices like prosthetics or exoskeletons, where
portability and comfort are significant.

Leakage Risk:

Hydraulic system is susceptible to leakage, causing fluid loss, inefficient operation, and pollution of the
environment. Leak-free operation is extremely hard to realize.

Maintenance Specifications:

These systems need to be maintained regularly, such as fluid checks, filter changes, and leak checks. This
can add to the overall expense and complexity of ownership.

Control Complexity:

It is difficult to achieve accurate and responsive hydraulic actuator control. The reasons for the
complexity of the system are the non-linearity of hydraulic fluid and the need for advanced control
algorithms.

Noise:

Hydraulic pumps are noisy, and this can be an issue in noise-free environments or for machines designed
to run for extended periods.

Ecological Issues

Hydraulic fluids, upon spilling, can be hazardous to the environment. Waste hydraulic fluids are also
environmentally issue-worthy when they are disposed of.

Energy Consumption:

Hydraulic systems, particularly those requiring some specific pressure, are referred to as being hungry for
energy. This is undesirable in mobile applications where battery power sources are used.

Hygiene:
Hydraulic systems need a very clean environment since tiny particles in the hydraulic fluid have the
potential to destroy the operation of the system. This issue can be found in real-life, day-to-day scenarios.

2. Pneumatic Actuators
 Linear Pneumatic Actuators
 Rotary Pneumatic Actuators
 Other Pneumatic Actuators

 Advantages of using Pneumatic Actuators in Bimechatronics

 Quick actuation/response time
 Simple operation and design
 Good reliability
 Safe to use in the proximity of flammable materials
 More power-to-weight ratio than other forms of pneumatic actuators

Disadvantages of using Pneumatic Actuators in Bimechatronics

 Low level of accuracy

 Affected by impurities
 Require the use of an air compressor

We can use a pneumatic or air actuator in several applications. It can be an actuator

to open and close a valve, for instance, or the part of a power device. For Example:

 Material handling and process control devices

 Automotive and aerospace applications
 To automate wastewater, chemical, or oil and gas pipelines valves, etc.

3. Piezoelectric actuators

Piezoelectric actuators are devices that utilize the piezoelectric effect to convert electrical energy into
mechanical motion. But what is the piezoelectricity effect?

Certain materials, when subjected to mechanical stress, generate an electrical charge. Conversely, when
an electrical field is applied to these materials, they undergo a change in shape. This is the piezoelectric
effect.

 Advantages:
- High precision
- Rapid response
- High force
- Low power consumption

 Application areas
- Precise positioning
- Medical area
 - Automotive devices
- Electronics

Because piezo technologies have so many applications, it's used across all industries and markets. It not
only powers smart phones and devices but also fuels keyless entry devices, audible alarms such as smoke
alarms, patient monitors, airbag sensors and fish and depth finders, to mention a few.

The inverse piezoelectric effect has applications in actuating devices such as motors and positioning
control devices with high accuracy, and in generating sonic and ultrasonic signals.

 Magnetorheological actuators

Magnetorheological (MR) actuators are devices that utilize magnetorheological fluids to control motion
and force.

 How does MR actuators work?

MR actuators use electromagnets to generate a controllable magnetic field. By varying the strength of the
magnetic field, the viscosity of the MR fluid can be precisely adjusted. This, in turn, allows for control
over the actuator's motion or force output.

 Advantages:
 Semi-active control
 Fast response
 Simple design
 Adaptability

 Disadvantages:
- Limited output
- Sedimentation
- Hysteresis
- Cost
- Fluid degredation

 Apllication:
Magnetorheological (MR) actuators are used in various fields, such as automotive industry (clutches and
brakes), aerospace and defence (landing gear, active control systems), civil engineering and etc.

Literature review:

 https://web.ics.purdue.edu/~rmanish/report/TPP_RM.pdf

This paper by Raja Manish explores the integration of mechanical components, electronics, and biological
systems to enhance human mechanical capabilities through robotic assistance. Biomechatronics is an
interdisciplinary field that combines elements of biology, mechanics, and electronics to create systems
that interact seamlessly with human physiology. The paper likely discusses the development and
application of exoskeletons—wearable robotic devices designed to augment human strength and
endurance by aligning with the body's natural movements. Such technologies have significant
implications for medical rehabilitation, industrial applications, and enhancing mobility for individuals
with physical impairments.

The paper discusses the use of pneumatic actuators in the biomechatronic exoskeleton. Pneumatic
actuators are commonly used in wearable robotics due to their lightweight nature, compliance, and ability
to generate smooth, human-like movements. They typically function using compressed air to create
motion, making them suitable for assistive devices and rehabilitation exoskeletons.

Biomechatronic exoskeletons (described in the paper) is used in several several potential application
areas. For example, it is used in medical rehab (Assisting patients recovering), industry (Reducing worker
fatigue and preventing injuries), military and defence (Improving soldiers’ endurance and strength),
elderly asistance, sports and etc.

This paper "Evaluation of Aircraft Actuator Technologies" by Felix Larsson presents an

overview of different actuator technologies in aircraft.

