A Wearable Soft Fabric Sleeve for Upper Limb Augmentation.
A Wearable Soft Fabric Sleeve for Upper Limb Augmentation.
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DOI：
10.3390/s21227638
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发表时间：
2021-11-17
期刊：
影响因子：
--
通讯作者：
Do TN
中科院分区：
文献类型：
--
作者：
Hoang TT;Sy L;Bussu M;Thai MT;Low H;Phan PT;Davies J;Nguyen CC;Lovell NH;Do TN
软致动器（SA）已被用于许多柔顺机器人结构和可穿戴设备中，由于它们与穿戴者的安全交互。尽管取得了进步，但当前SA的能力受到可扩展性、高滞后和缓慢响应的限制。本文介绍了一种新型的柔软、可扩展、高纵横比的纤维增强液压SA。新型SA采用简单的插入制造工艺，将中空弹性橡胶管直接插入受约束的中空线圈中，无需手动将不可伸展的纤维缠绕在长弹性结构周围。为了为可穿戴应用提供对用户皮肤的高度适应性，新SA被集成到柔性织物中以形成可穿戴织物套。为了监测SA伸长，还开发了软液体金属基织物压阻传感器。为了捕捉SA的非线性迟滞，一种新的非对称迟滞模型，它只需要在其结构中的五个模型参数的开发和实验验证。新的SAS驱动的可穿戴机器人袖子是可扩展的，高度灵活，重量轻。它还可以在约30%的伸长率下产生约23 N/肌肉的大量力，为人类上肢提供有用的帮助。实验结果表明，柔软的织物套筒可以增强使用者在对抗负荷工作时的表现，这通过肌电（EMG）信号监测的肌肉努力的显著减少来证明。所开发的SA、软织物套筒、软液体金属织物传感器和非线性滞后模型的性能表明，它们可以有效地调节穿戴者的辅助水平。从这项工作中获得的新技术可以在新兴的辅助应用中实现，如康复，国防和工业。
Soft actuators (SAs) have been used in many compliant robotic structure and wearable devices, due to their safe interaction with the wearers. Despite advances, the capability of current SAs is limited by scalability, high hysteresis, and slow responses. In this paper, a new class of soft, scalable, and high-aspect ratio fiber-reinforced hydraulic SAs is introduced. The new SA uses a simple fabrication process of insertion where a hollow elastic rubber tube is directly inserted into a constrained hollow coil, eliminating the need for the manual wrapping of an inextensible fiber around a long elastic structure. To provide high adaptation to the user skin for wearable applications, the new SAs are integrated into flexible fabrics to form a wearable fabric sleeve. To monitor the SA elongation, a soft liquid metal-based fabric piezoresistive sensor is also developed. To capture the nonlinear hysteresis of the SA, a novel asymmetric hysteresis model which only requires five model parameters in its structure is developed and experimentally validated. The new SAs-driven wearable robotic sleeve is scalable, highly flexible, and lightweight. It can also produce a large amount of force of around 23 N per muscle at around 30% elongation, to provide useful assistance to the human upper limbs. Experimental results show that the soft fabric sleeve can augment a user’s performance when working against a load, evidenced by a significant reduction on the muscular effort, as monitored by electromyogram (EMG) signals. The performance of the developed SAs, soft fabric sleeve, soft liquid metal fabric sensor, and nonlinear hysteresis model reveal that they can effectively modulate the level of assistance for the wearer. The new technologies obtained from this work can be potentially implemented in emerging assistive applications, such as rehabilitation, defense, and industry.
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影响因子：
5.2
作者：
Abe, Tomoki;Koizumi, Shoichiro;Takamizawa, Fumi
通讯作者：
Takamizawa, Fumi
影响因子：
5.1
作者：
Awad, Louis N.;Esquenazi, Alberto;Jayaraman, Arun
通讯作者：
Jayaraman, Arun
影响因子：
10.4
作者：
Do, T. N.;Tjahjowidodo, T.;Phee, S. J.
通讯作者：
Phee, S. J.
影响因子：
5.6
作者：
Ikhouane, F;Rodellar, J
通讯作者：
Rodellar, J
影响因子：
8.4
作者：
Do, T. N.;Tjahjowidodo, T.;Phee, S. J.
通讯作者：
Phee, S. J.