IntelliPad: Intelligent Soft Robotic Pad for Pressure Injury Prevention

Raeisinezhad, Mahsa; Pagliocca, Nicholas; Koohbor, Behrad; Trkov, Mitja

doi:10.1109/aim43001.2020.9158916

Cited by 5 publications

(9 citation statements)

References 12 publications

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“…We consider the design optimization of a soft actuator proposed in a previous work (Raeisinezhad et al, 2020), see Figures 1A,B. The pneumatic actuator can achieve near independent vertical and one-axis horizontal motions using pressurized air in its three air chambers, while simultaneously withstanding normal pressures of 20 kPa applied at the top surface.…”

Section: Analytical Modelmentioning

confidence: 99%

“…The actuator is modeled as a system of three cantilever beams with linearly varying rectangular cross sections (Figures 1C-G), interconnected by virtual spring elements (Figures 1C,D). The modeling approach was inspired based on the empirically obtained design from Raeisinezhad et al (2020). The actuator is also assumed to be symmetric about the y-z plane about the center of the middle cantilever shown in Figure 1, establishing both beams in Figures 1E,G have the same geometric parameters.…”

Section: Analytical Modelmentioning

confidence: 99%

“…Successful surface manipulations using shape morphing soft actuators that can generate rolling, wrapping, and saddle like motions have been recently demonstrated using a soft robotic pad (Sun et al, 2017(Sun et al, , 2020 and fibers with voltage-actuated dielectric elastomer beams (Shain et al, 2015). A soft actuator for surface manipulation developed in Raeisinezhad et al (2020) could partially achieve two-axis translational motions independently, however, its design was obtained empirically without exploring its full potential by applying a rigorous design optimization approach.…”

Section: Introductionmentioning

confidence: 99%

“…The design of soft robots and actuators has many applications in human-machine interactions and biomedical applications, due to their unique softness and safety. A specific example demonstrating the use of a soft actuator for pressure injury prevention was proposed in Raeisinezhad et al (2020). The existing literature on pressure injury prevention have proposed devices for regulating normal loads at the human-machine interface (Fiedler et al, 2009), although it is well-known fact that the physical tissue damage is caused by the repetitive contact friction loads that cause shear stress on skin, which are the most important factor in blister formation (Polliack and Scheinberg, 2006).…”

Section: Introductionmentioning

confidence: 99%

“…We quantify the efficacy of the analytical model-based optimization compared to the FE computational framework that has an increased variable design space. We specifically demonstrate the developed framework for the design of an individual soft actuator to be used in a multi-actuator soft robotic pad for the application of blister and pressure injury prevention as proposed in Raeisinezhad et al (2020).…”

Section: Introductionmentioning

confidence: 99%

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Design Optimization of a Pneumatic Soft Robotic Actuator Using Model-Based Optimization and Deep Reinforcement Learning

et al. 2021

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We present two frameworks for design optimization of a multi-chamber pneumatic-driven soft actuator to optimize its mechanical performance. The design goal is to achieve maximal horizontal motion of the top surface of the actuator with a minimum effect on its vertical motion. The parametric shape and layout of air chambers are optimized individually with the firefly algorithm and a deep reinforcement learning approach using both a model-based formulation and finite element analysis. The presented modeling approach extends the analytical formulations for tapered and thickened cantilever beams connected in a structure with virtual spring elements. The deep reinforcement learning-based approach is combined with both the model- and finite element-based environments to fully explore the design space and for comparison and cross-validation purposes. The two-chamber soft actuator was specifically designed to be integrated as a modular element into a soft robotic pad system used for pressure injury prevention, where local control of planar displacements can be advantageous to mitigate the risk of pressure injuries and blisters by minimizing shear forces at the skin-pad contact. A comparison of the results shows that designs achieved using the deep reinforcement based approach best decouples the horizontal and vertical motions, while producing the necessary displacement for the intended application. The results from optimizations were compared computationally and experimentally to the empirically obtained design in the existing literature to validate the optimized design and methodology.

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Section: Analytical Modelmentioning

confidence: 99%

Section: Analytical Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Design Optimization of a Pneumatic Soft Robotic Actuator Using Model-Based Optimization and Deep Reinforcement Learning

et al. 2021

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Modular Pressure Redistribution Cushion with Proprioceptive Soft–Rigid Hybrid Actuator

Peng,

Wang,

Tian

et al. 2023

Advanced Intelligent Systems

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Pressure ulcers, which can result from prolonged sitting, pose a significant challenge for wheelchair users. Soft robotics has considerable potential in preventing pressure ulcers. However, current soft robotics, constructed from flexible materials, face limitations including insufficient proprioception and controllability. Herein, a vacuum‐powered proprioceptive soft–rigid hybrid actuator (PSHA) module and a modular pressure redistribution cushion (MPRC) developed using this module are introduced. This PSHA module is capable of detecting both position and force. Each module within the MPRC is equipped with onboard control, proprioceptive sensation, and inter‐module communication. The MPRC incorporates a closed‐loop control system, enabling it to actively redistribute pressure, thereby preventing prolonged compression of local soft tissue during periods of inactivity. The proposed PSHA module, as evidenced in its application in pressure redistribution cushions, offers a promising approach for designs intent on reducing the risk of pressure ulcers. This study significantly contributes to the advancement of assistive technology, with the potential to enhance the quality of life for individuals with immobility or limited mobility.

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Review of assistive devices for the prevention of pressure ulcers: an engineering perspective

Mansouri

Krishnan

McDonagh

et al. 2023

Disability and Rehabilitation: Assistive Technology

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IntelliPad: Intelligent Soft Robotic Pad for Pressure Injury Prevention

Cited by 5 publications

References 12 publications

Design Optimization of a Pneumatic Soft Robotic Actuator Using Model-Based Optimization and Deep Reinforcement Learning

Design Optimization of a Pneumatic Soft Robotic Actuator Using Model-Based Optimization and Deep Reinforcement Learning

Modular Pressure Redistribution Cushion with Proprioceptive Soft–Rigid Hybrid Actuator

Review of assistive devices for the prevention of pressure ulcers: an engineering perspective

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