Coupled, closed-system fluidic actuators for use in wearable rehabilitation devices

James Greig; Maria Elena Giannaccini; Edward Chadwick

doi:10.1109/ICRA48891.2023.10160422

Coupled, closed-system fluidic actuators for use in wearable rehabilitation devices

James Greig, Maria Elena Giannaccini, Edward Chadwick

Research output: Chapter in Book/Report/Conference proceeding › Published conference contribution

Abstract

This paper presents a novel closed-system, coupled soft actuator that aims to increase the applied bending moment that can be powered by a single pneumatic pump. The actuator incorporates both positive pressure and vacuum actuators of established design. The purpose of this development is to enable the design of an effective soft robotic wearable device for the re-habilitation of the revolute joints in post-stroke individuals. The design of a test rig to provide consistent, quantitative data on the output of the soft actuators is presented, allowing a comparison of the positive pressure, vacuum and combined (positive and vacuum) actuators. This combination demonstrates the ability to significantly increase the torque output when compared to a single actuator using the same pump for input, potentially reducing the weight of a wearable device. The closed-system, coupled soft actuator system shows opportunity for use in a wide range of applications due to this reduction in pump weight and isolation from environmental conditions.

Original language	English
Title of host publication	2023 IEEE International Conference on Robotics and Automation (ICRA)
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	10422-10428
Number of pages	7
ISBN (Electronic)	9798350323658
DOIs	https://doi.org/10.1109/ICRA48891.2023.10160422
Publication status	Published - 4 Jul 2023
Event	2023 IEEE International Conference on Robotics and Automation, ICRA 2023 - London, United Kingdom Duration: 29 May 2023 → 2 Jun 2023

Conference

Conference	2023 IEEE International Conference on Robotics and Automation, ICRA 2023
Country/Territory	United Kingdom
City	London
Period	29/05/23 → 2/06/23

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Coupled, closed-system fluidic actuators for use in wearable rehabilitation devices. / Greig, James; Giannaccini, Maria Elena ; Chadwick, Edward.
2023 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers Inc., 2023. p. 10422-10428.

Research output: Chapter in Book/Report/Conference proceeding › Published conference contribution

Greig, J, Giannaccini, ME & Chadwick, E 2023, Coupled, closed-system fluidic actuators for use in wearable rehabilitation devices. in 2023 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers Inc., pp. 10422-10428, 2023 IEEE International Conference on Robotics and Automation, ICRA 2023, London, United Kingdom, 29/05/23. https://doi.org/10.1109/ICRA48891.2023.10160422

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abstract = "This paper presents a novel closed-system, coupled soft actuator that aims to increase the applied bending moment that can be powered by a single pneumatic pump. The actuator incorporates both positive pressure and vacuum actuators of established design. The purpose of this development is to enable the design of an effective soft robotic wearable device for the re-habilitation of the revolute joints in post-stroke individuals. The design of a test rig to provide consistent, quantitative data on the output of the soft actuators is presented, allowing a comparison of the positive pressure, vacuum and combined (positive and vacuum) actuators. This combination demonstrates the ability to significantly increase the torque output when compared to a single actuator using the same pump for input, potentially reducing the weight of a wearable device. The closed-system, coupled soft actuator system shows opportunity for use in a wide range of applications due to this reduction in pump weight and isolation from environmental conditions.",

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AB - This paper presents a novel closed-system, coupled soft actuator that aims to increase the applied bending moment that can be powered by a single pneumatic pump. The actuator incorporates both positive pressure and vacuum actuators of established design. The purpose of this development is to enable the design of an effective soft robotic wearable device for the re-habilitation of the revolute joints in post-stroke individuals. The design of a test rig to provide consistent, quantitative data on the output of the soft actuators is presented, allowing a comparison of the positive pressure, vacuum and combined (positive and vacuum) actuators. This combination demonstrates the ability to significantly increase the torque output when compared to a single actuator using the same pump for input, potentially reducing the weight of a wearable device. The closed-system, coupled soft actuator system shows opportunity for use in a wide range of applications due to this reduction in pump weight and isolation from environmental conditions.

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Coupled, closed-system fluidic actuators for use in wearable rehabilitation devices

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