Matching Items (54)

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A Supernumerary Wearable Soft Robotic Arm for Task Execution Assistance

Description

This thesis proposes the concept of soft robotic supernumerary limbs to assist the wearer in the execution of tasks, whether it be to share loads or replace an assistant. These

This thesis proposes the concept of soft robotic supernumerary limbs to assist the wearer in the execution of tasks, whether it be to share loads or replace an assistant. These controllable extra arms are made using soft robotics to reduce the weight and cost of the device, and are not limited in size and location to the user's arm as with exoskeletal devices. Soft robotics differ from traditional robotics in that they are made using soft materials such as silicone elastomers rather than hard materials such as metals or plastics. This thesis presents the design, fabrication, and testing of the arm, including the joints and the actuators to move them, as well as the design and fabrication of the human-body interface to unite man and machine. This prototype utilizes two types of pneumatically-driven actuators, pneumatic artificial muscles and fiber-reinforced actuators, to actuate the elbow and shoulder joints, respectively. The robotic limb is mounted at the waist on a backpack frame to avoid interfering with the wearer's biological arm. Through testing and evaluation, this prototype device proves the feasibility of soft supernumerary limbs, and opens up opportunities for further development into the field.

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Date Created
  • 2016-05

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Atrophy Mitigation of Long-Term Exposure to Zero-Gravity with a Soft Robotic Exosuit

Description

Interplanetary space travel has seen a surge of interest in not only media but also within the academic field as well. No longer are we designing and investigating extravehicular activity

Interplanetary space travel has seen a surge of interest in not only media but also within the academic field as well. No longer are we designing and investigating extravehicular activity (EVA) suits, scholars and researchers are also engineering the future suit to protect humans on the surfaces of Martian planets. As we are progressing with technology capable of taking us even further distances than before imaginable, this thesis aims to produce an exosuit that will find a place between the planets and stars, by providing countermeasures to muscle and bone atrophy. This is achieved through the rapidly growing field of soft robotics and the technology within it. An analytical model governing torque production of an array of soft pneumatic actuators was created to provide resistive forces on the human joints. Thus, we can recreate and simulate a majority of the loads that would be experienced on earth, in microgravity. Where push-ups on earth require on average 30Nm of torque about the elbow joint, by donning this exosuit, the same forces can be experienced when pushing off of surfaces while navigating within the space capsule. It is ergonomic, low-cost, and most importantly lightweight. While weight is negligible in micro-G, the payloads required for transporting current exercising equipment are costly and would take up valuable cargo space that would otherwise be allocated to research related items or sustenance. Factor in the scaling of current "special space agent" missions times 20-50, and the problem is further exacerbated. Therefore, the proposed design has warranted potential for the short term need of Mars missions, and additionally satisfy the long-term goal of taking humanity to infinite and beyond.

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Date Created
  • 2018-05

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Automated Bicycle Human-in-the-Loop Control

Description

Bicycles are already used for daily transportation by a large share of the world's population and provide a partial solution for many issues facing the world today. The low environmental

Bicycles are already used for daily transportation by a large share of the world's population and provide a partial solution for many issues facing the world today. The low environmental impact of bicycling combined with the reduced requirement for road and parking spaces makes bicycles a good choice for transportation over short distances in urban areas. Bicycle riding has also been shown to improve overall health and increase life expectancy. However, riding a bicycle may be inconvenient or impossible for persons with disabilities due to the complex and coordinated nature of the task. Automated bicycles provide an interesting area of study for human-robot interaction, due to the number of contact points between the rider and the bicycle. The goal of the Smart Bike project is to provide a platform for future study of the physical interaction between a semi-autonomous bicycle robot and a human rider, with possible applications in rehabilitation and autonomous vehicle research.

This thesis presents the development of two balance control systems, which utilize actively controlled steering and a control moment gyroscope to stabilize the bicycle at high and low speeds. These systems may also be used to introduce disturbances, which can be useful for studying human reactions. The effectiveness of the steering balance control system is verified through testing with a PID controller in an outdoor environment. Also presented is the development of a force sensitive bicycle seat which provides feedback used to estimate the pose of the rider on the bicycle. The relationship between seat force distribution is demonstrated with a motion capture experiment. A corresponding software system is developed for balance control and sensor integration, with inputs from the rider, the internal balance and steering controller, and a remote operator.

