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Biomechanics And Motor Control Of Human Movement

Textile Technology for Soft Robotic and Autonomous Garments

Assistive wearable soft robotic systems have recently made a surge in the field of biomedical robotics, as soft materials allow safe and transparent interactions between the users and devices. A recent interest in the field of soft pneumatic actuators (SPAs) has been the introduction of a new class of actuators called fabric soft pneumatic actuators (FSPAs). These actuators exploit the unique capabilities of different woven and knit textiles, including zero initial stiffness, full collapsibility, high power-to-weight ratio, puncture resistant, and high stretchability. By using 2D manufacturing methods we are able to create actuators that can extend, contract, twist, bend, and perform a combination of these motions in 3D space. This paper presents a comprehensive simulation and design tool for various types of FSPAs using finite element method (FEM) models. The FEM models are developed and experimentally validated, in order to capture the complex non-linear behavior of individual actuators optimized for free displacement and blocked force, applicable for wearable assistive tasks.

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Design and Computational Modeling of Fabric Soft Pneumatic Actuators for Wearable Assistive Devices

Multi-objective configuration optimization for coordinated capture of dual-arm space robot

Constrained motion planning of free-float dual-arm space manipulator via deep reinforcement learning

Optimal trajectory planning of free-floating space manipulator using differential evolution algorithm

Despite that various soft bending actuators have been presented in recent years, their widespread application in knee assistive devices is still hindered by their uncomfortable geometry, limited to...

Novel Accordion-Inspired Foldable Pneumatic Actuators for Knee Assistive Devices.

An adaptive sliding mode controller was designed for a mobile robot driven by four mecanum wheels.The original contribution of this paper is employing adaptive robust controller to mecanum wheels driven mobile robot for obtaining better tracking and robustness performance.To complete the design of the controller, the kinematic model of the mobile robot driven by mecanum wheels was firstly proposed.An adaptive robust controller was designed subsequently.A sliding surface was designed in Proportional-Differential-Integral form, which satisfied the robustness requirements of the system.Besides, a reaching law which has quick convergence was introduced, which reduced the time consumed by the setting parameters and resisting external disturbance.The controller was demonstrated in the presence of impulsive disturbance and sinusoidal signal disturbance, which proved the superiority of the proposed controller.Finally, an experimental verification of trajectory tracking was implemented to verify the practicability and effectiveness.

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An Adaptive Robust Controller for a Mobile Robot Driven by Mecanum Wheels

The invention discloses a folding flexible bending actuator and an application thereof The folding flexible bending actuator comprises a foldable air bag and a fluid pipeline communicated with the bottom of the foldable air bag, wherein a plurality of fluid cavities are formed in the foldable air bag; the fluid cavities can be used for holding various fluids; external fluids are fed into the fluid cavities of the foldable air bag through the fluid pipeline By feeding fluids into or discharging the fluids out of the fluid cavities, the stretching and contracting movements of the folding flexible bending actuator can be controlled The folding flexible bending actuator disclosed by the invention is easy to manufacture, low in cost and light in weight; and the output torque per unit mass and the power density are greatly increased when compared with those of the traditional bending actuator

Folding flexible bending actuator and application thereof

Wearable robotics is a potential solution in aiding gait rehabilitation of lower limbs dyskinesia patients, such as knee osteoarthritis or stroke afflicted patients. Many wearable robots have been developed in the form of rigid exoskeletons, but their bulk devices, high cost and control complexity hinder their popularity in the field of gait rehabilitation. Thus, the development of a portable, compliant and low-cost wearable robot for gait rehabilitation is necessary. Inspired by Chinese traditional folding fans and balloon inflators, the authors present an inflatable, foldable and variable stiffness knee exosuit (IFVSKE) in this paper. The pneumatic actuator of IFVSKE was fabricated in the shape of folding fans by using thermoplastic polyurethane (TPU) fabric materials. The geometric and mechanical properties of IFVSKE were characterized with experimental methods. To assist the knee joint smartly, an intelligent control profile for IFVSKE was proposed based on the concept of full-cycle energy management of the biomechanical energy during human movement. The biomechanical energy of knee joints in a walking gait cycle of patients could be collected and released to assist the joint motion just by adjusting the inner pressure of IFVSKE. Finally, a healthy subject was involved to walk with and without the IFVSKE to evaluate the assisting effects. Keywords—Biomechanical energy management, gait rehabilitation, knee exosuit, wearable robotics.

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Jing Fang

Papers

Optimal trajectory planning of free-floating space manipulator using differential evolution algorithm

Novel Accordion-Inspired Foldable Pneumatic Actuators for Knee Assistive Devices.

An Adaptive Robust Controller for a Mobile Robot Driven by Mecanum Wheels

Folding flexible bending actuator and application thereof

An Inflatable and Foldable Knee Exosuit Based on Intelligent Management of Biomechanical Energy