Dihydro-1,2,4,5-tetrazine-3,6-dicarboxylate was introduced into the chemically stable UiO-66 structure by a postsynthetic linker exchange reaction to create an optical sensor material for the detection of oxidative agents such as nitrous gases. The incorporated tetrazine unit can be reversibly oxidized and reduced, which is accompanied by a drastic colour change from yellow to pink and vice versa. The high stability of the framework during redox reaction was proven by powder X-ray diffraction and nitrogen physisorption measurements.

The work presented in this paper aims at developing a hydraulic actuation system for an ankle exoskeleton that is able to deliver a peak power of 250 W, with a maximum torque of 90 N.m and maximum speed of 320 deg/s. After justifying the choice of a servo hydraulic actuator (SHA) over an electro hydrostatic actuator (EHA) for the targeted application, some test results of a first functional prototype are presented. The closed-loop unloaded displacement frequency response of the prototype shows a bandwidth ranging from 5 Hz to 8 Hz for displacement amplitudes between +/-5mm and +/- 20mm, thus demonstrating adequate dynamic performance for normal walking speed. Then, a detailed design is proposed as a combination of commercially available components (in particular a miniature servo valve and a membrane accumulator) and a custom aluminium manifold that incorporates the hydraulic cylinder. The actuator design achieves a total weight of 1.0 kg worn at the ankle.