Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance

Scientific Reports
Gunjan AgarwalJamie Paik

Abstract

Wearable soft robotic systems are enabling safer human-robot interaction and are proving to be instrumental for biomedical rehabilitation. In this manuscript, we propose a novel, modular, wearable robotic device for human (lumbar) spine assistance that is developed using vacuum driven, soft pneumatic actuators (V-SPA). The actuators can handle large, repetitive loads efficiently under compression. Computational models to capture the complex non-linear mechanical behavior of individual actuator modules and the integrated assistive device are developed using the finite element method (FEM). The models presented can predict system behavior at large values of mechanical deformations and allow for rapid design iterations. It is shown that a single actuator module can be used to obtain a variety of different motion and force profiles and yield multiple degrees of freedom (DOF) depending on the module loading conditions, resulting in high system versatility and adaptability, and efficient replication of the targeted motion range for the human spinal cord. The efficacy of the finite element model is first validated for a single module using experimental results that include free displacement and blocked-forces. These results are then e...Continue Reading

References

Aug 1, 1996·Spine·N YoganandanF A Pintar
Apr 28, 2011·Bioinspiration & Biomimetics·Huai-Ti LinBarry Trimmer
Nov 30, 2011·Proceedings of the National Academy of Sciences of the United States of America·Robert F ShepherdGeorge M Whitesides
Sep 20, 2015·Advanced Materials·Benjamin C Mac MurrayRobert F Shepherd
Sep 22, 2015·Advanced Materials·Dian YangGeorge M Whitesides
Mar 1, 2015·Soft Robotics·Andrew D MarcheseDaniela Rus
Sep 28, 2016·Scientific Reports·Gunjan AgarwalJamie Paik
Mar 16, 2017·Soft Robotics·Matthew A RobertsonJamie Paik

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Citations

Aug 9, 2018·Bioinspiration & Biomimetics·Ning LiLianqing Liu
Jun 27, 2019·Scientific Reports·Seong Jun Park, Cheol Hoon Park
May 21, 2019·Biomimetics·Stephen T MahonAdam A Stokes
Aug 9, 2020·Soft Robotics·Mohammed E SayedAdam A Stokes
Jul 31, 2018·Frontiers in Robotics and AI·François SchmittBernard Bayle
Mar 26, 2021·Frontiers in Robotics and AI·Samuel Dutra GollobEllen T Roche
Aug 31, 2021·Advanced Science·Sukho SongJamie Paik

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Software Mentioned

ABAQUS
SPA

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