Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8405382
Dario Lunni, Goffredo Giordano, E. Sinibaldi, M. Cianchetti, B. Mazzolai
An innovative methodology to realize a sensing system able to estimate the shape of a soft robot arm without hampering “softness” is presented. The system is based on a low-cost plastic optical fiber (POF) used as curvature sensor and on a simplified steady-state model, both integrated in an Adaptive Extended Kalman Filter (AEKF). Sensory feedback was obtained through accelerometers and it was used as quantitative benchmark for the AEKF. The AEKF estimation turned out to be more accurate (RMS error < 5°) than the model prediction alone and the soft sensor alone, thus supporting the proposed fully soft proprioception strategy.
{"title":"Shape estimation based on Kalman filtering: Towards fully soft proprioception","authors":"Dario Lunni, Goffredo Giordano, E. Sinibaldi, M. Cianchetti, B. Mazzolai","doi":"10.1109/ROBOSOFT.2018.8405382","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8405382","url":null,"abstract":"An innovative methodology to realize a sensing system able to estimate the shape of a soft robot arm without hampering “softness” is presented. The system is based on a low-cost plastic optical fiber (POF) used as curvature sensor and on a simplified steady-state model, both integrated in an Adaptive Extended Kalman Filter (AEKF). Sensory feedback was obtained through accelerometers and it was used as quantitative benchmark for the AEKF. The AEKF estimation turned out to be more accurate (RMS error < 5°) than the model prediction alone and the soft sensor alone, thus supporting the proposed fully soft proprioception strategy.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134362218","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404936
K. M. Digumarti, C. Cao, Jianglong Guo, A. Conn, J. Rossiter
This paper presents the design of a planar, low profile, multi-directional soft crawling robot. The robot combines soft electroactive polymer actuators with compliant electroadhesive feet. A theoretical model of a multi-sector dielectric elastomer actuator is presented. The relation between actuator stroke and blocking force is experimentally validated. Electrostatic adhesion is employed to provide traction between the feet of the robot and the crawling surface. Shear force is experimentally determined and forces up to 3N have been achieved with the current pad design. A 2D multi-directional gait is demonstrated with the robot prototype. Speeds up to 12mm/s (0.1 body-lengths/s) have been observed. The robot has the potential to move on a variety of surfaces and across gradients, a useful ability in scenarios involving exploration.
{"title":"Multi-directional crawling robot with soft actuators and electroadhesive grippers","authors":"K. M. Digumarti, C. Cao, Jianglong Guo, A. Conn, J. Rossiter","doi":"10.1109/ROBOSOFT.2018.8404936","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404936","url":null,"abstract":"This paper presents the design of a planar, low profile, multi-directional soft crawling robot. The robot combines soft electroactive polymer actuators with compliant electroadhesive feet. A theoretical model of a multi-sector dielectric elastomer actuator is presented. The relation between actuator stroke and blocking force is experimentally validated. Electrostatic adhesion is employed to provide traction between the feet of the robot and the crawling surface. Shear force is experimentally determined and forces up to 3N have been achieved with the current pad design. A 2D multi-directional gait is demonstrated with the robot prototype. Speeds up to 12mm/s (0.1 body-lengths/s) have been observed. The robot has the potential to move on a variety of surfaces and across gradients, a useful ability in scenarios involving exploration.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133618825","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404918
A. Kojima, M. Okui, Yasuyuki Yamada, Taro Nakamura
A pneumatic artificial muscle is an air pressure-activated rubber actuator. It is lightweight and high in power density compared to motorized actuators and fluid-powered cylinders. In addition, it shows high compatibility with the human body because it has good flexibility. The authors have developed a straight-fiber-type pneumatic artificial muscle (SF-ARM) with high output and contraction amounts compared to those of the widely used McKibben-type artificial muscle. Although the fatigue life of the McKibben type has been examined, similar studies have not yet been performed for SF-ARM. In this study, the extension of the lifetime of SF-ARM, development of high-deformation rubber material, and examination of the SF-ARM aspect ratio were performed. First, from deformation analysis by the finite element method, the target elongation value of the rubber material was determined and a suitable material was developed. Next, the fatigue life and contraction characteristics were measured by reducing the strain of the rubber material by changing the aspect ratio. The results showed a relationship between the lifetime and the shape of the artificial muscle. We demonstrate that the relationship between the lifetime and contraction force and ratio, according to the application, can be selected by manipulating the shape and the size of the SF-ARM.
