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Assisting Forearm Function in Children With Movement Disorders via A Soft Wearable Robot With Equilibrium-Point

Jonathan Realmuto1, Terence D Sanger2,3

  • 1Department of Mechanical Engineering, University of California, Riverside, Riverside, CA, United States.

Frontiers in Robotics and AI
|July 5, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces a soft wearable robot using pneumatic actuators to assist forearm movement in individuals with motor impairments. The novel controller reduced user effort by 14%, enhancing independence and daily function.

Keywords:
equilibrium-point controlhuman–robot interactionproprioceptionreflexessoft roboticswearable robotics

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Area of Science:

  • Robotics
  • Biomedical Engineering
  • Human-Robot Interaction

Background:

  • Soft wearable robots offer a promising solution for assisting individuals with movement impairments.
  • Challenges exist in developing effective feedback control for soft robots due to their complex, nonlinear behavior.
  • Existing control strategies often struggle to seamlessly integrate human intent with robotic assistance.

Purpose of the Study:

  • To design, fabricate, and implement a control architecture for a soft wearable robot assisting forearm supination and pronation.
  • To introduce a bio-inspired equilibrium-point control scheme integrating proprioceptive and exteroceptive feedback for enhanced human-robot interaction.
  • To evaluate the effectiveness of the proposed controller in reducing user effort during dynamic tasks.

Main Methods:

  • Developed a soft wearable robot with an antagonistic pair of pneumatic helical actuators for pronation and supination.
  • Implemented an equilibrium-point control scheme inspired by motor control theory, directly linking muscle activation signals to actuator valve behavior.
  • Recruited seven pediatric participants with movement disorders to perform dynamic trajectory tracking tasks with a haptic manipulandum under different system dynamics (spring-dominant and inertia-dominant).

Main Results:

  • The soft wearable robot, utilizing the proposed control scheme, reduced user effort by an average of 14%.
  • The controller effectively integrated user muscle activation signals to modulate robotic assistance.
  • No significant increase in task error was observed with the active assistance.

Conclusions:

  • Demonstrated the practical feasibility of an equilibrium-point volitional controller for soft wearable robots.
  • The developed system offers a foundational approach for creating versatile, low-cost soft wearable robots for assistive applications.
  • This technology has the potential to significantly amplify the independence of individuals with movement impairments.