Development of Soft Robotic Prosthesis

项目主要目标：通过研究和实验，开发软性机器人假肢设备的技术，理想情况下，构建一种新型的软性机器人假肢手臂。研究项目：近年来，假肢已经有了很大的进步，从木腿和机械挂钩发展到移动刀片和机械手。然而，现代功能性假肢的一些主要缺点是它们仍然由坚硬的材料制成，机械部件僵硬，传感能力有限。这些问题的解决方案可以在软机器人领域找到。随着这一领域的最新进展，如柔性传感器和软致动器，未来的功能性假肢在外观和感觉上可能会更接近它们的生物同类。该项目的目的是通过研究和实验来开发软机器人假肢设备的技术，理想情况下可以构建一种新型的软机器人假肢手臂。这一目标将通过开展多个研究项目来实现，这些研究项目涵盖了软机器人领域的三个主要领域：制造、人机交互、操纵和控制技术制造是软机器人研究的一个挑战，因为制造软部件的传统工艺，如金属模具注塑，既耗时又昂贵。像3D打印这样的数字制造技术正在被用来克服这些问题。然而，需要更多的研究来改进数字制造技术，以制造出与硬材料替代品相匹配的零件。该项目的第一个目标是通过对使用新型数字工艺制造的柔软机器人手指进行迭代测试，在3D打印领域进行创新。该领域的其他实验可能包括在电子皮肤中开发软传感器，或者在半柔性骨状结构部件的设计中进行仿生学实验。在柔性机器人假肢中，人机交互的研究主要包括安全性、舒适性和易用性。安全性和舒适性是相辅相成的，因为不舒服的假肢经常会伤害使用者，如果没有强有力的对策，也会对周围的人造成伤害。此外，为了使假肢易于使用，它应该轻巧，舒适且功能强大。这些挑战可以通过柔软的机器人假肢来克服，由于它们的顺应性，它们更安全、更舒适，同时也减少了对重型安全系统的需求。本项目涉及的相关实验可能包括设计一种可以适应日常身体变化并增加舒适度的附加袖带，以及开发新的结构几何形状的假肢以减轻重量。最后，由于软组件的顺应性，软机器人的操作和控制技术可能难以设计。然而，克服这个问题可能会使软机器人假体成为新的标准，因为它在其他领域具有潜在的优势。这一领域的实验可能包括，受人类肌肉力学启发的软致动器的开发，以及电子皮肤传感器的应用来控制假肢的握力。

Principal goal for project: To develop the technologies within soft robotic prosthetic devices through research and experimentation, ideally resulting in the construction of a novel soft robotic prosthetic arm.Research project: Prosthetic limbs have improved significantly within recent years, moving on from wooden legs and mechanical hooks to running blades and robotic hands. However, some of the main drawbacks of modern functional prosthetics are that they are still made from hard materials with stiff mechanical parts and limited sensing capabilities. The solution to these problems could be found in the field of soft robotics. With recent advances in this area, like flexible sensors and soft actuators, the functional prosthetics of the future could look and feel a lot closer to their biological counterparts.The aim of this project is to develop the technologies within soft robotic prosthetic devices through research and experimentation, ideally resulting in the construction of a novel soft robotic prosthetic arm. This aim will be met by conducting multiple research projects, covering three main areas of the soft robotics field:ManufacturingHuman-Robot InteractionManipulation and Control TechniquesManufacturing is a challenge for soft robotics research because traditional processes for making soft components, like injection moulding with metal dies, are time-consuming and expensive. Digital manufacturing techniques, like 3D printing, are being utilised to overcome these issues. However, more research is needed to improve digital manufacturing techniques to create parts that match the capabilities of alternatives made of hard materials. The first goal of this project is to innovate in the area of 3D printing, through iterative testing of soft robotic fingers manufactured using novel digital processes. Other experiments in this area could include the development of soft sensors in e-skins, or experimenting with biomimicry in the design of semi-flexible bone-like structural parts.In the case of soft robotic prosthetics, human-robot interaction research mainly covers safety, comfort, and ease of use. Safety and comfort go hand-in-hand because uncomfortable prostheses often injure users and, without heavy countermeasures, can also cause injury to people around them. Also, for a prosthetic to be easy to use, it should be light, comfortable and highly functional. These challenges could be overcome by soft robotic prostheses, being safer and more comfortable due to their compliance, while also reducing the need for heavy safety systems. Relevant experiments covered by this project could include designing an attachment cuff that can adapt to daily bodily changes and increase comfort, and developing new structural geometries of prostheses to reduce weight.Finally, manipulation and control techniques for soft robots can be difficult to devise due to the compliance of soft components. However, overcoming this issue could allow soft robotic prostheses to become the new standard, due to potential advantages in other areas. Experiments in this area could include, the development of soft actuators inspired by the mechanics of human muscles, and the application of e-skin sensors to control the grip strength of the prosthesis.