A length-adjustable vacuum-powered artificial muscle for wearable physiotherapy assistance in infants
Soft pneumatic artificial muscles are increasingly popular in the field of soft robotics due to their light-weight, complex motions, and safe interfacing with humans. In this paper, we present a Vacuum-Powered Artificial Muscle (VPAM) with an adjustable operating length that offers adaptability thro...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media SA
2024
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| Subjects: | |
| Online Access: | https://hdl.handle.net/1721.1/154102 |
| _version_ | 1811078240189546496 |
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| author | Gollob, Samuel Dutra Mendoza, Mijaíl Jaén Koo, Bon Ho Brandon Centeno, Esteban Vela, Emir A. Roche, Ellen T. |
| author_facet | Gollob, Samuel Dutra Mendoza, Mijaíl Jaén Koo, Bon Ho Brandon Centeno, Esteban Vela, Emir A. Roche, Ellen T. |
| author_sort | Gollob, Samuel Dutra |
| collection | MIT |
| description | Soft pneumatic artificial muscles are increasingly popular in the field of soft robotics due to their light-weight, complex motions, and safe interfacing with humans. In this paper, we present a Vacuum-Powered Artificial Muscle (VPAM) with an adjustable operating length that offers adaptability throughout its use, particularly in settings with variable workspaces. To achieve the adjustable operating length, we designed the VPAM with a modular structure consisting of cells that can be clipped in a collapsed state and unclipped as desired. We then conducted a case study in infant physical therapy to demonstrate the capabilities of our actuator. We developed a dynamic model of the device and a model-informed open-loop control system, and validated their accuracy in a simulated patient setup. Our results showed that the VPAM maintains its performance as it grows. This is crucial in applications such as infant physical therapy where the device must adapt to the growth of the patient during a 6-month treatment regime without actuator replacement. The ability to adjust the length of the VPAM on demand offers a significant advantage over traditional fixed-length actuators, making it a promising solution for soft robotics. This actuator has potential for various applications that can leverage on demand expansion and shrinking, including exoskeletons, wearable devices, medical robots, and exploration robots. |
| first_indexed | 2024-09-23T10:56:19Z |
| format | Article |
| id | mit-1721.1/154102 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T10:56:19Z |
| publishDate | 2024 |
| publisher | Frontiers Media SA |
| record_format | dspace |
| spelling | mit-1721.1/1541022024-04-25T04:51:48Z A length-adjustable vacuum-powered artificial muscle for wearable physiotherapy assistance in infants Gollob, Samuel Dutra Mendoza, Mijaíl Jaén Koo, Bon Ho Brandon Centeno, Esteban Vela, Emir A. Roche, Ellen T. Artificial Intelligence Computer Science Applications Soft pneumatic artificial muscles are increasingly popular in the field of soft robotics due to their light-weight, complex motions, and safe interfacing with humans. In this paper, we present a Vacuum-Powered Artificial Muscle (VPAM) with an adjustable operating length that offers adaptability throughout its use, particularly in settings with variable workspaces. To achieve the adjustable operating length, we designed the VPAM with a modular structure consisting of cells that can be clipped in a collapsed state and unclipped as desired. We then conducted a case study in infant physical therapy to demonstrate the capabilities of our actuator. We developed a dynamic model of the device and a model-informed open-loop control system, and validated their accuracy in a simulated patient setup. Our results showed that the VPAM maintains its performance as it grows. This is crucial in applications such as infant physical therapy where the device must adapt to the growth of the patient during a 6-month treatment regime without actuator replacement. The ability to adjust the length of the VPAM on demand offers a significant advantage over traditional fixed-length actuators, making it a promising solution for soft robotics. This actuator has potential for various applications that can leverage on demand expansion and shrinking, including exoskeletons, wearable devices, medical robots, and exploration robots. 2024-04-09T20:30:57Z 2024-04-09T20:30:57Z 2023-05-04 2024-04-09T20:04:58Z Article http://purl.org/eprint/type/JournalArticle 2296-9144 https://hdl.handle.net/1721.1/154102 Gollob, Samuel Dutra, Mendoza, Mijaíl Jaén, Koo, Bon Ho Brandon, Centeno, Esteban, Vela, Emir A. et al. 2023. "A length-adjustable vacuum-powered artificial muscle for wearable physiotherapy assistance in infants." Frontiers in Robotics and AI, 10. en 10.3389/frobt.2023.1190387 Frontiers in Robotics and AI Creative Commons Attribution https://creativecommons.org/licenses/by/4.0/ application/pdf Frontiers Media SA Frontiers Media SA |
| spellingShingle | Artificial Intelligence Computer Science Applications Gollob, Samuel Dutra Mendoza, Mijaíl Jaén Koo, Bon Ho Brandon Centeno, Esteban Vela, Emir A. Roche, Ellen T. A length-adjustable vacuum-powered artificial muscle for wearable physiotherapy assistance in infants |
| title | A length-adjustable vacuum-powered artificial muscle for wearable physiotherapy assistance in infants |
| title_full | A length-adjustable vacuum-powered artificial muscle for wearable physiotherapy assistance in infants |
| title_fullStr | A length-adjustable vacuum-powered artificial muscle for wearable physiotherapy assistance in infants |
| title_full_unstemmed | A length-adjustable vacuum-powered artificial muscle for wearable physiotherapy assistance in infants |
| title_short | A length-adjustable vacuum-powered artificial muscle for wearable physiotherapy assistance in infants |
| title_sort | length adjustable vacuum powered artificial muscle for wearable physiotherapy assistance in infants |
| topic | Artificial Intelligence Computer Science Applications |
| url | https://hdl.handle.net/1721.1/154102 |
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