With the increase in popularity of virtual reality (VR) systems, haptic devices have been garnering interest as means of augmenting users' immersion and experiences in VR. Unfortunately, most commercial gloves available on the market are targeted towards enterprise and research, and are too expensive to be accessible to the average consumer for entertainment. Some efforts have been made by gaming and do-it-yourself (DIY) enthusiasts to develop cheap, accessible haptic gloves, but due to cost limitations, the designs are often simple and only provide feedback at the fingertips. Considering the many types of grasps used by humans to interact with objects, it is evident that haptic gloves must offer feedback to many regions of the hand, such as the palm and lengths of the fingers to provide more realistic feedback. This thesis discusses a novel, affordable design that provides haptic feedback to the intermediate and proximal phalanges of the fingers (index, middle, ring and pinkie) using a ratchet and pawl actuation mechanism. / Master of Science / Haptics, or simulation of the sense of touch, is already implemented in consumer devices such as smartphones and gaming controllers to augment users' immersive experiences. With the growing popularity of virtual reality, further advancements are being made, particularly in wearable haptic gloves, so users may physically feel the interactions with objects in virtual reality through their hands. Unfortunately, these products are currently inaccessible to the average consumer due to unaffordable pricing. To combat this issue, there have been efforts to develop cheap haptic gloves, but existing designs only provide feedback at the fingertips. Fingertip-only feedback can feel unnatural to users since other areas of the hand are typically also involved when grasping objects. To address the issue presented by low-cost fingertip haptic gloves, this thesis proposes a design which expands feedback to other areas of the hand while maintaining affordability and accessibility to average consumers.

Carbon Fiber Reinforced Polymer (CFRP) composites exhibit exceptional specific stiffness and strength properties. However, their use in structural applications is often constrained with high safety margins out of concern for their brittle and sudden failures. This study proposes manipulating the tensile failure mechanism by utilizing a discontinuous overlapped architecture, which has been demonstrated in the literature to non-linearize the tensile stress-strain response of CFRP laminates. Continuous Carbon fiber 3D-printing provides freedom in building complex morphologies and adjusting the resin content, enabling intricate discontinuous patterns for further tuning the stress-strain response. This study characterizes the constituents and tensile properties of 3D-printed continuous UD laminates. Then, an investigation is conducted on the mechanical tensile response of a 3D-printed discontinuous laminates design and the effect of discontinuity pattern length, and post-processing.

Naturally occurring cellular materials are always optimized in terms of morphology, structural resistance, and functionality. The use of cellular materials is based on the application as well as the loading condition. Cellular materials are composed of an interconnected network of struts, plates, or repeating unit cells, forming edges or faces. The properties of these structures can be tailored according to the requirements by changing one or more of the parameters mentioned above. This makes cellular materials suitable for various applications ranging from aerospace to biomedical. In biomedical applications, these cellular materials can be used to manufacture porous implants to match the properties of the surrounding bone. They can also be used as coatings on solid implants to promote bone tissue ingrowth for better implant fixation. The production of these complex, porous implants using traditional manufacturing methods is a difficult task. However, the development of additive manufacturing processes such as Laser Powder Bed Fusion (LPBF) has made it possible to manufacture complex and intricate shaped cellular materials with minimum material wastage and considerable accuracy. Therefore, with the combination of the LPBF process and cellular materials design, it is possible to produce a wide range of cell topologies with customized mechanical properties depending on the implant location, material, and the needs of the patient. Titanium and its alloys such as Ti6Al4V have been used in biomedical applications due to their high strength to weight ratio, corrosion resistance, and good biocompatibility. Also, the LPBF process has been used to produce various Ti6Al4V components for various applications including cellular materials. The development of cellular materials for implants is dependent on the relative density, response of the unit cell to loading conditions, and the optimal pore size for bone ingrowth. Studies have been carried out to understand the behavior of the cellular materials under compressive loads since most of the implants experience compression loads during their operation. Nevertheless, the implants also undergo fatigue loading due to day-to-day activities and tensile loads when the implant is loose or when the host performs an extensive physical activity. Therefore, designing and studying the cellular materials for these loads is necessary to completely understand their behavior. Considering the pore size, studies have suggested that a pore size of ~ 800 μm is suitable to induce bone ingrowth after implantation. The cellular materials can be broadly classified into stretching and bending dominated. Stretching dominated cellular materials are characterized by high strength and stiffness while bending dominated structures are high compliant. This behavior of cellular materials is dependent solely on the unit cell topology. Therefore, the development of different types of cell topologies and their characterization is required to produce optimized fully porous implants. Also, the effect of the LPBF process on the designed parameters of the unit cell alters the obtained mechanical properties