scholarly journals A Compact Soft Robotic Wrist Brace With Origami Actuators

2021 ◽  
Vol 8 ◽  
Author(s):  
Sicong Liu ◽  
Zhonggui Fang ◽  
Jianhui Liu ◽  
Kailuan Tang ◽  
Jianwen Luo ◽  
...  
Keyword(s):  
Wrist Joint ◽  
Low Cost ◽  
Ethylene Vinyl Acetate ◽  
Wearable Devices ◽  
Human Robot Interaction ◽  
Low Profile ◽  
Rehabilitation Devices ◽  
And Performance ◽  
Soft Actuators ◽  
Robotic Wrist

Wrist disability caused by a series of diseases or injuries hinders the patient’s capability to perform activities of daily living (ADL). Rehabilitation devices for the wrist motor function have gained popularity among clinics and researchers due to the convenience of self-rehabilitation. The inherent compliance of soft robots enabled safe human-robot interaction and light-weight characteristics, providing new possibilities to develop wearable devices. Compared with the conventional apparatus, soft robotic wearable rehabilitation devices showed advantages in flexibility, cost, and comfort. In this work, a compact and low-profile soft robotic wrist brace was proposed by directly integrating eight soft origami-patterned actuators on the commercially available wrist brace. The linear motion of the actuators was defined by their origami pattern. The extensions of the actuators were constrained by the brace fabrics, deriving the motions of the wrist joint, i.e., extension/flexion, ulnar/radial deviation. The soft actuators were made of ethylene-vinyl acetate by blow molding, achieving mass-production capability, low cost, and high repeatability. The design and fabrication of the soft robotic wrist brace are presented in this work. The experiments on the range of motion, output force, wearing position adaptivity, and performance under disturbance have been carried out with results analyzed. The modular soft actuator approach of design and fabrication of the soft robotic wrist brace has a wide application potential in wearable devices.

scholarly journals A Modular Design for Distributed Measurement of Human–Robot Interaction Forces in Wearable Devices

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1445
Author(s):  
Keya Ghonasgi ◽  
Saad N. Yousaf ◽  
Paria Esmatloo ◽  
Ashish D. Deshpande
Keyword(s):  
Modular Design ◽  
Force Measurement ◽  
Low Cost ◽  
Wearable Devices ◽  
Human Robot Interaction ◽  
Force Transmission ◽  
Robot Interaction ◽  
Interaction Forces ◽  
Distributed Measurement ◽  
Reliable Solution

Measurement of interaction forces distributed across the attachment interface in wearable devices is critical for understanding ergonomic physical human–robot interaction (pHRI). The main challenges in sensorization of pHRI interfaces are (i) capturing the fine nature of force transmission from compliant human tissue onto rigid surfaces in the wearable device and (ii) utilizing a low-cost and easily implementable design that can be adapted for a variety of human interfaces. This paper addresses both challenges and presents a modular sensing panel that uses force-sensing resistors (FSRs) combined with robust electrical and mechanical integration principles that result in a reliable solution for distributed load measurement. The design is demonstrated through an upper-arm cuff, which uses 24 sensing panels, in conjunction with the Harmony exoskeleton. Validation of the design with controlled loading of the sensorized cuff proves the viability of FSRs in an interface sensing solution. Preliminary experiments with a human subject highlight the value of distributed interface force measurement in recognizing the factors that influence ergonomic pHRI and elucidating their effects. The modular design and low cost of the sensing panel lend themselves to extension of this approach for studying ergonomics in a variety of wearable applications with the goal of achieving safe, comfortable, and effective human–robot interaction.

scholarly journals Self-Sensing Pneumatic Compressing Actuator

2020 ◽  
Vol 14 ◽  
Author(s):  
Nan Lin ◽  
Hui Zheng ◽  
Yuxuan Li ◽  
Ruolin Wang ◽  
Xiaoping Chen ◽  
...  
Keyword(s):  
Load Capacity ◽  
Low Cost ◽  
Axial Direction ◽  
Force Sensor ◽  
Human Robot Interaction ◽  
High Price ◽  
Flexible Membrane ◽  
Potential Safety ◽  
Output Force ◽  
Soft Actuators

