Soft Robotics in Rehabilitation

Description

Soft Robotics in Rehabilitation explores the specific branch of robotics dealing with developing robots from compliant and flexible materials. Unlike robots built from rigid materials, soft robots behave the way in which living organs move and adapt to their surroundings and allow for increased flexibility and adaptability for the user. This book is a comprehensive reference discussing the application of soft robotics for rehabilitation of upper and lower extremities separated by various limbs. The book examines various techniques applied in soft robotics, including the development of soft actuators, rigid actuators with soft behavior, intrinsically soft actuators, and soft sensors. This book is perfect for graduate students, researchers, and professional engineers in robotics, control, mechanical, and electrical engineering who are interested in soft robotics, artificial intelligence, rehabilitation therapy, and medical and rehabilitation device design and manufacturing.  Title-page_2021_Soft-Robotics-in-Rehabilitation Soft Robotics in Rehabilitation Copyright_2021_Soft-Robotics-in-Rehabilitation Copyright Contents_2021_Soft-Robotics-in-Rehabilitation Contents List-of-contributors_2021_Soft-Robotics-in-Rehabilitation List of contributors Introduction-and-acknowledgments_2021_Soft-Robotics-in-Rehabilitation Introduction and acknowledgments Chapter-1---High-performance-soft-wearable-robots-for_2021_Soft-Robotics-in- 1 High-performance soft wearable robots for human augmentation and gait rehabilitation 1.1 Introduction 1.2 Actuation technologies for physical human–robot interaction 1.2.1 High torque density motors 1.2.2 Quasi-direct drive actuation 1.3 Applications to wearable robots 1.3.1 Hip exoskeleton 1.3.1.1 Design 1.3.1.2 Modeling 1.3.1.3 Control 1.3.1.4 Evaluation 1.3.2 Knee exoskeleton 1.3.2.1 Design 1.3.2.2 Modeling 1.3.2.3 Control 1.3.2.4 Evaluation 1.3.3 Back exoskeleton 1.3.3.1 Design 1.3.3.2 Modeling 1.3.3.3 Control 1.3.3.4 Evaluation 1.4 Discussion Acknowledgments References Chapter-2---Development-of-different-types-of-ionic-polyme_2021_Soft-Robotic 2 Development of different types of ionic polymer metal composite-based soft actuators for robotics and biomimetic applications 2.1 Introduction 2.2 Literature survey on IPMC as actuators and sensors and its applications 2.3 Development of IPMC base soft actuator by different approaches 2.3.1 Kraton/GO/Ag/Pani composite-based IPMC soft actuator 2.3.1.1 Materials used 2.3.1.2 Fabrication of Kraton/GO/Ag/Pani composite-based IPMC soft actuator 2.3.1.3 Dehydration process 2.3.1.4 Proton conductivity 2.3.1.5 Characterizations of Kraton/GO/Ag/Pani composite 2.3.2 SPVA/IL/Pt IPMC composite-based IPMC soft actuator 2.3.2.1 Materials used 2.3.2.2 Preparation of the reagent solutions 2.3.2.3 Preparation of SPVA membrane 2.3.2.4 Fabrication of SPVA/IL/Pt IPMC 2.3.2.5 Characterizations of SPVA/IL/Pt IPMC 2.4 Results and discussions 2.4.1 Characterization of Kraton/GO/Ag/Pani composite-based IPMC soft actuator 2.4.1.1 Water update properties 2.4.1.2 FT-IR 2.4.1.3 SEM 2.4.1.4 AFM 2.4.1.5 UV–visible studies 2.4.1.6 Electrochemical properties 2.4.1.7 Electromechanical properties 2.4.2 Characterization of SPVA/IL/Pt IPMC composite-based IPMC soft actuator 2.4.2.1 WH, IEC, and PC 2.4.2.2 Water loss 2.4.2.3 SEM and EDX 2.4.2.4 Fourier-transform infrared and XRD study 2.4.2.5 Electrical properties 2.4.2.6 Electromechanical properties 2.5 Development of robotic system using different types of IPMC actuators 2.5.1 The design concept of the flexible link manipulator using SPVA/IL/Pt IPMCs for robotics assembly 2.6 Conclusion Acknowledgment References Chapter-3---Soft-actuators-and-their-potential-appli_2021_Soft-Robotics-in-R 3 Soft actuators and their potential applications in rehabilitative devices 3.1 Introduction 3.2 Overview of soft robotic actuators 3.2.1 Electroactive polymers 3.2.1.1 Polyvinyl chloride gels 3.2.2 Ionic electroactive polymers 3.2.2.1 Ionic hydrogels 3.2.2.2 Ionic polymer–metal composite 3.2.3 Hybrid actuators 3.2.3.1 Hydraulically amplified self-healing electrostatic actuator 3.2.3.2 Soft pneumatic and hydraulic actuators 3.2.3.3 Nylon-based coiled polymer actuator 3.3 Applications of soft robotic actuators 3.3.1 Hip joint support using polyvinyl chloride gels 3.3.2 Hydrogels and their applications 3.3.3 Ionic polymer–metal composite applications 3.3.4 HASEL actuators and artificial muscle applications 3.3.5 Soft pneumatic and hydraulic actuators