A Soft Pneumatic Fabric-Polymer Actuator for Wearable Biomedical Devices: Proof of Concept for Lymphedema Treatment
A Soft Pneumatic Fabric-Polymer Actuator for Wearable Biomedical Devices: Proof of Concept for Lymphedema Treatment
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用于可穿戴生物医学设备的软气动织物聚合物致动器：淋巴水肿治疗的概念验证
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发表时间：
2018
期刊：
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通讯作者：
E. Vela
中科院分区：
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作者：
Etsel Suarez;Juan J. Huaroto;Alberto A. Reymundo;Dónal P. Holland;C. Walsh;E. Vela
软致动器是可穿戴生物医学设备的理想候选者，其固有的顺应性，鲁棒性，重量轻和可清洗的可能性比刚性致动器具有优势。因此，软气动织物聚合物弯曲致动器作为一个基本组成部分的机器人设备治疗水肿报道在这项工作中。致动器由两个机械元件组成，一个由织物制成，另一个由粘贴在织物元件上的超弹性聚合物制成。织物元件被设计和制造成具有比聚合物元件长的弯曲形状，即超弹性梁。为了组装两个元件，在粘附之前折叠织物元件，以便匹配聚合物梁的长度。一旦空气被泵入织物，它就会向其原始的弯曲形状弯曲。一旦空气被移除，超弹性梁允许致动器恢复其初始位置。该致动器能够在人手臂上施加压缩力和侧向力，模仿手动淋巴引流。提出了一个与实验数据吻合较好的数学模型，它可以用来预测作动器的运动。在12.5kPa下实现了约2.2cm的末端自由弯曲位移和约0.35N的弯曲力。一个概念验证系统治疗水肿以及。
Soft actuators are ideal candidates for wearable biomedical devices, their inherent compliance, robustness, lightweight and the possibility to be washable take advantage over rigid actuators. Thus, a soft pneumatic fabric-polymer bending actuator as a base component for a robotic device for lymphedema treatment is reported in this work. The actuator is composed of two mechanical elements, one made of fabric and the other one made of a hyperelastic polymer which is stuck on the fabric element. The fabric element is designed and fabricated with a curved shape longer than the polymer element, that is a hyperelastic beam. To assemble both elements, the fabric element was folded before sticking in order to match the length of the polymer beam. Once the air is pumped into the fabric, it bends towards its original curved shape. Once the air is removed, the hyperelastic beam allows the actuator to recover its initial position. This actuator is capable of exerting compression and lateral force on a human arm mimicking manual lymphatic drainage. A mathematical model is presented which is in good agreement with the experimental data, it could serve to predict the actuator motion. An end-tip free bending displacement of about 2.2 cm and a bending force of about 0.35 N were achieved at 12.5 kPa. A proof-of-concept system for lymphedema treatment is presented as well.