from the desired values. The present work aims at developing different Ti6Al4V cellular materials that can be potentially used for application in implants. A combination of different cellular materials can be used to develop completely porous implants or single cellular materials can be used as coatings for solid implants to induce osseointegration. A major portion of the work is focused on the mechanical properties of LPBF manufactured cellular materials characterized using static and fatigue tests. The study also investigates the discrepancy between the as-designed and as-built geometrical parameters of these cellular structures. Finite elements analysis and the Gibson-Ashby modeling has been employed to understand the difference between the as-designed and as-built properties. Another part of the study was focused on the effect of designed geometrical parameters on the as-built geometry of cellular materials. The aim was to develop a relationship between the as-designed and the as-built parameters. This thesis covers all the aspects mentioned in the above paragraph in detail. The research work has been provided in three different chapters (Chapter 2, 3, and 4) which are well connected to each other. Each chapter is composed of an abstract, introduction, materials and methodology, results and discussion, and conclusion. A conclusion on the complete research and the future scope is provided at the end. The first chapter introduces all the aspects concerned with the development of cellular materials for biomedical applications. Literature review on all aspects have been provided, ranging from the properties of the bone, cellular materials, manufacturing process for cellular materials, and the properties of bulk materials suitable for biomedical applications. In chapter 2, Ti6Al4V cellular materials with three different cell topologies namely cubic regular, cubic irregular, and trabecular have been investigated. The irregular specimens are obtained by skewing the junctions of the cubic regular configuration. Trabecular specimens are designed by randomly joining 4-6 struts at a node to mimic human trabecular bone. The three cell topologies were manufactured at three different porosity levels by changing their strut thickness and pore size. The cubic regular cells are considered due to their stable and simple configuration, while irregular and trabecular based specimens have shown promising results in the osseointegration according to the partner company. However, the mechanical properties of irregular and trabecular specimens play an important role in implant design. Therefore, all the specimens were subjected to compression test and as well as a novel tensile test under two different types of loading conditions, monotonic and cyclic to obtain their strength and stiffness. However, a misalignment in the struts with the loading direction in compression led to an asymmetric behavior between tensile and compression. Higher strength and stiffness values were observed under tensile loading, the results of which were in conjunction with the theoretical prediction from the Gibson-Ashby model. The experimental results indicated the irregularity tends to reduce the strength, stiffness and induce bending dominate behavior. Morphological analysis was carried out to obtain the discrepancy between the as-designed and the as-built thickness values. This led to the FE analysis of as-designed models to obtain the difference in the properties of as-designed and as-built cellular materials. Furthermore, as-built FE models were generated using morphological data to study the effect of strut defects and compare them with the experimental results. The next step involved comparing the experimental results with the FE analysis carried out tomography-based FE models. The last part of the study involved obtaining a relation between the as-designed and as-built Young’s modulus for cubic regular, cubic irregular, and trabecular specimens to create a reference database. The mechanical properties from the compression and tensile test of the highest porosity specimens were closer to the properties of human bone. The tensile tests were successful in predicting the mechanical properties accurately. These observations were the motivation to further study the effect of irregularity on various cell topologies, by subjecting them to static and fatigue loads. In chapter 3, seven different types of unit cells, three regular configurations, three irregular configurations, and one trabecular based unit cell. The unit cells used in the study consisted of regular and irregular configurations of the cubic-based, star-based, and cross-based specimens. These specimens were selected to have a comparison of properties from stretching dominate cubic specimen to bending dominated cross-shaped specimens and to study the effect of irregularity. Therefore, the specimens were subjected to and mechanical characterization using compression, tension, and compression – compression fatigue tests along with porosity and morphological analysis. The tensile specimens in this chapter were designed with a thicker transition at the ends, while compression specimens had uniform configuration throughout the specimen. FE analysis was carried on the as-designed configuration of these specimens to study the effect of transition and to compare the as-designed and tensile experimental results to understand the effect of decreased porosity on the failure mechanisms. Fatigue tests were carried under compression-compression load and failure mechanisms in different unit cells were captured. The results of the study indicated that the irregularity has a greater effect on the strength and stiffness of stretching-dominated cellular material and has a negligible effect on bending-dominated cross-based specimens. The trabecular specimens display excellent mechanical properties under static load with good strength, stiffness and sustain high strain values. The normalized S-N curves indicate a clear demarcation between the bending and stretching-dominated cellular materials. The FE analysis showed a similar failure location as compared to the experimental results despite the decrease in