Active Modular Elastomer Sleeve for Soft Wearable Assistance Robots

Yong-Lae Park, Bor-rong Chen, Carmel Majidi, Robert J. Wood, Radhika Nagpal, and Eugene C. Goldfield
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2012, pp. 1595-1602.


Abstract
A proposed adaptive soft orthotic device performs motion sensing and production of assistive forces with a modular, pneumatically-driven, hyper-elastic composite. Wrapping the material around a joint will allow simultaneous motion sensing and active force response through shape and rigidity control. This monolithic elastomer sheet contains a series of miniaturized pneumatically-powered McKibben-type actuators that exert tension and enable adaptive rigidity control. The elastomer is embedded with conductive liquid channels that detect strain and bending deformations induced by the pneumatic actuators. In addition, the proposed system is modular and can be configured for a diverse range of motor tasks, joints, and human subjects. This modular functionality is accomplished with a decentralized network of self-configuring nodes that manage the collection of sensory data and the delivery of actuator feedback commands. This paper mainly describes the design of the soft orthotic device as well as actuator and sensor components. The characterization of the individual sensors, actuators, and the integrated device is also presented.

Notes
Number of pages: 8

Text Reference
Yong-Lae Park, Bor-rong Chen, Carmel Majidi, Robert J. Wood, Radhika Nagpal, and Eugene C. Goldfield, "Active Modular Elastomer Sleeve for Soft Wearable Assistance Robots," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2012, pp. 1595-1602.

BibTeX Reference
@inproceedings{Park_2012_7484,
   author = "Yong-Lae Park and Bor-rong Chen and Carmel Majidi and Robert J. Wood and Radhika Nagpal and Eugene C. Goldfield",
   title = "Active Modular Elastomer Sleeve for Soft Wearable Assistance Robots",
   booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems",
   pages = "1595-1602",
   month = "October",
   year = "2012",
}