Track topics on Twitter Track topics that are important to you
This article presents the system integration, sensing, and control of a novel modular soft-rigid pneumatic exoskeleton for lower limb. The proposed exoskeleton consists of three soft hinges (to drive the hip, knee, and ankle joints) and four rigid links (aligned with the waist, thigh, crus, and foot). Each soft hinge is made of and actuated by a customized bidirectional curl pneumatic artificial muscle (CPAM), whereas the links are three-dimensional printed. Each of the rigid links combined with its lower soft hinge (if any) is made into an independent soft-rigid module, that is, the waist-hip, thigh-knee, crus-ankle, and foot modules. With each of the modules are multiple sensors integrated, including two pressure sensors for detecting the inflating pressures, and two flex sensors and an inertia measurement unit for estimating the bending angles of the soft hinges via data fusion. Through a data-fitted angle-torque-pressure relationship of the CPAM, the actuation torque is estimated. An external electropneumatic control system is also developed. The double closed-loop control system consisting of pressure servos and position/torque controllers is designed to control the bending angles and actuation torques of the exoskeleton hinges. Experiment shows good motion controllability of the proposed exoskeleton in the range of motion of a gait cycle.
This article was published in the following journal.
Name: Soft robotics
In this article, we achieve a closed-loop control over haptic feedback, first time for an entirely soft platform. We prototyped a novel self-sensing soft pneumatic actuator (SPA) with soft strain sens...
Soft and compliant robotic systems have the potential to interact with humans and complex environments in more sophisticated ways than rigid robots. The majority of the state-of-the art soft robots ar...
Respiration causes the deformation and sliding motion of the soft tissues, and affects the accuracy of the assessment of minimally invasive abdominal surgery. Non-rigid registration is used to elimina...
High oxygen sensitivity (the slope of the Stern-Volmer plot reaches 0.73/μM) is achieved with a phosphorescence indicator, gadolinium-hematoporphyrin monomethyl ether (Gd-HMME), by decreasing the ext...
This article presents the design of a soft composite finger with tunable joint stiffness. The composite finger, made of two different types of silicone, uses hybrid actuation by combining tendon and p...
Intermittent pneumatic compression (IPC) of the lower extremities is a well-established technique for preventing deep vein thrombosis (DVT) and for treating venous stasis. IPC will be done...
The treatment of lymphoedema and its associated complications represent a considerable drain on increasingly limited NHS resources. Intermittent pneumatic compression (IPC) represents an i...
Assessment of QOL and symptoms changes in primary or secondary, unilateral or bilateral lower extremity patients using an advanced pneumatic compression system.
The goal of this study is to determine if applying a rigid splint helps to reduce pain following operative fixation of upper extremity fractures. Orthopedic trauma surgeons currently vary ...
Pneumatic tourniquets are widely used not only to reduce blood loss and to ensure optimal operating conditions during extremity surgery, but also in regional anesthesia (local intravenous)...
Insertion of viral DNA into host-cell DNA. This includes integration of phage DNA into bacterial DNA; (LYSOGENY); to form a PROPHAGE or integration of retroviral DNA into cellular DNA to form a PROVIRUS.
The rigid framework of connected bones that gives form to the body, protects and supports its soft organs and tissues, and provides attachments for MUSCLES.
Organic chemistry methodology that mimics the modular nature of various biosynthetic processes. It uses highly reliable and selective reactions designed to "click" i.e., rapidly join small modular units together in high yield, without offensive byproducts. In combination with COMBINATORIAL CHEMISTRY TECHNIQUES, it is used for the synthesis of new compounds and combinatorial libraries.
Rigid, semi-rigid, or inflatable cylindric hydraulic devices, with either combined or separate reservoir and pumping systems, implanted for the surgical treatment of organic ERECTILE DYSFUNCTION.
A class of G-protein-coupled receptors that react to varying extracellular CALCIUM levels. Calcium-sensing receptors in the PARATHYROID GLANDS play an important role in the maintenance of calcium HOMEOSTASIS by regulating the release of PARATHYROID HORMONE. They differ from INTRACELLULAR CALCIUM-SENSING PROTEINS which sense intracellular calcium levels.
A joint is where two or more bones come together, like the knee, hip, elbow, or shoulder. Joints can be damaged by many types of injuries or diseases, including Arthritis - inflammation of a joint causes pain, stiffness, and swelling with ...
Arthritis Fibromyalgia Gout Lupus Rheumatic Rheumatology is the medical specialty concerned with the diagnosis and management of disease involving joints, tendons, muscles, ligaments and associated structures (Oxford Medical Diction...