used in rehabilitative devices for hands and arms 3.3.6 Coiled polymer actuators used in rehabilitative devices for wrists 3.4 Conclusions Acknowledgments References Chapter-4---An-optimized-soft-actuator-based-on-the-inte_2021_Soft-Robotics- 4 An optimized soft actuator based on the interaction between an electromagnetic coil and a permanent magnet 4.1 Introduction 4.2 Solenoid magnetic field and force calculation 4.3 Solenoid geometry design optimization 4.4 Manufacturing aspects and limitations 4.5 The influence of solenoid section deformation on the magnetic field and force 4.6 Discussion and conclusion Acknowledgment References Chapter-5---Cable-driven-systems-for-robotic-r_2021_Soft-Robotics-in-Rehabil 5 Cable-driven systems for robotic rehabilitation 5.1 Introduction 5.1.1 Formulation of cable-driven devices 5.1.1.1 Device work-space 5.1.1.2 Control schema considerations: toward compliant controls 5.1.2 Categories of cable-driven devices 5.1.2.1 Serial cable-driven devices 5.1.2.2 Parallel cable-driven devices 5.1.3 Cable-driven systems for postural and gait rehabilitation with variable controllers 5.1.3.1 Cable-driven Active Leg Exoskeleton 5.1.3.2 The Trunk Support Trainer 5.1.3.3 Robotic Upright Stand Trainer 5.1.3.4 Tethered Pelvic Assist Device 5.2 Cable-driven leg exoskeleton for gait rehabilitation 5.2.1 Stroke rehabilitation case study 5.2.2 Augmented Reality stepping task study 5.3 A perturbation study using Robotic Upright Stand Trainer 5.4 Conclusion Acknowledgments References Chapter-6---XoSoft--design-of-a-novel-soft-modu_2021_Soft-Robotics-in-Rehabi 6 XoSoft: design of a novel soft modular exoskeleton 6.1 Introduction 6.2 User-centered design 6.3 Requirements 6.3.1 Primary users 6.3.2 Secondary users 6.4 Actuation principle 6.4.1 Textile jamming 6.4.2 Electromagnetic clutch 6.4.3 Pneumatic soft clutch 6.5 Sensing and control 6.5.1 Insole pressure sensors 6.5.2 IMUs 6.5.3 Soft sensors 6.6 Prototypes 6.6.1 XoSoft Beta 1 6.6.2 XoSoft Beta 2 6.6.3 XoSoft Gamma 6.6.4 Comparison 6.7 Testing and validation 6.7.1 Laboratory testing 6.7.1.1 Experimental protocol 6.7.1.2 XoSoft Beta 1 6.7.1.3 XoSoft Beta 2 6.7.1.4 XoSoft Gamma 6.7.2 Clinical testing 6.7.2.1 Experimental protocol 6.7.2.2 XoSoft Beta 2 versus XoSoft Gamma 6.7.2.3 Exoscore XoSoft Beta 2 6.7.3 Home-Simulated Home environment validation 6.8 Conclusions and future works References Chapter-7---TwAS--treadmill-with-adjustable-sur_2021_Soft-Robotics-in-Rehabi 7 TwAS: treadmill with adjustable surface stiffness 7.1 Introduction 7.2 Actuator with Adjustable Stiffness mechanism 7.2.1 Antagonistic configurations 7.2.1.1 Simple antagonistic 7.2.1.1.1 Biological inspired joint stiffness control 7.2.1.1.2 Actuator with mechanically adjustable series compliance 7.2.1.1.3 Pleated pneumatic artificial muscle 7.2.1.2 Cross coupling antagonistic 7.2.1.3 Bidirectional antagonistic 7.2.2 Series configurations 7.2.2.1 Series configurations based on the pretension 7.2.3 Drawbacks 7.2.4 Actuator with Adjustable Stiffness configuration 7.2.4.1 Actuator with Adjustable Stiffness mechanism 7.2.4.2 Second version of Actuator with Adjustable Stiffness mechanism 7.2.5 Experimental results on Actuator with Adjustable Stiffness adjustment mechanism 7.2.5.1 Preliminary experiments 7.2.6 Treadmill with Adjustable Stiffness 7.2.6.1 Performance specification 7.2.6.2 Design specification 7.3 Experimental results for stiffness adjustment of Treadmill with Adjustable Stiffness 7.3.1 Range of stiffness adjustment 7.3.2 Independence of the surface stiffness with respect to location of the person and vertical displacement of the surface 7.3.3 Bilateral stiffness adjustment 7.3.4 Effects of surface stiffness on human gait and metabolic cost 7.3.5 Kinematics of human walking on Treadmill with Adjustable Stiffness 7.3.5.1 Method 7.3.5.2 Procedures and instrumentation 7.3.5.3 Results 7.3.5.4 Discussion References Chapter-8---An-artificial-skeletal-muscle-for-use-in_2021_Soft-Robotics-in-R 8 An artificial skeletal muscle for use in pediatric rehabilitation robotics 8.1 Introduction 8.1.1 Actuation using Maxwell pressure 8.2 Method 8.2.1 Inclusion criteria 8.2.2 Comparison measures 8.3 Results 8.3.1 Coiled nylon fiber actuators 8.3.2 Ethanol-based phase-change actuators 8.3.3 Poly vinyl chloride gel actuators 8.3.4 Stacked dielectric elastomer actuators 8.3.5 Hydraulically amplified self-healing electrostatic actuators 8.4 Discussion 8.4.1 Chosen actuator 8.5 Conclusion References Index_2021_Soft-Robotics-in-Rehabilitation Index