Introduction and Research Purpose

Aircraft actuation is an important set of devices in flight control systems that affect control
surfaces like the rudder, aileron, and elevator. The study aims to investigate alternatives to
hydraulic actuators, which can promote efficiency, weight reduction, and environmental
accountability, as the hydraulic actuation remains among the series of actuation systems widely
utilized in aircraft. This study will evaluate and compare three main types of aircraft actuators:
- Servo-Hydraulic Actuator (SHA)
- Electro-Hydrostatic Actuator (EHA)
- Electro-Mechanical Actuator (EMA)

The scope of the study is to evaluate their performance, weight, size, and environmental impact
while considering aviation operational requirements.

Actuator Technologies and Their Characteristics

#### **1. Servo-Hydraulic Actuators (SHA)**

- Being the oldest and well-trusted technology in the aviation industry, they have been in use
widely.
- The working principle is that the hydraulic fluid is put under pressure and controlled by servo
valves.
- These actuators are able to develop a lot of power and hence find application in environments
where loads are severe, such as those encountered in large commercial aircraft.
- The need for a centralized hydraulic system poses a challenge to these type actuation systems,
as they are hydra involved with the pumps, reservoirs, fluid lines; increased complexity and
weights here.
- Leakage from hydraulic systems fuses environmental issues and maintenance hurdles.

#### **2. Electro-Hydrostatic Actuators (EHA)**

- The aim of EHAs is to provide an alternative to the central hydraulic system by combining an
electric motor-driven pump with a local hydraulic circuit.
- This **"power-on-demand"** approach increases efficiency by using hydraulic power on
demand.
- EHA reduces the weight of hydraulic infrastructure while still providing force that is
comparable to conventional hydraulics.
- Its use is increasing in **"More Electric Aircraft" (MEA)** concepts.

#### **3. Electro-Mechanical Actuators (EMA)**

- EMAs use electric motors and mechanical gear systems as opposed to hydraulics.
- EMAs have superior relative achieved **efficiency, weight savings, and environmental
impact** since they are completely free from hydraulic fluid.
- EMAs face **heat dissipation and reliability** challenges in primary flight controls, presenting
significant hurdles in their adoption where loads are high.
- EMAs have already been in operation in secondary aircraft control systems, and they will go
ahead and replace more hydraulic systems in the future.

**Comparative Analysis of Actuator Technologies**

1. Performance & Efficiency**

- Electrified actuators (EHA & EMA) deliver a higher percentage of **maximum force across
different output speeds** compared to SHAs.

- It makes them the first reasonable choice for critical application as SHAs are proven greatly
reliable and technically matured.

They add to their efficiencies by removing any continuous external hydraulic pressure
requirement, thus avoiding needless energy consumption.

Though EMAs feature among those with the greatest electrical efficiencies, their thermal
management challenges may place constraints on their performance under extreme conditions.

2. Size and Weight Issues

This is one of the most significant objectives of the research. It aims to develop estimation
models for predicted conditions of how actuator types influence aircraft weights and space usage.

While all reduce the total weight of hydraulic infrastructure, SHAs still remain compact designs
that provide high force output.
Weight is a very critical factor in aviation, as even small significant reductions are translated into
lower fuel burn and reduced operating costs.

3. Environment

Because there are no hydraulic fluids at all, EMAs have the least environmental impact and risk
of leakage.

The use of sealed, localized hydraulic systems minimizes even more environmental concerns, as
with EHAs.

Potential loss of hydraulic fluids and disposal issues render SHAs the least environmentally
friendly.

Conclusion and Future Projection

The aerospace industry is undergoing a major shift toward more electric aircraft (MEA) to
increase efficiency and reliability and to make them more sustainable.

While overwhelmingly accepted as the actuators of choice, EHAs will increasingly be preferred
in new aircraft configurations due to their blend of efficiency and high power output.

Though they hold much promise for future aircraft, the existing barriers on reliability and
thermal management will need to be addressed.

Research into high-power-density electric motors, cooling systems, and advanced materials will
surely lead to broader acceptance of EMA.
It is in this regard that the current study provides relevant information the aircraft designers
would use to select the best actuators while considering specific performance needs, operational
constraints, and environmental goals.

The paper titled 'Lower Limb Prostheses and Complex Human Prosthetic
Interaction: A Systematic Literature Review' by Domínguez-Ruiz et al.
renders the whole argument with the technology on lower limb prostheses
and their usage for users as a systematic review of literature.

**Main Points:**
- **Technological Innovations:** Powered prostheses have been developed
recently to improve individuals' control, comfort, and design; thus, these all
improve life quality for persons with disabilities in lower limbs.

- **Prosthetic-User Interactions:** It compasses user understanding with

regards to the life situation by which between a user and a prosthesis
encompass interaction with a complex system.

- **Control Mechanisms:** The advancements in control systems such as

EMG signals and brain-computer interfaces proved to be fundamental in the
development of prosthetic devices having high responsiveness and
appendage intuitiveness.

- **Bionics and Locomotion:** Bionic technology thus is integrated and helps

provide a more natural movement pattern that better resembles biological
limb functions.

This systematic review would highlight how much multidisciplinary effort will
be needed to bring in prosthetic developments that will help merge these
technologies better with users' daily lives.