{"title":"Prolonging the lifetime of straight-fiber-type pneumatic rubber artificial muscle by shape consideration and material development","authors":"A. Kojima, M. Okui, Yasuyuki Yamada, Taro Nakamura","doi":"10.1109/ROBOSOFT.2018.8404918","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404918","url":null,"abstract":"A pneumatic artificial muscle is an air pressure-activated rubber actuator. It is lightweight and high in power density compared to motorized actuators and fluid-powered cylinders. In addition, it shows high compatibility with the human body because it has good flexibility. The authors have developed a straight-fiber-type pneumatic artificial muscle (SF-ARM) with high output and contraction amounts compared to those of the widely used McKibben-type artificial muscle. Although the fatigue life of the McKibben type has been examined, similar studies have not yet been performed for SF-ARM. In this study, the extension of the lifetime of SF-ARM, development of high-deformation rubber material, and examination of the SF-ARM aspect ratio were performed. First, from deformation analysis by the finite element method, the target elongation value of the rubber material was determined and a suitable material was developed. Next, the fatigue life and contraction characteristics were measured by reducing the strain of the rubber material by changing the aspect ratio. The results showed a relationship between the lifetime and the shape of the artificial muscle. We demonstrate that the relationship between the lifetime and contraction force and ratio, according to the application, can be selected by manipulating the shape and the size of the SF-ARM.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"02 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122490762","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404892
Joran W. Booth, Jennifer C. Case, E. White, Dylan S. Shah, Rebecca Kramer‐Bottiglio
In this paper, we describe a digitally-controlled, miniature, multi-mode pressure regulator for integration directly into centimeter-scale soft robots. This regulator integrates best-of-class commercially-available pneumatic valves and pressure sensors to achieve a small and lightweight servo-controlled pressure regulator. We demonstrate that the regulator is able to track both step and ramp commands and quantify the error in the resulting pressure. In order to facilitate integration of many such regulators into a single soft robot, we have implemented an addressable digital communication system, based on the industry-standard I2C bus. This allows us to connect up to 127 regulators on a single 4-line bus, significantly reducing the mass and complexity of the required wiring.
{"title":"An addressable pneumatic regulator for distributed control of soft robots","authors":"Joran W. Booth, Jennifer C. Case, E. White, Dylan S. Shah, Rebecca Kramer‐Bottiglio","doi":"10.1109/ROBOSOFT.2018.8404892","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404892","url":null,"abstract":"In this paper, we describe a digitally-controlled, miniature, multi-mode pressure regulator for integration directly into centimeter-scale soft robots. This regulator integrates best-of-class commercially-available pneumatic valves and pressure sensors to achieve a small and lightweight servo-controlled pressure regulator. We demonstrate that the regulator is able to track both step and ramp commands and quantify the error in the resulting pressure. In order to facilitate integration of many such regulators into a single soft robot, we have implemented an addressable digital communication system, based on the industry-standard I2C bus. This allows us to connect up to 127 regulators on a single 4-line bus, significantly reducing the mass and complexity of the required wiring.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129945804","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404901
Yasemin Ozkan-Aydin, Jennifer L. Molnar, D. Goldman, Frank L. Hammond
Soft-bodied organisms accomplish their locomotor tasks in complex environments based primarily on changes in the dimensions of their body segments. Inspired by the morphology and behavior of the earthworm, we designed a multi-segmented soft worm robot and tested its performance experimentally through three locomotion tests: forward/backward motion, turning motion and sideways motion on a hard surface.
{"title":"Design of a soft robophysical earthworm model","authors":"Yasemin Ozkan-Aydin, Jennifer L. Molnar, D. Goldman, Frank L. Hammond","doi":"10.1109/ROBOSOFT.2018.8404901","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404901","url":null,"abstract":"Soft-bodied organisms accomplish their locomotor tasks in complex environments based primarily on changes in the dimensions of their body segments. Inspired by the morphology and behavior of the earthworm, we designed a multi-segmented soft worm robot and tested its performance experimentally through three locomotion tests: forward/backward motion, turning motion and sideways motion on a hard surface.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121131519","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404895
C. D. Santina, Robert K. Katzschmann, A. Bicchi, D. Rus
Despite the emergence of many soft-bodied robotic systems, model-based feedback control has remained an open challenge. This is largely due to the intrinsic difficulties in designing controllers for systems with infinite dimensions. In this paper we propose an alternative formulation of the soft robot dynamics which connects the robot's behavior with the one of a rigid bodied robot with elasticity in the joints. The matching between the two system is exact under the common hypothesis of Piecewise Constant Curvature. Based on this connection we introduce two control architectures, with the aim of achieving accurate curvature control and Cartesian regulation of the robot's impedance, respectively. The curvature controller accounts for the natural softness of the system, while the Cartesian controller adapts the impedance of the end effector for interactions with an unstructured environment. This work proposes the first closed loop dynamic controller for a continuous soft robot. The controllers are validated and evaluated on a physical soft robot capable of planar manipulation.