Using soft pneumatic actuator is a feasible solution in the complex unstructured environment, owing to their inherent compliance, light weight, and safety. However, due to the limitations of soft actuators' materials and structures, they fall short of motion accuracy and load capacity, or need large-size, bulky compressors. Meanwhile, in order to gain better control, it is essential for them to sense the environments as well. This leads to high-price sensors or a complicated manufacture technique. Here, a self-sensing vacuum soft actuation structure is proposed, aiming at acquiring good balance among precision, output force, and actuation pressure. The actuator mainly comprises a flexible membrane and a compression spring. When actuated, the flexible membrane outside the actuator compresses the internal spring skeleton, realizing large contractile motion in axial direction. Its built-in force sensor can indirectly measure the absolute displacement of the actuator with certain accuracy (about 5% F.S.). Besides, it does not require high actuation pressure to generate enough output force. The actuator is quite easy to manufacture with low cost, and there are a variety of materials to choose from. We established quasi-static models for actuators built of two different kinds of membrane materials, and tested their accuracy and output force. In addition, to break through the limits of vacuum actuation, a method of positive-negative pressure combined actuation has been proposed, which lowers the requirements for air source equipments, increases actuation pressure, and reduces potential safety threats at the same time. This kind of soft actuators can also effectively resist and detect impacts. The design of a two-finger dexterous robot hand and robot joint based on this soft actuator illustrates its broad application prospects in the fields of mobile robots, wearable devices, and human–robot interaction.

scholarly journals Robogami: A Fully Integrated Low-Profile Robotic Origami

2015 ◽  
Vol 7 (2) ◽  
Author(s):  
Amir Firouzeh ◽  
Jamie Paik
Keyword(s):  
Environmental Changes ◽  
Low Cost ◽  
Thin Sheet ◽  
Sensors And Actuators ◽  
Fully Integrated ◽  
Low Profile ◽  
Essential Components ◽  
Soft Actuators ◽  
And Control ◽  
Planar Fabrication

Intelligent robotic systems that can react to unprogrammed tasks and unforeseen environmental changes require augmented “softness.” Robogami, a low-profile origami robot, addresses intrinsic (material-wise) and extrinsic (mechanism-wise) softness with its multi-degree-of-freedom (DOF) body driven by soft actuators. The unique hardware of the Robogami and its submillimeter thick construction enable diverse transformations as those achievable by the paper origami. The presented Robogami shows the first fully integrated version that has all the essential components including its controller within a thin sheet. Construction of this robot is possible via precise, repeatable, and low cost planar fabrication methods often reserved for microscale fabrications. In this research, we aim at expanding the capabilities of Robogamis by embedding bidirectional actuation, sensing, and control circuit. To assess the performance of the proposed sensors and actuators, we report on the performance of these components in a single module and in the four-legged crawler robot.

scholarly journals Position Control for Soft Actuators, Next Steps toward Inherently Safe Interaction

Electronics ◽  
2021 ◽  
Vol 10 (9) ◽  
pp. 1116
Author(s):  
Dongshuo Li ◽  
Vaishnavi Dornadula ◽  
Kengyu Lin ◽  
Michael Wehner
Keyword(s):  
Visual Servoing ◽  
Position Control ◽  
Low Cost ◽  
Deformation Characteristic ◽  
Human Robot Interaction ◽  
Human Interaction ◽  
Soft Robots ◽  
Great Opportunity ◽  
Control Approach ◽  
Soft Actuators

Soft robots present an avenue toward unprecedented societal acceptance, utility in populated environments, and direct interaction with humans. However, the compliance that makes them attractive also makes soft robots difficult to control. We present two low-cost approaches to control the motion of soft actuators in applications common in human-interaction tasks. First, we present a passive impedance approach, which employs restriction to pneumatic channels to regulate the inflation/deflation rate of a pneumatic actuator and eliminate the overshoot/oscillation seen in many underdamped silicone-based soft actuators. Second, we present a visual servoing feedback control approach. We present an elastomeric pneumatic finger as an example system on which both methods are evaluated and compared to an uncontrolled underdamped actuator. We perturb the actuator and demonstrate its ability to increase distal curvature around the obstacle and maintain the desired end position. In this approach, we use the continuum deformation characteristic of soft actuators as an advantage for control rather than a problem to be minimized. With their low cost and complexity, these techniques present great opportunity for soft robots to improve human–robot interaction.

