Power assistive and rehabilitation wearable robot based on pneumatic soft actuators

Al-Fahaam, Hassanin; Davis, Steve; Nefti‐Meziani, Samia

doi:10.1109/mmar.2016.7575181

Cited by 42 publications

(36 citation statements)

References 19 publications

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“…In 2016, Al-Fahaam et al proposed a linearly extending artificial muscle with fixed unilateral sleeve length. Based on this pneumatic muscle, a soft wearable rehabilitation glove which can be grasped and pinched repeatedly and a rehabilitation wrist exoskeleton were designed (Figure 3d,e) [55,56]. Gloves solve the challenge of releasing motion under electric assistance by not setting assistive muscles at the little finger, which is the main achievement of this work.…”

Section: Pneumatic Fiber Braids and Elastomeric Polymersmentioning

confidence: 99%

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Soft Rehabilitation and Nursing-Care Robots: A Review and Future Outlook

Peng

Huang

2019

Applied Sciences

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Rehabilitation and nursing-care robots have become one of the prevalent methods for assistant treatment of motor disorder patients in the field of medical rehabilitation. Traditional rehabilitation robots are mostly made of rigid materials, which significantly limits their application for medical rehabilitation and nursing-care. Soft robots show great potential in the field of rehabilitation robots because of their inherent compliance and safety when they interact with humans. In this paper, we conduct a systematic summary and discussion on the soft rehabilitation and nursing-care robots. This study reviews typical mechanical structures, modeling methods, and control strategies of soft rehabilitation and nursing-care robots in recent years. We classify soft rehabilitation and nursing-care robots into two categories according to their actuation technology, one is based on tendon-driven actuation and the other is based on soft intelligent material actuation. Finally, we analyze and discuss the future directions and work about soft rehabilitation and nursing-care robots, which can provide useful guidance and help on the development of advanced soft rehabilitation and nursing-care robots.

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Section: Pneumatic Fiber Braids and Elastomeric Polymersmentioning

confidence: 99%

“…The master-slave position control is used. Two bang-bang closed-loop controllers are used to complete the control in [55]. Ref.…”

Section: Pneumatic Fiber Braids and Elastomeric Polymersmentioning

confidence: 99%

Soft Rehabilitation and Nursing-Care Robots: A Review and Future Outlook

Peng

Huang

2019

Applied Sciences

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“… The contraction muscle only generates a contraction force in response to supplied air pressure [18,28].  The extensor muscle only generates extension force in response to supplied air pressure [17,18,28,29].  There is no single PAM capable of performing both contraction (decreasing in length) and extension (increasing in length) with reference to its nominal length [30,31].…”

Section: Novel Extensor-contractor Pneumatic Artificial Muscles (Ecpam)mentioning

confidence: 99%

“…Pneumatic artificial muscles have been used in many biologically inspired robots as well as in soft robots such as continuum robots [6,[12][13][14][15][16]. As pneumatic muscles are constructed from soft materials, they have the capability to provide much safer interaction with humans than is possible with traditional rigid robots and actuators [17,18]. A pneumatic muscle consists of an internal elastomeric bladder surrounded by a woven braided shell.…”

Section: Introductionmentioning

confidence: 99%

The Design and Mathematical Model of a Novel Variable Stiffness Extensor-Contractor Pneumatic Artificial Muscle

et al. 2018

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This article presents the design of a novel extensor-contractor pneumatic artificial muscle (ECPAM). This new actuator has numerous advantages over traditional pneumatic artificial muscles. These include the abilities to both contract and extend relative to a nominal initial length, to generate both contraction and extension forces, and to vary stiffness at any actuator length. A kinematic analysis of the ECPAM is presented in this article. A new output force mathematical model has been developed for the ECPAM based on its kinematic analysis and the theory of energy conservation. The correlation between experimental results and the new mathematical model has been investigated and show good correlation. Numerous stiffness experiments have been conducted to validate the variable stiffness ability of the actuator at a series of specific fixed lengths. This has proven that actuator stiffness can be adjusted independently of actuator length. Finally, a stiffness-position controller has been developed to validate the effectiveness of the novel actuator.

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“…Based on traditional linear pneumatic muscles, soft bending actuators were proposed because certain actions such as twisting, rotating, and curving cannot be performed directly by conventional rigid-bodied robots [2,3]. Al-Fahaam et al [3] fabricated a bending pneumatic muscle based on a 260q Qualatex latex modeling balloon, which increased in length with applied air pressure. Zhao et al [4] developed a low-cost closed-loopcontrolled soft orthotic that can provide sufficient tip force at each finger to facilitate easy grasping of light objects.…”

mentioning

confidence: 99%