dc.contributor.advisor |
Xu, P |
en |
dc.contributor.advisor |
Cheng, LK |
en |
dc.contributor.author |
Zhu, Mingzhu |
en |
dc.date.accessioned |
2016-10-13T03:25:10Z |
en |
dc.date.issued |
2016 |
en |
dc.identifier.uri |
http://hdl.handle.net/2292/30732 |
en |
dc.description.abstract |
Dysphagia, the medical term for swallowing disorders, is a major problem for the elderly, leading to low quality of life, high cost of care, and at times, to death. One approach to improving the safety and efficiency of the swallowing process in dysphagic patients is to provide foods with modified viscosities. In this research, a bio-inspired swallowing robot with embedded stretchable deformation sensor matrix has been developed as a platform to explore the mechanisms of the human swallowing process and to evaluate the properties of food boluses. To profile the peristaltic waveform, the soft-bodied swallowing robot was scanned by videofluoroscopy; the scan also provided the researchers with the real time observation of the robot’s response. The conduit’s deformation and the structural changes in the internal chamber were recorded by videofluoroscopy in order to profile the peristaltic waveform; next they were analysed using the imaging process software, ImageJ. The results obtained have provided the conduit deformation that serves as an inspiration for the development of a unique sensation technique for the swallowing robot. The mathematical model for a central pattern generator (CPG) was used to generate oscillations to command the swallowing robot to achieve the required peristaltic waveforms needed for bolus transportation through the robot’s conduit. The control logic for primary and secondary peristalsis was inspired by the oesophageal swallowing process in humans. The CPG for the research has been designed and an interactive GUI (graphical user interface) has been developed to assist in the CPG’s tuning and signal analysis. A stretchable deformation sensor matrix based on carbon nanocomposite has been developed. The sensor matrix for the robot contains four sensor strips, with 12 sensor pads in each strip; this number corresponds to the number of inflation chambers for the swallowing robot. According to the characterisation results, the gauge factor for the working range is 2.2 of the linearity of R2=0.9677 over the working pressure range of 0-80 kPa; the sensor matrix has an average resistance variance of 120%/kPa and exhibits a hysteresis of 20%; the resolution of the deformation measurement is 0.1 mm. |
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dc.publisher |
ResearchSpace@Auckland |
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dc.relation.ispartof |
PhD Thesis - University of Auckland |
en |
dc.relation.isreferencedby |
UoA99264895408802091 |
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dc.rights |
Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. |
en |
dc.rights.uri |
https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm |
en |
dc.rights.uri |
http://creativecommons.org/licenses/by-nc-sa/3.0/nz/ |
en |
dc.title |
Peristalsis Control and Sensing of a Soft-bodied Swallowing Robot |
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dc.type |
Thesis |
en |
thesis.degree.discipline |
Mechatronics Engineering |
en |
thesis.degree.grantor |
The University of Auckland |
en |
thesis.degree.level |
Doctoral |
en |
thesis.degree.name |
PhD |
en |
dc.rights.holder |
Copyright: The author |
en |
dc.rights.accessrights |
http://purl.org/eprint/accessRights/OpenAccess |
en |
pubs.elements-id |
542751 |
en |
pubs.record-created-at-source-date |
2016-10-13 |
en |
dc.identifier.wikidata |
Q112931900 |
|