Active modular elastomer sleeve for soft wearable assistance robots

Yong‐Lae Park, Bor-rong Chen, C. Majidi, R. Wood, R. Nagpal, E. Goldfield
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引用次数: 68

Abstract

A proposed adaptive soft orthotic device performs motion sensing and production of assistive forces with a modular, pneumatically-driven, hyper-elastic composite. Wrapping the material around a joint will allow simultaneous motion sensing and active force response through shape and rigidity control. This monolithic elastomer sheet contains a series of miniaturized pneumatically-powered McKibben-type actuators that exert tension and enable adaptive rigidity control. The elastomer is embedded with conductive liquid channels that detect strain and bending deformations induced by the pneumatic actuators. In addition, the proposed system is modular and can be configured for a diverse range of motor tasks, joints, and human subjects. This modular functionality is accomplished with a decentralized network of self-configuring nodes that manage the collection of sensory data and the delivery of actuator feedback commands. This paper mainly describes the design of the soft orthotic device as well as actuator and sensor components. The characterization of the individual sensors, actuators, and the integrated device is also presented.
柔性可穿戴辅助机器人的主动模块化弹性体套筒
提出了一种自适应软矫形器装置,采用模块化、气动驱动、超弹性复合材料进行运动传感和辅助力的产生。将材料包裹在关节周围,可以通过形状和刚度控制同时实现运动传感和主动力响应。这种单片弹性体片包含一系列小型气动mckibben型执行器,可以施加张力并实现自适应刚度控制。弹性体内嵌导电液体通道,可检测由气动致动器引起的应变和弯曲变形。此外,所提出的系统是模块化的,可以配置为各种运动任务,关节和人体主体。这种模块化功能是通过分散的自配置节点网络来实现的,这些节点管理传感器数据的收集和执行器反馈命令的传递。本文主要介绍了软式矫形器的设计以及执行器和传感器的组成。还介绍了单个传感器、执行器和集成装置的特性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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