Accepted Papers
Modeling and Simulation of E. Coli Motion Behavior based on Blender

Ye Zhou, Institute of artificial intelligence and information technology, Nanjing University of Chinese Medicine, Nanjing, China


Escherichia coli (abbreviated as E. coli) is a common bacterium both in daily life and scientific researches. In order to demonstrate the biophysical properties of Escherichia coli, the 3D model and simulation of E. coli are built based on Blender, helping with the visualization. First, a brief introduction to Blender explains why it’s chosen as the modelling software and demonstrates the advantages of Blender by comparison; next, the whole process of how the model is built through basic shapes and modifiers is provided step by step. Lastly, several C# scripts in Unity are written to make the model move as real Escherichia coli in a low Reynolds number environment to simulate the behaviour of the cell in line with a given motion mode. The final result manifests the above methods have a great performance in the construction and simulation of E. coli, which could offer ideas for further study of the simulation of the microorganism.


3D Visualization, Simulation, Blender, Escherichia coli.

Designing a hybrid wearable robot with four degrees of freedom for the wrist

Seyede Marziyeh Seyed Aghamiri1 and hasan Zohoor2, 1Master of Science of Mechatronics Engineering, South Tehran Branch, Islamic Azad University, Tehran, Iran, 2Professor, Center of Excellence in Design, Robotics and Automation, Sharif University of Technology; Academician, Academy of Sciences of IR Iran


Due to an increase in the number of elderly people who have physical disabilities in daily activities and also the use of wearable robots in rehabilitation, the design of a wearable robot is very important. In this paper, a wearable assistive robot with four Degrees of Freedom (DoFs) is developed which provides movements of forearm’s supination/pronation, flexion / extension and radial / ulnar of wrists. The robot consists of two parts: One part of the robot is series (revolute, prismatic, revolute (RPR)) and the second part is a six- bar mechanism that is planar and parallel. This robot is portable and is designed in a way that the dimensions of the robot is proportional to the patient's hand and it also provides the natural movement of the hand.


Exoskeleton, Hybrid, Rehabilitation robotics, Upper limb, kinematics.

Optimization of Internal Volume of Inflated Tube by Axial Prestretching

Zdeněk Petřivý and Lukáš Horný, Faculty of Mechanical Engineering, Czech Technical University in Prague, Technická 4, Prague, 160 00, Czech Rebulic


Arteries in vivo, in addition to pressure loading, sustain significant axial extension. It is manifested as a retraction that is observed when they are excised from a body. Previous research has shown that the axial prestretch ensures that the longitudinal motion of arteries is negligible under physiological conditions. The magnitude of the axial prestretch at which a tube does not change its length during pressurization,is referred to as the inversion point, because at this point mechanical response changes from pressure-induced elongation to pressure-induced shortening. In our study, another property observed when a nonlinear elastic tube is inflated at a constant axial load is studied. It is shown that at axial prestretching corresponding to the inversion point, when a tube exhibits no axial movement, maximum internal volume of the pressurized tube is attained.


Artery, Axial prestretch, Hyperelastic tube, Maximum volume, Pressurization.

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