Realizing soft high torque actuators for complete assistance wearable robots

Allan J. Veale*, Kyrian Staman, Herman van der Kooij

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

    Abstract

    Wearable robots enhance the ability of their wearers to physically interact with the world, and can benefit rehabilitation efficiency, assistive devices’ effectiveness, and ergonomic support of workers. Wearable robots’ ergonomics and safety can be promoted by using actuators made of soft materials, but soft actuators in the literature are unable to produce the high torques required for lower limb activities of daily living (ADLs), for example, extension of the knee for sit-to-stand. This paper presents and validates a method for realizing a soft high torque actuator, the pleated pneumatic interference actuator, for knee extension. It was shown to produce a torque of 150 Nm at 2 bar and an angle of 70°. Future work will see the development of a portable pressure source to inflate the wearable actuator.

    Original languageEnglish
    Title of host publicationBiosystems and Biorobotics
    PublisherSpringer
    Pages39-43
    Number of pages5
    DOIs
    Publication statusPublished - 1 Jan 2019

    Publication series

    NameBiosystems and Biorobotics
    Volume22
    ISSN (Print)2195-3562
    ISSN (Electronic)2195-3570

    Fingerprint

    Actuators
    Torque
    Robots
    Ergonomics
    Patient rehabilitation
    Pneumatics

    Cite this

    Veale, Allan J. ; Staman, Kyrian ; van der Kooij, Herman. / Realizing soft high torque actuators for complete assistance wearable robots. Biosystems and Biorobotics. Springer, 2019. pp. 39-43 (Biosystems and Biorobotics).
    @inbook{f3df28c94a754cb4b579bd8ad8f996c7,
    title = "Realizing soft high torque actuators for complete assistance wearable robots",
    abstract = "Wearable robots enhance the ability of their wearers to physically interact with the world, and can benefit rehabilitation efficiency, assistive devices’ effectiveness, and ergonomic support of workers. Wearable robots’ ergonomics and safety can be promoted by using actuators made of soft materials, but soft actuators in the literature are unable to produce the high torques required for lower limb activities of daily living (ADLs), for example, extension of the knee for sit-to-stand. This paper presents and validates a method for realizing a soft high torque actuator, the pleated pneumatic interference actuator, for knee extension. It was shown to produce a torque of 150 Nm at 2 bar and an angle of 70°. Future work will see the development of a portable pressure source to inflate the wearable actuator.",
    author = "Veale, {Allan J.} and Kyrian Staman and {van der Kooij}, Herman",
    year = "2019",
    month = "1",
    day = "1",
    doi = "10.1007/978-3-030-01887-0_8",
    language = "English",
    series = "Biosystems and Biorobotics",
    publisher = "Springer",
    pages = "39--43",
    booktitle = "Biosystems and Biorobotics",

    }

    Realizing soft high torque actuators for complete assistance wearable robots. / Veale, Allan J.; Staman, Kyrian; van der Kooij, Herman.

    Biosystems and Biorobotics. Springer, 2019. p. 39-43 (Biosystems and Biorobotics; Vol. 22).

    Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

    TY - CHAP

    T1 - Realizing soft high torque actuators for complete assistance wearable robots

    AU - Veale, Allan J.

    AU - Staman, Kyrian

    AU - van der Kooij, Herman

    PY - 2019/1/1

    Y1 - 2019/1/1

    N2 - Wearable robots enhance the ability of their wearers to physically interact with the world, and can benefit rehabilitation efficiency, assistive devices’ effectiveness, and ergonomic support of workers. Wearable robots’ ergonomics and safety can be promoted by using actuators made of soft materials, but soft actuators in the literature are unable to produce the high torques required for lower limb activities of daily living (ADLs), for example, extension of the knee for sit-to-stand. This paper presents and validates a method for realizing a soft high torque actuator, the pleated pneumatic interference actuator, for knee extension. It was shown to produce a torque of 150 Nm at 2 bar and an angle of 70°. Future work will see the development of a portable pressure source to inflate the wearable actuator.

    AB - Wearable robots enhance the ability of their wearers to physically interact with the world, and can benefit rehabilitation efficiency, assistive devices’ effectiveness, and ergonomic support of workers. Wearable robots’ ergonomics and safety can be promoted by using actuators made of soft materials, but soft actuators in the literature are unable to produce the high torques required for lower limb activities of daily living (ADLs), for example, extension of the knee for sit-to-stand. This paper presents and validates a method for realizing a soft high torque actuator, the pleated pneumatic interference actuator, for knee extension. It was shown to produce a torque of 150 Nm at 2 bar and an angle of 70°. Future work will see the development of a portable pressure source to inflate the wearable actuator.

    UR - http://www.scopus.com/inward/record.url?scp=85055045822&partnerID=8YFLogxK

    U2 - 10.1007/978-3-030-01887-0_8

    DO - 10.1007/978-3-030-01887-0_8

    M3 - Chapter

    AN - SCOPUS:85055045822

    T3 - Biosystems and Biorobotics

    SP - 39

    EP - 43

    BT - Biosystems and Biorobotics

    PB - Springer

    ER -