the porosity due to manufacturing. The morphological analysis showed the effect of strut orientation of the as-built thickness. The morphological analysis and the difference between the as-designed and as-built geometrical parameters show that an in-depth study on the geometrical deviation due to the LPBF process is necessary. The next chapter focuses on the geometrical deviation in LPBF manufactured cellular specimens and the parameters influencing this deviation. In chapter 4, cubic regular cellular materials with filleted junctions are studied for geometrical deviation and to obtain a relationship between the as-designed and as-built geometric parameters. Initially, nine different specimens with different strut thickness, fillet radius, and unit cell size were manufactured at three different orientations with respect to the printing plane. The main aim of this study was to devise a compensation strategy to reduce the geometrical deviation due to the LPBF process. A linear relation between the as-designed and as-built geometrical values is obtained, which is used for compensation modeling. Struts perpendicular to the building plane were uniform in cross-sections while horizontal and inclined struts had an elliptical cross-section. The internal porosity analysis has been carried out which indicates that the porosity at the junctions is lesser than the porosity at the junctions. The compensation strategy worked well for the second set of specimens produced using the same parameters, thereby reducing the geometrical deviation between the as-designed and the as-built parameters. Finally, the effect of filleted junctions, building directions, and compensation modeling on fatigue properties have been studied. Specimens with load-bearing struts printed parallel to the building plane had the lowest mechanical properties, while the specimens with struts inclined to the loading direction and building plane displayed excellent static and fatigue properties. The fillets at the junctions improve the fatigue resistance of the specimen by reducing the stress concentration. The printing direction and the presence of fillets influence the fatigue failure locations as well. Therefore, filleted junctions that can be reproduced well by the LPBF process can be used to reduce the stress concentration in cellular materials.

The field of implantology is centred around interfacial interactions with the surrounding bone tissue. Assessing the suitability of novel engineering materials as implants for clinical application follows a preliminary workflow that can be simplified into three main stages: (i) implant design, (ii) in vitro compatibility, and (iii) in vivo compatibility. This thesis is subdivided to mirror each of these three themes, with a specific focus on the multiscale features of the implant itself as well as appositional bone tissue. In Chapter 3, a biomimetic approach to generate porous metallic implants is presented, using preferential seeding in a 3D Voronoi tessellation to create struts within a porous scaffold that mirror the trabecular orientation in human bone tissue. In Chapter 4, cytocompatible succinate-alginate films are generated to promote the in vitro activity of osteoblast-like cells and endothelial cells using a methodology that could be replicated to coat the interior and exterior of porous metals. In Chapter 5, two types of porous implants with graded and uniform pore size are implanted into rabbit tibiae to characterize the biological process of osseointegration into porous scaffolds. In Chapter 6, these same scaffolds are probed with high-resolution 2D and 3D methods using scanning transmission electron microscopy (STEM) and the first-ever application of plasma focused ion beam (PFIB) serial sectioning to observe structural motifs in biomineralization at the implant interface in 3D. This thesis provides new knowledge, synthesis techniques, and development of characterization tools for bone-interfacing implants, specifically including a means to: (i) provide novel biomaterial design strategies for additive manufacturing; (ii) synthesize coatings that are compatible with additively manufactured surfaces; (iii) improve our understanding of mineralization process in newly formed bone, with the ultimate goal of improving the osseointegration of implants. / Thesis / Doctor of Philosophy (PhD) / Metallic implants are widely used in dental and orthopedic applications but can be prone to failure or incomplete integration with bone tissue due to a breakdown at the bone-implant interface as defined by clinical standards. In order to improve the ability of the implant to anchor itself into the surrounding bone tissue, it is possible to use novel three-dimensional (3D) printing approaches to produce porous metals with an increased area for direct bone-implant contact. This thesis examines strategies to design porous implants that better mimic the structure of human bone, possible coating materials to accelerate early bone growth at the implant interface, and the microscale-to-nanoscale origins of bone formation within the interior of porous materials.

In order for additive-manufactured parts to become widely utilized and trusted in application, their mechanical properties must be characterized. This study investigates the fatigue behavior and failure mechanisms of Ti-6Al-4V specimens fabricated using Laser Engineered Net Shaping (LENS), an additive manufacturing (AM) process. Fully-reversed strain-controlled fatigue tests were conducted on Ti-6Al-4V specimens manufactured via LENS in their as-built and heat-treated conditions. Scanning Electron Microscopy (SEM) is used to examine the fracture surfaces to qualify the failure mechanism, crack initiation sites, and defects. Due to the relatively high localized heating and cooling rates experienced during deposition, fabricated parts possess anisotropic microstructures and different mechanical properties than those of their traditionally-manufactured wrought counterparts. Porosity promotes unpredictable fatigue behavior, as evidenced by data scatter. Pore shape, size, location, and number were found to impact the fatigue behavior of additive-manufactured parts.