{"title":"Dynamic control of soft robots interacting with the environment","authors":"C. D. Santina, Robert K. Katzschmann, A. Bicchi, D. Rus","doi":"10.1109/ROBOSOFT.2018.8404895","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404895","url":null,"abstract":"Despite the emergence of many soft-bodied robotic systems, model-based feedback control has remained an open challenge. This is largely due to the intrinsic difficulties in designing controllers for systems with infinite dimensions. In this paper we propose an alternative formulation of the soft robot dynamics which connects the robot's behavior with the one of a rigid bodied robot with elasticity in the joints. The matching between the two system is exact under the common hypothesis of Piecewise Constant Curvature. Based on this connection we introduce two control architectures, with the aim of achieving accurate curvature control and Cartesian regulation of the robot's impedance, respectively. The curvature controller accounts for the natural softness of the system, while the Cartesian controller adapts the impedance of the end effector for interactions with an unstructured environment. This work proposes the first closed loop dynamic controller for a continuous soft robot. The controllers are validated and evaluated on a physical soft robot capable of planar manipulation.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126277529","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-23DOI: 10.1109/ROBOSOFT.2018.8404928
J. Fras, M. Macias, Y. Noh, K. Althoefer
Soft actuation, due to its mechanical properties offer a complex motion that is not achievable for traditional mechanism. Thanks to that property it is often considered for bio-mimicking devices as many leaving creatures move by complex and distributed deformation. In this paper we propose a novel soft fluidical actuator designed to be used as a biomimicking tentacle in swimming octopus robot. The actuator has two degrees of freedom that enables bending in some range of directions and inherits the actuation effectiveness of single degree of freedom actuators while still able to control two of them. The actuator has been tested in terms of generated forces and motion capabilities and shows significant improvement regarding the state of the art actuators capable of completing the assumed task. The actuator enables the octopus robot to advance forward, change swimming directions and rotate around its primary axis. The paper presents the design, fabrication process and experimental verification of the proposed solution.
{"title":"Fluidical bending actuator designed for soft octopus robot tentacle","authors":"J. Fras, M. Macias, Y. Noh, K. Althoefer","doi":"10.1109/ROBOSOFT.2018.8404928","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404928","url":null,"abstract":"Soft actuation, due to its mechanical properties offer a complex motion that is not achievable for traditional mechanism. Thanks to that property it is often considered for bio-mimicking devices as many leaving creatures move by complex and distributed deformation. In this paper we propose a novel soft fluidical actuator designed to be used as a biomimicking tentacle in swimming octopus robot. The actuator has two degrees of freedom that enables bending in some range of directions and inherits the actuation effectiveness of single degree of freedom actuators while still able to control two of them. The actuator has been tested in terms of generated forces and motion capabilities and shows significant improvement regarding the state of the art actuators capable of completing the assumed task. The actuator enables the octopus robot to advance forward, change swimming directions and rotate around its primary axis. The paper presents the design, fabrication process and experimental verification of the proposed solution.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125939364","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-01DOI: 10.1109/ROBOSOFT.2018.8404943
Alok Mehta, Akash Mehta, Diana Velazquez-Pimentel, Samy Sadek, K. Althoefer
Background: Resuscitatile endovascular balloon occlusion of the aorta (REBOA), is a life saving intervention employed during heavy internal bleeding in the pelvis and abdomen. A balloon is inserted into the aorta to prevent distal blood flow.
{"title":"Development of an adaptable, soft robot with an aortic diameter sensor to modulate blood flow in an extreme biological environment","authors":"Alok Mehta, Akash Mehta, Diana Velazquez-Pimentel, Samy Sadek, K. Althoefer","doi":"10.1109/ROBOSOFT.2018.8404943","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404943","url":null,"abstract":"Background: Resuscitatile endovascular balloon occlusion of the aorta (REBOA), is a life saving intervention employed during heavy internal bleeding in the pelvis and abdomen. A balloon is inserted into the aorta to prevent distal blood flow.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126887241","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-01DOI: 10.1109/ROBOSOFT.2018.8405363
Hongying Zhang, A. Kumar, J. Fuh, M. Wang
In this paper, a systemic approach to design and fabricate a multimaterial soft gripper is proposed. Driven by pneumatic pressure, the soft material inside the gripper acts as integrated actuator and the relatively hard material provides support for its soft body. Because of a large design space, it's hardly to design a multimaterial structure by intuitive or biomimetic approaches. Herein, this structural design problem is tackled by topology optimization approach, where each gripper finger is modeled as a compliant mechanism to achieve its maximum bending deflection. Considering the fabrication process, the soft material structure is preserved unchangeable during the optimization process. Thereafter, the optimized hard material is fabricated through 3D printing and the soft material is created by molding. Characterization experiments show that each gripper finger can undergo 32° bending deformation and exert 0.54N grasping force under 0.05MPa actuation pressure. Moreover, the multimaterial soft gripper can sustain more than 1000 working cycles and grasping a variety of objects ranging from tiny regular skews to large and delicate sunglasses. The proposed design and fabrication approach is freely extendable to soft robots by forming the corresponding optimization model, and stands as a gateway toward high-performance multi-material soft robots.
