Soft Robots for Healthcare Applications : design, modelling, and control / S. Xie, M. Zhang and W. Meng.

Format:

Book

Author/Creator:

Xie, Shane, author.

Zhang, M. (Mingming), author.

Series:

Healthcare technologies series

Healthcare Technologies

Language:

English

Subjects (All):

Health.

Medical care.

Robotics in medicine.

Physical Description:

xiii, 219 pages : illustrations ; 24 cm.

Place of Publication:

London, United Kingdom : The Institution of Engineering and Technology, 2017.

Summary:

Robot-assisted healthcare offers benefits for repetitive, intensive and task specific training compared to traditional manual manipulation performed by physiotherapists. However, a majority of existing rehabilitation devices use rigid actuators such as electric motors or hydraulic cylinders which cannot guarantee the safety of patients; novel soft robots combining soft and compliant actuators with stiff skeletons offer a better alternative. This book focuses on the development of these soft robotics for rehabilitation purposes. Topics covered include an introduction to soft robots and the state of the art of their use in healthcare; concept and modelling of a soft rehabilitation actuator - the Peano muscle; design of the reactive Peano muscle; soft wrist rehabilitation robot; development and control of a soft ankle rehabilitation robot (SARR); design, modelling and control strategies of a gait rehabilitation exoskeleton (GAREX); and conclusions and future work. This book presents novel applications of mechatronics to provide better clinical rehabilitation services and new insights into emerging technologies utilized in soft robots for healthcare, and is essential reading for researchers and students working in these and related fields. Book jacket.

Contents:

1 Introduction 1

1.1 Healthcare requirements 1

1.2 Soft robots for healthcare applications 5

1.2.1 Definition of soft robots 6

1.2.2 Examples of soft robots for healthcare 8

1.2.3 Motivation of soft robots for healthcare 11

1.3 Critical issues in developing soft robots for healthcare 12

1.3.1 Acceptance of healthcare robots 12

1.3.2 Soft actuators 13

1.3.3 Modelling and control of soft actuators 17

1.4 Book outline 17

1.5 Summary 18

References 18

2 State of the art 23

2.1 Rehabilitation robots for healthcare 23

2.1.1 Upper-limb rehabilitation exoskeletons 23

2.1.2 Gait rehabilitation exoskeletons 25

2.1.3 Ankle rehabilitation robots 27

2.2 Soft robots for healthcare 32

2.2.1 Soft robots for various applications 33

2.2.2 Soft robots for healthcare 36

2.3 Summary 43

References 43

3 Concept and modelling of a soft rehabilitation actuator: the Peano muscle 49

3.1 Towards soft and wearable actuation for rehabilitation systems 49

3.2 Fluid powered muscles for rehabilitation 51

3.3 Static modelling of the Peano muscle 53

3.4 The MECHALP static model 55

3.4.1 Model validation method 59

3.4.2 Model validation results and discussion 61

3.5 Summary 63

References 63

4 Design of the reactive Peano muscle 67

4.1 Actuators that sense 67

4.1.1 Prior art in embedded sensors for linear fluid powered muscles 68

4.2 The reactive Peano muscle 71

4.2.1 DE sensors 71

4.3 Fabrication of the reactive Peano muscle 73

4.4 Characterising the reactive Peano muscle 78

4.4.1 Methods 78

4.4.2 Muscle performance results and discussion 78

4.4.3 Sensor performance results and discussion 79

4.5 Summary 83

References 83

5 Soft wrist rehabilitation robot 87

5.1 Introduction 87

5.2 Device design 88

5.3 Force and torque distribution 91

5.4 Control strategies 92

5.4.1 Pneumatic setup 92

5.4.2 Model-based control 93

5.4.3 Feedback-based control 95

5.4.4 Design comparison 98

5.5 System integration and experiments 100

5.5.1 Software architecture 100

5.5.2 Experiments 101

5.6 Summary 105

References 105

6 Development of a soft ankle rehabilitation robot 107

6.1 Ankle complex 108

6.2 Existing ankle rehabilitation robots 109

6.3 Design requirements of ankle rehabilitation robots 111

6.3.1 Ankle range of motion and torque 111

6.3.2 Robot flexibility 111

6.4 Conceptual design of the soft ankle rehabilitation robot 112

6.5 Kinematics of the soft ankle rehabilitation robot 114

6.6 Dynamics of the soft ankle rehabilitation robot 117

6.6.1 Ankle force and torque 117

6.6.2 Inertial property of the moving unit 119

6.6.3 Force distribution 120

6.6.4 Festo fluidic muscle modelling 123

6.7 Construction of the soft ankle rehabilitation robot 127

6.8 Summary 129

Appendix A Bill of materials 129

References 129

7 Control of a soft ankle rehabilitation robot 133

7.1 Introduction 133

7.2 Passive training control 134

7.2.1 Force distribution based cascade control 134

7.2.2 IFT control for repetitive training 136

7.3 Active training control 143

7.3.1 Trajectory adaptation-based intelligent control 143

7.3.2 Game guided training control 144

7.4 Summary 150

References 150

8 Design of a GAit Rehabilitation EXoskeleton 153

8.1 Introduction 153

8.2 Support structure and trunk mechanism 154

8.3 Lower limb exoskeleton 155

8.3.1 Actuation of the lower limb exoskeleton 155

8.3.2 Mechanical and pneumatic system design of the lower limb mechanism 160

8.4 Instrumentation 161

8.5 Safety of GAREX 163

8.6 Summary 164

References 164

9 Modelling and control strategies development of GAREX 167

9.1 Introduction 167

9.2 System modelling 169

9.2.1 Valve flow dynamics 170

9.2.2 Pneumatic muscle pressure dynamics 171

9.2.3 Pneumatic muscle force dynamics model 172

9.2.4 Load dynamics of the mechanism 177

9.3 Multi-input-multi-output sliding mode control for GAREX 179

9.4 Experimental validation 184

9.4.1 Experiments with the knee joint mechanism 185

9.5 Pilot study of gait training with GAREX 189

9.5.1 Generating reference gait trajectory 189

9.5.2 Treadmill-based gait experiment with healthy subject 197

9.6 Summary 199

Appendix A The mechanism dynamics calculation 202

References 204

10 Conclusion and future work 207

10.1 Book contributions 207

10.1.1 Physical modelling and embedded sensing for the Peano muscle 207

10.1.2 Design and control of a soft wrist rehabilitation robot 208

10.1.3 Design and control of a soft ankle rehabilitation robot 208

10.1.4 Design and control of a soft robotic GAit Rehabilitation EXoskeleton 210

10.2 Future work 211

10.2.1 Modelling and fabrication process of the Peano muscle 211

10.2.2 Two-degrees of freedom for the wrist rehabilitation robot 211

10.2.3 Optimisation and improvement of the soft ankle rehabilitation robot 212

10.2.4 Control and validation of the GAREX 212

10.3 Summary 213

References 214.

Notes:

Includes bibliographical references and index.

ISBN:

9781785613111

1785613111

OCLC:

1003862398