EFRI C3 SoRo: Textile Robotics: Integrative Design, Modeling, Manufacture, and Control of Soft Human-Interactive Apparel

EFRI C3 SoRo：纺织机器人：软质人机交互服装的集成设计、建模、制造和控制

• 批准号: 1830896
• 负责人: Conor Walsh
• 金额: $ 200万
• 依托单位: Harvard University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2018
• 资助国家: 美国
• 起止时间: 2018-09-15 至 2023-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1830896&HistoricalAwards=false
• 关键词: EFRI; C3; SoRo; Textile; Robotics

This project seeks to leverage textile materials to create soft and compliant wearable robots that are lightweight and nonrestrictive, and can deliver valuable levels of assistance. This will be achieved by studying how to model, manufacture and control textile-based robotic systems. The outcomes from this project will highlight the benefits of textiles as a materials platform for new components that enable wearable robot systems that can be worn like clothing. When people suffer neurologic and musculoskeletal injuries, they often cannot perform even the simplest activities of daily life. The innovative new devices and systems that result from this project will offer the potential to provide additional strength by applying forces to a wearer's limb to mitigate disability and augment the natural abilities of the human body. This will simultaneously open avenues for independence, societal participation, and return-to-work, while reducing healthcare costs. This project will also promote interdisciplinary research and teaching, and facilitate interactions between roboticists, applied mathematicians, computer scientists, biomedical engineers, material scientists, and functional apparel designers. This project will create, analyze, and evaluate a new class of textile-based, conformal, and compliant wearable robots in the form of garments. Embedded textile strain and pressure sensors will monitor the state of the actuators and the underlying limb, while integrated air-impermeable and conductive pathways for fluid power and data transfer will enable manipulation of the limb through simultaneous online estimation and control. This transformative, interdisciplinary research program will address fundamental questions aimed at increasing our understanding of how to leverage the mechanical and electrical properties of advanced textile materials to achieve flexible and distributed actuation, sensing, and information/power transfer for textile-based robots. The project will develop new computational and analytical modeling tools that account for the inherent material and geometric nonlinearities to guide the parametric design of both individual actuators, sensors and their distributions on a limb; model-based and data-driven control and estimation algorithms that account for the nonlinear actuator properties and inherent uncertainty in positioning a textile-based robot on a limb and finally novel material constructions and their manufacturing processes spanning the nanoscale to wearable garments. This project will integrate the activities at all stages of the research through highly collaborative interactions and demonstrate and validate the benefits of this approach through multiple experimental testbeds.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目旨在利用纺织材料来制造柔软、柔顺的可穿戴机器人，这些机器人重量轻、不受限制，可以提供有价值的帮助。这将通过研究如何建模，制造和控制基于纺织品的机器人系统来实现。该项目的成果将突出纺织品作为新组件的材料平台的好处，使可穿戴机器人系统能够像衣服一样穿着。当人们遭受神经和肌肉骨骼损伤时，他们通常甚至不能进行日常生活中最简单的活动。该项目产生的创新设备和系统将通过向穿戴者的肢体施加力来提供额外的力量，以减轻残疾并增强人体的自然能力。这将同时为独立，社会参与和重返工作开辟道路，同时降低医疗保健成本。该项目还将促进跨学科的研究和教学，促进机器人专家、应用数学家、计算机科学家、生物医学工程师、材料科学家和功能性服装设计师之间的互动。 该项目将创建，分析和评估一类新的基于纺织品的，适形的，符合服装形式的可穿戴机器人。嵌入式纺织应变和压力传感器将监测致动器和底层肢体的状态，而用于流体动力和数据传输的集成不透气和导电路径将通过同时在线估计和控制来实现肢体的操纵。这个变革性的跨学科研究计划将解决基本问题，旨在提高我们对如何利用先进纺织材料的机械和电气特性的理解，以实现基于纺织品的机器人的灵活和分布式驱动，传感和信息/电力传输。该项目将开发新的计算和分析建模工具，考虑到固有的材料和几何非线性，以指导单个致动器、传感器及其在肢体上的分布的参数设计;基于模型和数据驱动的控制和估计算法，其考虑了非线性致动器特性和定位纺织品时的固有不确定性，基于肢体的机器人，最后是新颖的材料结构及其制造工艺，涵盖纳米级到可穿戴服装。该项目将通过高度协作的互动来整合研究各个阶段的活动，并通过多个实验测试台来展示和验证这种方法的好处。该奖项反映了NSF的法定使命，并被认为值得通过使用基金会的知识价值和更广泛的影响审查标准进行评估来支持。

项目成果

3D Knitting for Pneumatic Soft Robotics

• DOI: 10.1002/adfm.202212541
• 发表时间: 2023-04
• 期刊: Advanced Functional Materials
• 影响因子: 19
• 作者: Vanessa Sanchez;K. Mahadevan;Gabrielle Ohlson;M. Graule;Michelle C. Yuen;Clark B. Teeple;James C. Weaver;J. McCann;K. Bertoldi;Robert J. Wood

In-Situ Measurement of Multi-Axis Torques Applied by Wearable Soft Robots for Shoulder Assistance

用于肩部辅助的可穿戴软机器人所施加的多轴扭矩的现场测量

• DOI: 10.1109/tmrb.2023.3258499
• 发表时间: 2023
• 期刊: IEEE Transactions on Medical Robotics and Bionics
• 作者: McCann, Connor M.;Hohimer, Cameron J.;O’Neill, Ciarán T.;Young, Harrison T.;Bertoldi, Katia;Walsh, Conor J.
• 通讯作者: Walsh, Conor J.

Restoring arm function with a soft robotic wearable for individuals with amyotrophic lateral sclerosis

• DOI: 10.1126/scitranslmed.add1504
• 发表时间: 2023-02-01
• 期刊: SCIENCE TRANSLATIONAL MEDICINE
• 影响因子: 17.1
• 作者: Proietti, Tommaso;Neill, Ciaran O. ';Walsh, Conor
• 通讯作者: Walsh, Conor

Air Efficient Soft Wearable Robot for High-Torque Elbow Flexion Assistance

用于高扭矩肘部弯曲辅助的空气效率软可穿戴机器人

• DOI: 10.1109/icorr58425.2023.10304679
• 发表时间: 2023
• 期刊: IEEE
• 作者: Young, Harrison;Gerez, Lucas;Cole, Tazzy;Inirio, Bianca;Proietti, Tommaso;Closs, Bettie;Paganoni, Sabrina;Walsh, Conor
• 通讯作者: Walsh, Conor

Pre-College Robotics: Best Practices for Adapting Research to Outreach

大学预科机器人：使研究适应推广的最佳实践

• 发表时间: 2023
• 期刊: ASEE
• 作者: Medina, DR;Kim, J;Ohk, K;Kisantear, D;Jimenez, J;Tian, G;Walsh, C;Golecki, HM
• 通讯作者: Golecki, HM