{"title":"Topology optimized design, fabrication and evaluation of a multimaterial soft gripper","authors":"Hongying Zhang, A. Kumar, J. Fuh, M. Wang","doi":"10.1109/ROBOSOFT.2018.8405363","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8405363","url":null,"abstract":"In this paper, a systemic approach to design and fabricate a multimaterial soft gripper is proposed. Driven by pneumatic pressure, the soft material inside the gripper acts as integrated actuator and the relatively hard material provides support for its soft body. Because of a large design space, it's hardly to design a multimaterial structure by intuitive or biomimetic approaches. Herein, this structural design problem is tackled by topology optimization approach, where each gripper finger is modeled as a compliant mechanism to achieve its maximum bending deflection. Considering the fabrication process, the soft material structure is preserved unchangeable during the optimization process. Thereafter, the optimized hard material is fabricated through 3D printing and the soft material is created by molding. Characterization experiments show that each gripper finger can undergo 32° bending deformation and exert 0.54N grasping force under 0.05MPa actuation pressure. Moreover, the multimaterial soft gripper can sustain more than 1000 working cycles and grasping a variety of objects ranging from tiny regular skews to large and delicate sunglasses. The proposed design and fabrication approach is freely extendable to soft robots by forming the corresponding optimization model, and stands as a gateway toward high-performance multi-material soft robots.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121180627","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-04-01DOI: 10.1109/ROBOSOFT.2018.8405385
Tommaso Poliero, C. Natali, M. Sposito, J. Ortiz, E. Graf, C. Pauli, E. Bottenberg, A. D. Eyto, D. Caldwell
There is a shared trend, in engineering fields related to robotics, to privilege soft systems on behalf of hard ones. This direction stems from the desire of designing and implementing energetically efficient systems that are light, soft, wieldy, reconfigurable and with augmented dexterity. Soft wearable devices will also improve very important characteristics such as wearability and comfort. The design and implementation of a wearable system meeting these requirements is being developed in the XoSoft EU project. In this work we present the design of a soft modular energy-efficient lower limb exoskeleton. It is based on an energy efficiency analysis optimization. Novelty of this work is given by the integration of quasi-passive actuations in a soft exoskeleton. The goal is to assist-during daily tasks-subjects with low to moderate mobility impairments reducing by 10% to 30% the mechanical energy requirements and improving the gait (stability, tiredness, etc). Assistance is meant to be on hip, knee and ankle, in a unilateral or bilateral configuration. A first modular single-joint prototype is described, developed and assessed on a post-stroke patient gait. The comparison between the validation and the simulation showed a similar behavior and an energy reduction of 7.8%. The overall measured assistance given by the exoskeleton on the user's hip segment in terms of power is 9.3%.
{"title":"Soft wearable device for lower limb assistance: Assessment of an optimized energy efficient actuation prototype","authors":"Tommaso Poliero, C. Natali, M. Sposito, J. Ortiz, E. Graf, C. Pauli, E. Bottenberg, A. D. Eyto, D. Caldwell","doi":"10.1109/ROBOSOFT.2018.8405385","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8405385","url":null,"abstract":"There is a shared trend, in engineering fields related to robotics, to privilege soft systems on behalf of hard ones. This direction stems from the desire of designing and implementing energetically efficient systems that are light, soft, wieldy, reconfigurable and with augmented dexterity. Soft wearable devices will also improve very important characteristics such as wearability and comfort. The design and implementation of a wearable system meeting these requirements is being developed in the XoSoft EU project. In this work we present the design of a soft modular energy-efficient lower limb exoskeleton. It is based on an energy efficiency analysis optimization. Novelty of this work is given by the integration of quasi-passive actuations in a soft exoskeleton. The goal is to assist-during daily tasks-subjects with low to moderate mobility impairments reducing by 10% to 30% the mechanical energy requirements and improving the gait (stability, tiredness, etc). Assistance is meant to be on hip, knee and ankle, in a unilateral or bilateral configuration. A first modular single-joint prototype is described, developed and assessed on a post-stroke patient gait. The comparison between the validation and the simulation showed a similar behavior and an energy reduction of 7.8%. The overall measured assistance given by the exoskeleton on the user's hip segment in terms of power is 9.3%.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123447067","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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