Δευτέρα 4 Μαΐου 2020

Soft, Wearable, and Pleated Pneumatic Interference Actuator Provides Knee Extension Torque for Sit-to-Stand

Soft, Wearable, and Pleated Pneumatic Interference Actuator Provides Knee Extension Torque for Sit-to-Stand: Soft Robotics, Ahead of Print.





Soft wearable actuators can help connect machines and humans, providing a personalized, ergonomic, and cooperative physical interface between people and their world. Until now, the torque of these interfaces has been limited, restricting their ability to assist the completely paralyzed. This article presents a method for realizing a soft structure that stably and comfortably applies a knee extension torque to the body that is sufficient for sit-to-stand (STS). The structure, the pleated pneumatic interference actuator (PPIA), is based on pleated inflatables; is lightweight, collapsible, and clothing integratable; and generates torque from buckling of a constrained fabric-reinforced rubber tube. Multiple PPIAs were integrated into a soft orthosis, the soft lift assister for the knee (SLAK). The SLAK was inflated to a pressure of 320 kPa, and it produced a maximum 324 Nm torque at a flexion angle of 82°. This exceeds the peak 180 Nm torque required for STS and torques required for other everyday tasks. The SLAK met the torque requirement for STS, which is more than 93% of the STS motion when worn by a test leg. Worn by a human, it shows potential for complete support, which is more than 100% of the motion. The PPIA's theoretical model overestimated torque at low to moderate flexion angles and underestimated PPIA torque at high flexion angles. Further development of the PPIA will focus on testing the SLAK with human subjects; increasing the PPIA's speed and flexibility; reducing the PPIA's bulk; and improving the PPIA's model accuracy.



Figures

References

Related

Details

View details for Soft Robotics cover image

Information

Copyright 2020, Mary Ann Liebert, Inc., publishers



To cite this article:

Allan Joshua Veale, Kyrian Staman, and Herman van der Kooij.Soft Robotics.ahead of printhttp://doi.org/10.1089/soro.2019.0076

Online Ahead of Print:May 4, 2020

Keywords

soft fluidic actuatorwearable inflatable actuatorpleated pneumatic interference actuatorhigh torqueactive orthosisexosuitsit-to-stand

BACK

Call us toll free (800) M-LIEBERT

Publications

Publications A-Z

Journal Collections

Publications by Type

Recommend a Title

For Authors

Fees and Options

Publishing Open Access

Submission Guidelines

Policies

Librarians

Our Journals

Account Support

Archive

Terms & Conditions

Resources

Liebert Link Newsletter

Contact

Open Access

Open Option

Open Access Journals

Publishing Services

FAQs

Contact

Corporate Capabilities

Custom Publications

Interactive Media

Other Opportunities

Reprints

Advertising

Company

Customer Support

Contact Us

Privacy Policy

© 2020 Mary Ann Liebert, Inc., publishers. All rights reserved, USA and worldwide.

Call us toll free at (800) M-LIEBERT (800-654-3237).Counter CompliantCrossref logo

Back to Top

Δεν υπάρχουν σχόλια:

Δημοσίευση σχολίου

Αρχειοθήκη ιστολογίου