Wrist rehabilitation exoskeleton robot based on pneumatic soft actuators

The aim of this paper is to describe the design of a soft, wearable splint for wrist joint rehabilitation, based on pneumatic soft actuators. The extensor bending and the contraction types of pneumatic soft actuators have been adopted in this study. These actuators are shown to be appropriate by examining their characteristics. The main contributions of this study are developing a safe, lightweight, soft and small actuator for direct human interaction, designing a novel single portable wearable soft robot capable of performing all wrist rehabilitation movements, and using low-cost materials to create the device. Three modes of rehabilitation exercises in the exoskeleton are involved: Flexion/Extension, Radial/Ulnar deviation, and circular movements

Wearable power assist device for hand grasping using pneumatic artificial rubber muscle

The purpose of this study is to develop a wearable power assist device for hand grasping in order to support activity of daily living (ADL) safely and easily. In this paper, the mechanism of the developed power assist device is described, and then the effectiveness of this device is discussed experimentally. </p

Soft Gloves: A Review on Recent Developments in Actuation, Sensing, Control and Applications

Interest in soft gloves, both robotic and haptic, has enormously grown over the past decade, due to their inherent compliance, which makes them particularly suitable for direct interaction with the human hand. Robotic soft gloves have been developed for hand rehabilitation, for ADLs assistance, or sometimes for both. Haptic soft gloves may be applied in virtual reality (VR) applications or to give sensory feedback in combination with prostheses or to control robots. This paper presents an updated review of the state of the art of soft gloves, with a particular focus on actuation, sensing, and control, combined with a detailed analysis of the devices according to their application field. The review is organized on two levels: a prospective review allows the highlighting of the main trends in soft gloves development and applications, and an analytical review performs an in-depth analysis of the technical solutions developed and implemented in the revised scientific research. Additional minor evaluations integrate the analysis, such as a synthetic investigation of the main results in the clinical studies and trials referred in literature which involve soft gloves

Development of Active Support Splint driven by Pneumatic Soft Actuator (ASSIST)

In this study, in order to realize an assist of independent life for the elderly or people in need of care and relieve a physical burden for care worker, an active support splint driven by pneumatic soft actuator (ASSIST) has been developed. ASSIST consists of a plastic interface with the palm and arm and two rotary-type soft actuators put in both sides of appliance. In this paper, the fundamental characteristics of ASSIST is described, and then the effectiveness of this splint is experimentally discussed. Finally, the operation of ASSIST based on a human intention is described. </p

A new fiber braided soft bending actuator for singer exoskeleton

This thesis presents a design, development and analysis of a novel bending-type pneumatic soft actuator as a drive source for a finger exoskeleton. Soft actuators are gaining momentum in robotic applications due to their simple structure, high compliance, high power-to-weight ratio and low production cost. Smaller and lighter soft actuator that can provide higher power transmission at lower operating air pressure will benefit finger actuation mechanism compared to motorized cable and pulley-driven finger rehabilitation devices. In this study, a soft actuator with new bending method is proposed. It is based on fibre reinforcement of two fibre braided angles of contraction and extension characteristics combined in a single-chamber cylindrical actuator. Another four design parameters identified that affect the bending motion and the actuating force were the air chamber diameter, position of fibre layer reinforcement, fibre reinforcement coverage angle, and silicone rubber materials. Geometrical and material parameters were varied in Finite Element Method (FEM) simulation for design optimization and some parameters were tested experimentally to validate the FEM models. The effects of fibre angles (contraction and extension) on the bending motion and force were analyzed. The optimized actuator can generate bending motion up to 131° bending angle and the end tip of the actuator can make contact with the other base tip at only 240 kPa given input pressure. Both displacement simulation and experimental testing results matched closely. Maximum bending force of 5.42 N was generated at 350 kPa. A wearable finger soft exoskeleton prototype with five optimized bending actuators was tested to drive finger flexion motion of eight healthy subjects with simulated paralysis conditions. The finger soft exoskeleton demonstrated the ability to provide gripping force of 3.61 ± 0.22 N, gained at 200 kPa given air pressure. The device can successfully provide assistance to weak fingers in gripping at least 240 g object. It shows potential in helping people with weakened finger muscle to be more independent in their finger rehabilitation exercise