Programmable Integrated Photonics

2020 ◽  
Author(s):  
José Capmany ◽  
Daniel Pérez
Keyword(s):  
Integrated Circuit ◽  
Performance Monitoring ◽  
Low Cost ◽  
Limiting Factors ◽  
External Control ◽  
Integrated Photonics ◽  
New Paradigm ◽  
Photonic Integrated Circuit ◽  
And Performance ◽  
Application Fields

Programmable Integrated Photonics (PIP) is a new paradigm that aims at designing common integrated optical hardware configurations, which by suitable programming can implement a variety of functionalities that, in turn, can be exploited as basic operations in many application fields. Programmability enables by means of external control signals both chip reconfiguration for multifunction operation as well as chip stabilization against non-ideal operation due to fluctuations in environmental conditions and fabrication errors. Programming also allows activating parts of the chip, which are not essential for the implementation of a given functionality but can be of help in reducing noise levels through the diversion of undesired reflections. After some years where the Application Specific Photonic Integrated Circuit (ASPIC) paradigm has completely dominated the field of integrated optics, there is an increasing interest in PIP justified by the surge of a number of emerging applications that are and will be calling for true flexibility, reconfigurability as well as low-cost, compact and low-power consuming devices. This book aims to provide a comprehensive introduction to this emergent field covering aspects that range from the basic aspects of technologies and building photonic component blocks to the design alternatives and principles of complex programmable photonics circuits, their limiting factors, techniques for characterization and performance monitoring/control and their salient applications both in the classical as well as in the quantum information fields. The book concentrates and focuses mainly on the distinctive features of programmable photonics as compared to more traditional ASPIC approaches.

scholarly journals Wearable Technologies in Field Hockey Competitions: A Scoping Review

Sensors ◽  
2021 ◽  
Vol 21 (15) ◽  
pp. 5242
Author(s):  
Jolene Ziyuan Lim ◽  
Alexiaa Sim ◽  
Pui Wah Kong
Keyword(s):  
Heart Rate ◽  
Inertial Sensors ◽  
Wearable Devices ◽  
Field Hockey ◽  
Heart Rate Monitors ◽  
Search Terms ◽  
Physiological Demands ◽  
And Performance ◽  
Future Work ◽  
Skin Temperatures

The aim of this review is to investigate the common wearable devices currently used in field hockey competitions, and to understand the hockey-specific parameters these devices measure. A systematic search was conducted by using three electronic databases and search terms that included field hockey, wearables, accelerometers, inertial sensors, global positioning system (GPS), heart rate monitors, load, performance analysis, player activity profiles, and competitions from the earliest record. The review included 39 studies that used wearable devices during competitions. GPS units were found to be the most common wearable in elite field hockey competitions, followed by heart rate monitors. Wearables in field hockey are mostly used to measure player activity profiles and physiological demands. Inconsistencies in sampling rates and performance bands make comparisons between studies challenging. Nonetheless, this review demonstrated that wearable devices are being used for various applications in field hockey. Researchers, engineers, coaches, and sport scientists can consider using GPS units of higher sampling rates, as well as including additional variables such as skin temperatures and injury associations, to provide a more thorough evaluation of players’ physical and physiological performances. Future work should include goalkeepers and non-elite players who are less studied in the current literature.

