A soft wearable robotic device for active knee motions using flat pneumatic artificial muscles

Park, Yong Lae; Santos, Jobim; Galloway, Kevin G; Goldfield, Eugene C.; Wood, Robert J.

doi:10.1109/icra.2014.6907562

Cited by 140 publications

(90 citation statements)

References 29 publications

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“…Gerboni et al [15] developed modular soft manipulators with multi-pocket structures for minimally-invasive surgery; Park et al [9] prototyped a power-assist device for the knee; Deimel and Brock [16] used them as fingers for their robotic hand; and finally, Noritsugu et al [12], Polygerinos et al [13] and Yap et al [14] each developed their own versions of a portable power-assist/rehabilitation glove.…”

Section: Related Researchmentioning

confidence: 99%

Pneumatic Multi-Pocket Elastomer Actuators for Metacarpophalangeal Joint Flexion and Abduction-Adduction

Tarvainen

2017

Actuators

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During recent years, interest has been rising towards developing fluidic fiber-reinforced elastomer actuators for wearable soft robotics used in hand rehabilitation and power-assist. However, they do not enable finger abduction-adduction, which plays an important role in activities of daily living, when grasping larger objects. Furthermore, the developed gloves often do not have separate control of joints, which is important for doing various common rehabilitation motions. The main obstacle for the development of a fully-assisting glove is moving a joint with multiple degrees of freedom. If the functions are built into the same structure, they are naturally coupled and affect each other, which makes them more difficult to design and complex to control than a simple flexion-extension actuator. In this study, we explored the key design elements and fabrication of pneumatic multi-pocket elastomer actuators for a soft rehabilitation glove. The goal was to gain more control over the metacarpophalangeal joint's response by increasing the degree of actuation.Three main functional designs were tested for achieving both flexion and abduction-adduction. Five prototypes, with four different actuator geometries and four different reinforcement types, were designed and fabricated. They were evaluated by recording their free motion with motion capture and measuring their torque output using a dummy finger. Results showed the strengths and weaknesses of each design in separating the control of the two functions. We discuss the different improvements that are needed in order to make each design plausible for developing an actuator that meets the requirements for full assist of the hand's motions. In conclusion, we show that it is possible to produce multi-pocket actuators for assisting MCP joint motion in both flexion and abduction-adduction, although coupling between the separate functions is still problematic and should be considered further.

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Section: Related Researchmentioning

confidence: 99%

Pneumatic Multi-Pocket Elastomer Actuators for Metacarpophalangeal Joint Flexion and Abduction-Adduction

Tarvainen

2017

Actuators

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“…We developed a customized algorithm to compute robotic designs with pouch motors. In contrast with recent progress in flat PAM 25 that is based on mold casting silicone rubber, we focused on significantly simplified dry manufacturing process combined with automated computational design.…”

Section: Introductionmentioning

confidence: 99%

Pouch Motors: Printable Soft Actuators Integrated with Computational Design

et al. 2015

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We propose pouch motors, a new family of printable soft actuators integrated with computational design. The pouch motor consists of one or more inflatable gas-tight bladders made of sheet materials. This printable actuator is designed and fabricated in a planar fashion. It allows both easy prototyping and mass fabrication of affordable robotic systems. We provide theoretical models of the actuators compared with the experimental data. The measured maximum stroke and tension of the linear pouch motor are up to 28% and 100 N, respectively. The measured maximum range of motion and torque of the angular pouch motor are up to 80°and 0.2 N, respectively. We also develop an algorithm that automatically generates the patterns of the pouches and their fluidic channels. A custom-built fabrication machine streamlines the automated process from design to fabrication. We demonstrate a computer-generated life-sized hand that can hold a foam ball and perform gestures with 12 pouch motors, which can be fabricated in 15 min.

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“…These values are in line with current soft robots 1,7,12 and with artificial muscle (McKibben) actuators often used in wearable robots. 2,5,21 Readers who are unfamiliar with the theory, notation, and principles of pneumatics are urged to review the many resources available on the subject. 22,23 Pneumatic energy can be stored and released by a variety of means.…”

Section: Introductionmentioning

confidence: 99%

“…[1][2][3][4][5] As complementary technologies to traditional robotics, mobile and wearable soft robotics are well suited for human-safe environments and a compelling option for industrial, home, rehabilitation, and surgical applications. [6][7][8][9] Soft robots can take many forms (Fig.…”

Section: Introductionmentioning

confidence: 99%

Pneumatic Energy Sources for Autonomous and Wearable Soft Robotics

et al. 2014

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Many pneumatic energy sources are available for use in autonomous and wearable soft robotics, but it is often not obvious which options are most desirable or even how to compare them. To address this, we compare pneumatic energy sources and review their relative merits. We evaluate commercially available battery-based microcompressors (singly, in parallel, and in series) and cylinders of high-pressure fluid (air and carbon dioxide). We identify energy density (joules/gram) and flow capacity (liters/gram) normalized by the mass of the entire fuel system (versus net fuel mass) as key metrics for soft robotic power systems. We also review research projects using combustion (methane and butane) and monopropellant decomposition (hydrogen peroxide), citing theoretical and experimental values. Comparison factors including heat, effective energy density, and working pressure/flow rate are covered. We conclude by comparing the key metrics behind each technology. Battery-powered microcompressors provide relatively high capacity, but maximum pressure and flow rates are low. Cylinders of compressed fluid provide high pressures and flow rates, but their limited capacity leads to short operating times. While methane and butane possess the highest net fuel energy densities, they typically react at speeds and pressures too high for many soft robots and require extensive system-level development. Hydrogen peroxide decomposition requires not only few additional parts (no pump or ignition system) but also considerable system-level development. We anticipate that this study will provide a framework for configuring fuel systems in soft robotics.

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A soft wearable robotic device for active knee motions using flat pneumatic artificial muscles

Cited by 140 publications

References 29 publications

Pneumatic Multi-Pocket Elastomer Actuators for Metacarpophalangeal Joint Flexion and Abduction-Adduction

Pneumatic Multi-Pocket Elastomer Actuators for Metacarpophalangeal Joint Flexion and Abduction-Adduction

Pouch Motors: Printable Soft Actuators Integrated with Computational Design

Pneumatic Energy Sources for Autonomous and Wearable Soft Robotics

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