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A soft pneumatic actuator as a haptic wearable device for upper limb amputees: Toward a soft robotic liner

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dc.contributor.author Huaroto, J.J.
dc.contributor.author Suarez, E.
dc.contributor.author Krebs, H.I.
dc.contributor.author Marasco, P.D.
dc.contributor.author Vela, E.A.
dc.date.accessioned 2019-07-04T16:59:17Z
dc.date.available 2019-07-04T16:59:17Z
dc.date.issued 2019
dc.identifier.uri https://hdl.handle.net/20.500.12866/6712
dc.description.abstract Object manipulation and fluid, goal-directed, movements require sensory information for effective execution. Amputees lose this intrinsic feedback when controlling their artificial limbs and must instead rely on visual information to compensate. Here, we describe an application for providing touch and kinesthetic information to amputees. We report on a soft robotic pneumatic actuator approach that can be incorporated into a prosthetic limb as the silicone suction socket liner itself. This approach alleviates many problems inherent to rigid tactors such as poor trim lines from external mounting, electromyography (EMG) signal contamination, and loss of limb fixation suction due to holes in the liner to pass touch and vibration to the residual limb. We analyzed two soft materials and different chamber geometries to generate a prototype. We characterized the static and dynamic properties of this prototype during operation obtaining a maximum force of 12.5 N at 70 kPa, free displacement of 4.5 mm at 50 kPa, and a bandwidth near 70 Hz. We presented an analytical model that fits well with the experimental data and provided a comparison between this soft pneumatic actuator and other rigid tactor devices. The results of testing the prototype in able-bodied participants and one amputee individual demonstrated that this soft pneumatic actuator achieved good performance at frequencies of 5 and 70 Hz at 60 kPa. In sequential days of training with the prototype participants reported perceptions of wrist flexion/extension and demonstrated learned associations between tapping and hand closing. © 2018 IEEE. en_US
dc.language.iso eng
dc.publisher IEEE
dc.relation.ispartofseries IEEE Robotics and Automation Letters
dc.rights info:eu-repo/semantics/restrictedAccess
dc.rights.uri https://creativecommons.org/licenses/by-nc-nd/4.0/deed.es
dc.subject Skin en_US
dc.subject Silicones en_US
dc.subject Actuators en_US
dc.subject Artificial limbs en_US
dc.subject Electric connectors en_US
dc.subject Exoskeleton (Robotics) en_US
dc.subject Grasping and manipulation en_US
dc.subject Haptic interfaces en_US
dc.subject haptics and haptic interfaces en_US
dc.subject Haptics and haptic interfaces en_US
dc.subject perception for grasping and manipulation en_US
dc.subject Pneumatic actuators en_US
dc.subject Pneumatic equipment en_US
dc.subject Pneumatics en_US
dc.subject Prosthetics en_US
dc.subject prosthetics and exoskeletons en_US
dc.subject Robot sensing system en_US
dc.subject Robotics en_US
dc.subject Shape en_US
dc.subject Soft material en_US
dc.subject Soft material robotics en_US
dc.subject Soft robotics en_US
dc.subject wearable robots en_US
dc.subject Wearable robots en_US
dc.subject Wearable technology en_US
dc.title A soft pneumatic actuator as a haptic wearable device for upper limb amputees: Toward a soft robotic liner en_US
dc.type info:eu-repo/semantics/article
dc.identifier.doi https://doi.org/10.1109/LRA.2018.2874379
dc.subject.ocde https://purl.org/pe-repo/ocde/ford#1.02.01
dc.subject.ocde https://purl.org/pe-repo/ocde/ford#1.01.00
dc.relation.issn 2377-3766


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