The development of artificial muscles using textile structures

The aim of this project was to investigate the use of textile structures as muscles to assist people with muscular deficiency or paralysis. Due to the average life expectancy continuing to increase, support for those needing assistance to move unaided is also increasing. The purpose of this project was to try to help a patient who would normally need assistance, to move their arm unaided. It could also help with rehabilitation of muscular injuries and increasing strength and reducing muscular fatigue of manual workers. The approach considered was to develop an extra corporal device for the upper limbs, providing the main required motions. Most devices currently available use motors and gearboxes to assist in limb movement. This study investigated a way of mimicking the contraction of biological skeletal muscles to create a motion that is as human as possible with a soft, flexible and lightweight construction. Electroactive polymers (EAPs) and pneumatic artificial muscles (PAMs) were investigated. It became clear that at present, the EAPs were unable to create the forces and speed of contraction required for this application. The use of pneumatics to create artificial muscles was developed upon. PAMs, like the McKibben muscle and the pleated pneumatic muscle mimic the natural contraction of skeletal muscle. These current PAMs were used as a basis to develop a new type of pneumatic artificial muscle in this project. A 90 mm ball-like structure was developed, produced from an air impermeable rubber coated cotton fabric. Joining three oval panels together created a 3-D spherical shape. Three of these structures were linked together, and when inflated, created an acceptable level of contraction and force. This method of producing artificial muscles created a soft, lightweight and flexible actuator with scope for different arrangements, sizes and positions of the muscle structure. The contraction process was mathematically modelled. This calculated the predicted rate and level of contraction of a 2-D muscle structure. These mathematical findings were able to be compared to the practical results, and produced similar contraction characteristics. The muscle structures were incorporated into a garment to form a type of muscle suit which could be worn to assist movement. This garment has an aluminium frame to protect the wearer's bones from stresses from the contracting muscles. This study has shown that the muscle suit developed can create movement for wearers that would normally need assistance, and also reduce muscle fatigue, which would be useful for manual workers. This is incorporated into a functional and wearable garment, which is easy to dress and more lightweight and aesthetically pleasing than current muscle suits.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

The-state-of-the-art of soft robotics to assist mobility: a review of physiotherapist and patient identified limitations of current lower-limb exoskeletons and the potential soft-robotic solutions

Background: Soft, wearable, powered exoskeletons are novel devices that may assist rehabilitation, allowing users to walk further or carry out activities of daily living. However, soft robotic exoskeletons, and the more commonly used rigid exoskeletons, are not widely adopted clinically. The available evidence highlights a disconnect between the needs of exoskeleton users and the engineers designing devices. This review aimed to explore the literature on physiotherapist and patient perspectives of the longer-standing, and therefore greater evidenced, rigid exoskeleton limitations. It then offered potential solutions to these limitations, including soft robotics, from an engineering standpoint. Methods: A state-of-the-art review was carried out which included both qualitative and quantitative research papers regarding patient and/or physiotherapist perspectives of rigid exoskeletons. Papers were themed and themes formed the review’s framework. Results: Six main themes regarding the limitations of soft exoskeletons were important to physiotherapists and patients: safety; a one-size-fits approach; ease of device use; weight and placement of device; cost of device; and, specific to patients only, appearance of the device. Potential soft-robotics solutions to address these limitations were offered, including compliant actuators, sensors, suit attachments fitting to user’s body, and the use of control algorithms. Conclusions: It is evident that current exoskeletons are not meeting the needs of their users. Solutions to the limitations offered may inform device development. However, the solutions are not infallible and thus further research and development is required