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Created

Date Created
  • 2019-05

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DEVELOPMENT OF A SOFT ROBOTIC THIRD ARM

Description

For my thesis I worked in ASU’s Bio-Inspired Mechatronics lab on a project lead by PhD student Pham H. Nguyen (Berm) to develop an assistive soft robotic supernumerary limb. I

For my thesis I worked in ASU’s Bio-Inspired Mechatronics lab on a project lead by PhD student Pham H. Nguyen (Berm) to develop an assistive soft robotic supernumerary limb. I contributed to the design and evaluation of two prototypes: the silicon based Soft Poly Limb (SPL) and one bladder-based fabric arm, the fabric Soft Poly Limb (fSPL). For both arms I was responsible for the design of 3D printed components (molds, end caps, etc.) as well as the evaluation of the completed prototypes by comparing the actual performance of the arms to the finite element predictions. I contributed to the writing of two published papers describing the design and evaluation of the two arms. After the completion of the fSPL I attempted to create a quasi-static model of the actuators driving the fSPL.

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Date Created
  • 2019-05

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[Detection of Heel-off Initiation Based on the Relationship Between Ground Reaction Forces and Surface Electromyography: Heel-toe, Heel-toe, a Story]

Description

The global population over the age of 60 is estimated to rise to 23% by 2050 only increase the prevalence of functional neurological disorders and stroke. Increase in cases of

The global population over the age of 60 is estimated to rise to 23% by 2050 only increase the prevalence of functional neurological disorders and stroke. Increase in cases of functional neurological disorders and strokes will place a greater burden on the healthcare industry, specifically physical therapy. Physical therapy is vital for a patient’s recovery of motor function which is time demanding and taxing on the physical therapist. Wearable robotics have been proven to improve functional outcomes in gait rehabilitation by providing controlled high dosage and high-intensity training. Accurate control strategies for assistive robotic exoskeletons are vital for repetitive high precisions assistance for cerebral plasticity to occur.

This thesis presents a preliminary determination and design of a control algorithm for an assistive ankle device developed by the ASU RISE Laboratory. The assistive ankle device functions by compressing a spring upon heel strike during gait, remaining compressed during mid-stance and then releasing upon initiation of heel-off. The relationship between surface electromyography and ground reactions forces were used for identification of user-initiated heel-off. The muscle activation of the tibialis anterior combined with the ground reaction forces of the heel pressure sensor generated potential features that will be utilized in the revised control algorithm for the assistive ankle device. Work on this project must proceed in order to test and validate the revised control algorithm to determine its accuracy and precision.

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Created

Date Created
  • 2019-05

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Development of an OpenSim Simulation to Identify Time and Force Magnitude Needed at Toe-Off Stage for an Assistive Force Ankle Device

Description

Human walking is a complex and rhythmical activity that comprises of the brain, nerves and muscles. Neuromuscular disorder (NMD) is a broad term that refers to conditions that affect the

Human walking is a complex and rhythmical activity that comprises of the brain, nerves and muscles. Neuromuscular disorder (NMD) is a broad term that refers to conditions that affect the proper use of muscles and nervous system, thus also impairing the walking or gait cycle of an individual. The improper gait cycle might be attributed to the lack of force produced at the toe-off stage. This project addresses if it is possible to create an OpenSim model to find the ideal time and force magnitude needed of an assistive force ankle device to improve gait patterns in individuals with NMD.

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Created

Date Created
  • 2019-05

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ROBOTIC SHOE: AN ANKLE ASSISTIVE DEVICE FOR GAIT PLANTAR FLEXION ASSISTANCE

Description

The mean age of the world’s population is rapidly increasing and with that growth in an aging population a large number of elderly people are in need of walking assistance.

The mean age of the world’s population is rapidly increasing and with that growth in an aging population a large number of elderly people are in need of walking assistance. In addition, a number of medical conditions contribute to gait disorders that require gait rehabilitation. Wearable robotics can be used to improve functional outcomes in the gait rehabilitation process. The ankle push-off phase of an individual’s gait is vital to their ability to walk and propel themselves forward. During the ankle push-off phase of walking, plantar flexors are required to providing a large amount of force to power the heel off the ground.

