Fig. 1 Schematic of device use case. The device is placed below the location of the fistula so that it does not block off the flow of urine. The collection bag is attached to the thigh via leg straps. More about this image found in Schematic of device use case. The device is placed below the location of th...

Fig. 2 Prototype and molding setup design: ( a ) side view and bottom view of the collection cup, ( b ) assembled prototype with three components: cup, Foley catheter tubing, and collection bag, ( c ) customized two-part molding setup used to fabricate collection cups, and ( d ) Foley catheter tha... More about this image found in Prototype and molding setup design: ( a ) side view and bottom view of the ...

Fig. 3 Cup-catheter connection site leakage testing setup design: ( a ) side view of testing setup and ( b )zoomed in, top view of cup placement on stand, with the buret stationed above the cup More about this image found in Cup-catheter connection site leakage testing setup design: ( a ) side view ...

Fig. 4 Benchtop setup used to test for creation of a leak-free seal with the vaginal walls and prevention of circumferential urinary leakage: ( a ) nonliving vaginal model and blood pressure cuff system used to simulate hydrostatic pressures within the vaginal canal, ( b ) side view (left) and top... More about this image found in Benchtop setup used to test for creation of a leak-free seal with the vagin...

Fig. 5 Silicone cup and simulated vaginal model developed in SolidWorks for motion analysis testing More about this image found in Silicone cup and simulated vaginal model developed in SolidWorks for motion...

Fig. 6 Plot of average downward displacement ( n  = 10) of the device as hydrostatic pressure is increased with standard error bars. There are no standard error bars for 20, 40, and 150 cm H 2 O as there was less than 1 mm of movement during all trials. Device demonstrates a vertical displacement ... More about this image found in Plot of average downward displacement ( n  = 10) of the device as hydrostat...

Fig. 1 Application scenario of the robot More about this image found in Application scenario of the robot

Fig. 2 Robot structure and prototype system: ( a ) upper limb rehabilitation robot, ( b ) omnidirectional mobile platform, ( c ) MY3 module, ( d ) wrist rehabilitation mechanism, and ( e ) prototype system More about this image found in Robot structure and prototype system: ( a ) upper limb rehabilitation robot...

Fig. 3 Coordinate system: ( a ) omnidirectional mobile platform, ( b ) wrist rehabilitation mechanism, and ( c ) upper limb rehabilitation robot More about this image found in Coordinate system: ( a ) omnidirectional mobile platform, ( b ) wrist rehab...

Fig. 4 Experiment platform and circular trajectory motion state: ( a ) experiment platform and ( b ) circular trajectory motion state More about this image found in Experiment platform and circular trajectory motion state: ( a ) experiment ...