Networked bio-inspired modules for sensorimotor control of wearable cyber-physical devices

We present a functioning prototype of a soft, modular, active cyber-physical assistive device comprised of a sealed network of conductive liquid sensors and collectives of miniature pneumatically-driven actuators that serve as artificial muscles. The system is multi-functional, supports large deformation, and operates with its own on-board pneumatics and controllers. When multiple artificial muscles are collectively actuated (contracted), the overall displacement and force produced is scaled to the size, form, and capabilities of the wearer. Each muscle is equipped with a soft strain sensor that detects the muscle contraction. Four muscles with strain sensors are controlled by one micro-controller as one module. The current prototype has four modules with 16 muscles in total. With different combinations of contracted muscles, various shapes may be demonstrated.