The purpose of this project is to improve upon the passive ankle foot orthosis originally designed in the ASU’s Robotics and Intelligent Systems Laboratory (RISE Lab). This device utilizes springs positioned parallel to the user’s Achilles tendon which store energy to be released during the push off phase of the user’s gait cycle. Goals of the project are to improve the speed and reliability of the ratchet and pawl mechanism, design the device to fit a wider range of shoe sizes, and reduce the overall mass and size of the device. The resulting system is semi-passive and only utilizes a single solenoid to unlock the ratcheting mechanism when the spring’s potential force is required. The device created also utilizes constant force springs rather than traditional linear springs which allows for a more predictable level of force. A healthy user tested the device on a treadmill and surface electromyography (sEMG) sensors were placed on the user’s plantar flexor muscles to monitor potential reductions in muscular activity resulting from the assistance provided by the AFO device. The data demonstrates the robotic shoe was able to assist during the heel-off stage and reduced activation in the plantar flexor muscles was evident from the EMG data collected. As this is an ongoing research project, this thesis will also recommend possible design upgrades and changes to be made to the device in the future. These upgrades include utilizing a carbon fiber or lightweight plastic frame such as many of the traditional ankle foot-orthosis sold today and introducing a system to regulate the amount of spring force applied as a function of the force required at specific times of the heel off gait phase.

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Created

Date Created
  • 2019-12

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Design, Characterization, and Evaluation of a Dynamic Soft Robotic Prosthetic Socket Interface

Description

Prosthetic sockets are a static interface for dynamic residual limbs. As the user's activity level increases, the volume of the residual limb decreases by up to 11% and increases by

Prosthetic sockets are a static interface for dynamic residual limbs. As the user's activity level increases, the volume of the residual limb decreases by up to 11% and increases by as much as 7% after activity. Currently, volume fluctuation is addressed by adding/removing prosthetic socks to change the profile of the residual limb. However, this is time consuming. These painful/functional issues demand a prosthetic socket with an adjustable interface that can adapt to the user's needs. This thesis presents a prototype design for a dynamic soft robotic interface which addresses this need. The actuators are adjustable depending on the user's activity level, and their structure provides targeted compression to the soft tissue which helps to limit movement of the bone relative to the socket. The engineering process was used to create this design by defining system level requirements, exploring the design space, selecting a design, and then using testing/analysis to optimize that design. The final design for the soft robotic interface meets the applicable requirements, while other requirements for the electronics/controls will be completed as future work. Testing of the prototype demonstrated promising potential for the design with further refinement. Work on this project should be continued in future research/thesis projects in order to create a viable consumer product which can improve lower limb amputee's quality of life.

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Created

Date Created
  • 2018-05

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Tail Stability

Description

This paper describes the attempt of designing and building a two wheeled platform that is inherently unstable and discovering what tail design is suitable for stabilizing the platform. The platform

This paper describes the attempt of designing and building a two wheeled platform that is inherently unstable and discovering what tail design is suitable for stabilizing the platform. The platform is a 3D printed box that carries an Arduino, breadboard, MPU6050, a battery and a servo. This box is connected to two continuous servo motors (one on each side) that are attached to wheels, the breadboard and Arduino are mounted on the inside and the MPU6050 is mounted on the back of the base. The MPU6050 collects the data. In the program, that data will be the position of the accelerometer’s x-axis and that data will be sent to the servo motor with the tail for the controls aspect.

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Date Created
  • 2020-05

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The Design, Fabrication, and Testing of a New Design of Soft Robotic Module Using Knit FRTAs

Description

For the basis of this project, a particular interest is taken in soft robotic arms for the assistance of daily living tasks. A detailed overview and function of the soft

For the basis of this project, a particular interest is taken in soft robotic arms for the assistance of daily living tasks. A detailed overview and function of the soft robotic modules comprised within the soft robotic arm will be the main focus. In this thesis, design and fabrication methods of fabric reinforced textile actuators (FRTAs) have their design expanded. Original design changes to the actuators that improve their performance are detailed in this report. This report also includes an explanation of how the FRTA’s are made, explaining step by step how to make each sub-assembly and explain its function. Comparisons between the presented module and the function of the soft poly limb from previous works are also expanded. Various forms of testing, such as force testing, range of motion testing, and stiffness testing are conducted on the soft robotic module to provide insights into its performance and characteristics. Lastly, present plans for various forms of future work and integration of the soft robotic module into a full soft robotic arm assembly are discussed.

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Date Created
  • 2020-05