One of the major challenges of implementing additive manufacturing (AM) processes for the purpose of production is the lack of understanding of its underlying process-structure-property relationship. Parts manufactured using AM technologies may be too inconsistent and unreliable to meet the stringent requirements for many industrial applications. The first objective of the present research is to characterize the underlying thermo-physical dynamics of AM process, captured by melt pool signals, and predict porosity during the build. Herein, we propose a novel porosity prediction method based on the temperature distribution of the top surface of the melt pool as the AM part is being built. Advance data analytic and machine learning methods are then used to further analyze the 2D melt pool image streams to identify the patterns of melt pool images and its relationship to porosity. Furthermore, the lack of geometric accuracy of AM parts is a major barrier preventing its use in mission-critical applications. Hence, the second objective of this work is to quantify the geometric deviations of additively manufactured parts from a large data set of laser-scanned coordinates using an unsupervised machine learning approach. The outcomes of this research are: 1) quantifying the link between process conditions and geometric accuracy; and 2) significantly reducing the amount of point cloud data required for characterizing of geometric accuracy.

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Powder bed fusion (PBF) is one of seven technology modalities categorized under the term additive manufacturing (AM). Beyond the advantages of fabricating complex geometries and the "tool-less manufacturing" paradigm common to all types of AM, polymer PBF shows potential for significant industrial relevance through exploiting the technique's characteristic powder-filled bed (a.k.a. build piston) to utilize the full printer volume for batch-style production. Although PBF should be a suitable processing technique for all semi-crystalline polymers, the polyamide family currently occupies around 90% of the commercial market for polymer PBF. This commercial dominance of polyamides is mirrored in the focus of research publications. The lack of chemical variety in published research questions the universality of reported Structure-Property-Process and Process-Structure-Property relationships for PBF. This dissertation presents the findings from identifying Structure-Property-Process relationships critical to fabricate multi-layer parts for poly(phenylene sulfide) (PPS) by PBF towards expanding PBF material selection and evaluating universality of relationship guidelines. PPS is an engineering thermoplastic used for its high strength, rigidity, dielectric properties, and chemical resistance at elevated temperatures. These properties are attributed to PPS' highly crystalline morphology. Its current use in the automotive and aerospace industries, which are early adopters of AM technologies, makes PPS a prime candidate for AM applications. Therefore, the goal of this work is to demonstrate PPS printing by PBF, study its behavior throughout the PBF lifecycle, and abstract general trends in polymer PBF relationships. First, theoretical ranges for print parameter values are determined from properties of an experimental grade PPS powder feedstock. Successful printing of PPS by PBF is demonstrated in a way contrary to published empirical polymer-PBF relationships. Low temperature printing (i.e., bed temperature more than 15 °C lower than polymer peak melting temperature) of PPS successfully fabricated dimensionally accurate parts with reasonable mechanical properties compared against injection molding values. This distinct PPS behavior does not follow empirical guidelines developed for either polyamides or poly(aryl ether ketones). The unique success of low-temperature PBF prompted further investigation into potential benefits of low-temperature printing. Structure-Property-Process relationships were characterized over the course of simulated powder reuse to show that low-temperature printing prolonged the time when PPS powder properties remained in the "printable" range. Significantly re-used PPS powder was shown to be printable when print parameters were adjusted to accommodate structure and property changes. Successful prints from reused powder is uncommon among published reports of PBF printing of high-performance engineering thermoplastics. Observations of a change in molecular architecture through branching and crosslinking during simulated powder reuse motivated investigating if similar reactions occur in printed parts. PPS is commonly used at elevated temperatures in the presence of oxygen, which is the ideal environment for branching and crosslinking. Structural changes manifested in increased glass transition temperature and high temperature storage modulus. The relative change in structure when printed parts were thermo-oxidatively exposed was observed to be significant for parts printed from new powder, but minimal for parts printed from reused powder. This is a result of the structural changes occurring as powder feedstock during reuse over multiple builds. The changing architecture of reused PPS exposed shortcomings with print parameter value selection based solely on polymer thermal properties. Branching and crosslinking reduced crystallinity, resulting in calculated less energy required to melt; however, it also increased melt viscosity. This negative impact on coalescence behavior was not reflected in the methodology for process parameter value determination because current guidelines neglect rheological properties. These observations motivated proposing a method for selecting print settings based