The Use of Microcomputer Simulations in Undergraduate Neurophysiology Experiments

1987 ◽  
Vol 14 (3) ◽  
pp. 134-140 ◽  
Author(s):  
K.A. Clarke
Keyword(s):  
Low Cost ◽  
Animal Experiments ◽  
Theoretical Background ◽  
General Purpose ◽  
Microcomputer System ◽  
Laboratory Equipment ◽  
Teaching Objectives ◽  
Compound Action Potentials ◽  
Experimental Management ◽  
And Performance

Practical classes in neurophysiology reinforce and complement the theoretical background in a number of ways, including demonstration of concepts, practice in planning and performance of experiments, and the production and maintenance of viable neural preparations. The balance of teaching objectives will depend upon the particular group of students involved. A technique is described which allows the embedding of real compound action potentials from one of the most basic introductory neurophysiology experiments—frog sciatic nerve, into interactive programs for student use. These retain all the elements of the “real experiment” in terms of appearance, presentation, experimental management and measurement by the student. Laboratory reports by the students show that the experiments are carefully and enthusiastically performed and the material is well absorbed. Three groups of student derive most benefit from their use. First, students whose future careers will not involve animal experiments do not spend time developing dissecting skills they will not use, but more time fulfilling the other teaching objectives. Second, relatively inexperienced students, struggling to produce viable neural material and master complicated laboratory equipment, who are often left with little time or motivation to take accurate readings or ponder upon neurophysiological concepts. Third, students in institutions where neurophysiology is taught with difficulty because of the high cost of equipment and lack of specific expertise, may well have access to a low cost general purpose microcomputer system.

scholarly journals Experiments with Neural Networks in the Identification and Control of a Magnetic Levitation System Using a Low-Cost Platform

2021 ◽  
Vol 11 (6) ◽  
pp. 2535
Author(s):  
Bruno E. Silva ◽  
Ramiro S. Barbosa
Keyword(s):  
Neural Networks ◽  
Neural Control ◽  
Magnetic Levitation ◽  
Low Cost ◽  
Training Data ◽  
Neural Controllers ◽  
Levitation System ◽  
Internal Model Controller ◽  
Magnetic Levitation System ◽  
And Performance

In this article, we designed and implemented neural controllers to control a nonlinear and unstable magnetic levitation system composed of an electromagnet and a magnetic disk. The objective was to evaluate the implementation and performance of neural control algorithms in a low-cost hardware. In a first phase, we designed two classical controllers with the objective to provide the training data for the neural controllers. After, we identified several neural models of the levitation system using Nonlinear AutoRegressive eXogenous (NARX)-type neural networks that were used to emulate the forward dynamics of the system. Finally, we designed and implemented three neural control structures: the inverse controller, the internal model controller, and the model reference controller for the control of the levitation system. The neural controllers were tested on a low-cost Arduino control platform through MATLAB/Simulink. The experimental results proved the good performance of the neural controllers.

scholarly journals Highly Compact Through-Wire Microstrip to Empty Substrate Integrated Coaxial Line Transition

2021 ◽  
Vol 11 (15) ◽  
pp. 6885
Author(s):  
Marcos D. Fernandez ◽  
José A. Ballesteros ◽  
Angel Belenguer
Keyword(s):  
Printed Circuit Board ◽  
Low Cost ◽  
Coaxial Line ◽  
Circuit Board ◽  
Central Layer ◽  
Printed Circuit ◽  
Integrated Technology ◽  
Low Profile ◽  
The Many ◽  
High Degree

Empty substrate integrated coaxial line (ESICL) technology preserves the many advantages of the substrate integrated technology waveguides, such as low cost, low profile, or integration in a printed circuit board (PCB); in addition, ESICL is non-dispersive and has low radiation. To date, only two transitions have been proposed in the literature that connect the ESICL to classical planar lines such as grounded coplanar and microstrip. In both transitions, the feeding planar lines and the ESICL are built in the same substrate layer and they are based on transformed structures in the planar line, which must be in the central layer of the ESICL. These transitions also combine a lot of metallized and non-metallized parts, which increases the complexity of the manufacturing process. In this work, a new through-wire microstrip-to-ESICL transition is proposed. The feeding lines and the ESICL are implemented in different layers, so that the height of the ESICL can be independently chosen. In addition, it is a highly compact transition that does not require a transformer and can be freely rotated in its plane. This simplicity provides a high degree of versatility in the design phase, where there are only four variables that control the performance of the transition.

Sign in / Sign up

Export Citation Format

Share Document