on polymer coalescence behavior. Because it is based on coalescence, this method can predict the transition in governing physics from viscous coalescence to bubble diffusion, which is accompanied by a change in the dependence of mechanical properties on laser energy density. Most work in polymer PBF has focused on "printed part triad'" Process-Property relationships. Work presented in this dissertation contributes to the "printability triad'" of Structure-Property-Process relationships and does so using the novel-to-PBF polymer, PPS. Additional polymers must be explored to continue to discern which polymer-manufacturing relationships are universal among all polymers and which are specific to one subset. The observations and connected interpretation to principles of polymer physics add to the body of knowledge for the polymer PBF field. These contributions will help pave the way for investigations into other polymer families and will re-shape the field's normative logic use when answering the question "what makes a polymer printable by PBF?" Understanding the connection between polymer properties and physical stimuli characteristic of PBF manufacturing will result in parts tailored for specific applications and more sustainable manufacturing, thus realizing additive manufacturing's full potential. / Doctor of Philosophy / Powder bed fusion (PBF) is one of seven distinct additive manufacturing (AM, also known as ``3D printing'') technologies. The manufacturing process creates solid, three-dimensional shapes through selectively heating, melting, and fusing together polymer powder particles in a layer-by-layer manner. Currently, organizations are interested in complementing existing manufacturing technology with PBF for one of three general reasons: (1) "complexity is free" PBF has the ability to make shapes that are difficult or expensive to fabricate using other manufacturing technologies. (2) "tool-less manufacturing" PBF only requires a digital design file to fabricate objects. This enables small changes to be easily made via computer-aided design (CAD) programs without the need to invest time and money into tooling (e.g., molds, jigs, fixtures, or other product-specific tools). This enables "mass customized" products (e.g., custom-fit medical devices and implants) to be economically feasible. (3) "material efficiency" AM is attractive as it often generates less waste than subtractive manufacturing techniques like milling. This is particularly a concern for organizations that manufacture parts from expensive, high-performance polymers, such as in the aerospace and medical industries. Despite these benefits, the state of the art for polymer PBF has room for improvement. Specifically, there are many details regarding material behavior during PBF manufacturing that are unknown; any unknown behaviors present challenges to building confidence in production quality. Additionally, approximately 90% of current PBF use is nylon-12 or else another material in the polyamide family of semi-crystalline thermoplastics. This limited selection of commercially available materials compared against other forms of manufacturing contributes to PBF's circular quandary: the manufacturing process physics are not robustly understood because most experimentation and research has been carried out on one family of polymers; however, a wider variety of polymers has not been developed because there is a limited understanding of the process physics. This dissertation presents research toward answering both PBF challenge areas. The first three chapters present investigations into relationships between the properties of a novel, experimental grade poly(phenylene sulfide) (PPS) semi-crystalline thermoplastic polymer powder, the stimuli imposed on this polymer during PBF processing, and the resultant properties of printed parts (i.e., "property-process-property relationships"). The target polymer, poly(phenylene sulfide), is a high-temperature, high-performance polymer that is traditionally melt processed, but has not yet been commercialized for PBF. Prior literature has established mathematical representation for the interaction between manufacturing energy input and the thermal response of the polymer resulting in melting. This framework has been created through studying the polyamide family. Work presented in this dissertation evaluates existing guidelines for PBF process parameter selection using measured thermal behavior of PPS (i.e., a polysulfide, not a polyamide) to predict the range of manufacturing energies affecting geometrically accurate printed parts of high density and strength. In addition, the impact of thermal exposure from repeated PPS powder reuse over the course of multiple PBF prints was evaluated on powder, thermal, and rheological properties identified as critical for PBF printing. Changes to the molecular structure and properties of reused PPS powder were observed to follow different trends than those reported for other materials traditionally used. The effect of thermal exposure on printed parts was also investigated to determine if the observed changes in molecular structure occurring during thermal exposure of the powder would result in changes to mechanical performance properties of printed parts. The importance of rheological flow properties in dictating printed part performance was observed to be a common theme throughout working with PPS. The final chapter presents a novel method for quantitatively predicting particle fusion during PBF and connecting the extent of particle fusion to mechanical properties of printed parts. The presented method is "polymer agnostic" and advances the state of the art in understanding the physics guiding polymer response to stimuli imposed during PBF AM.