SIA OpenIR  > 机器人学研究室
Design and Simulation of Spine Rehabilitation Soft Robotic Actuator
Huang JW(黄菊伟)1,2; Liu NL(刘乃龙)2; Wang HW(王洪伟)2; Cui L(崔龙)2; Bai N(白宁)2; Tian S(田申)2
Department机器人学研究室
Conference Name5th International Conference on Control, Automation and Robotics, ICCAR 2019
Conference DateApril 19-22, 2019
Conference PlaceBeijing, China
Source Publication2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019
PublisherIEEE
Publication PlaceNew York
2019
Pages188-193
Indexed ByEI
EI Accession number20193807454996
Contribution Rank1
ISBN978-1-7281-3326-3
Keywordpneumatic artificial muscle biomedical rehabilitation bending deformation spinal assistance modular
AbstractPneumatic artificial muscle (PAM) as a soft actuator has the characteristics of lightweight, highly flexible and adaptable, and are enabling safer human-robot interaction. Relevant research has proved that it is instrumental for biomedical rehabilitation. In order to study the bending deformation of PAMs, in this paper, fiber-reinforced PAMs were analyzed using finite element software. The results show that different bending deformations of PAMs can be caused by changing the fiber angle. The smaller the fiber angle, the greater the bending deformation. When the fiber angle is 30°, the bending deformation is not obvious, and when it exceeds 30°, the bending direction changes. In response to this phenomenon of bending due to fiber changes, in this manuscript, a modular wearable soft robotic device for spinal rehabilitation assistance is proposed. By referring to the range of human spine motion, the spinal rehabilitation assistance module is simulated, and the spinal rehabilitation assistance module with fiber angle of 24 ° can better meet the range of lateral flexion (15∼20 degrees) movement of human body. For forward flexion motion, because of its wide range of motion (40 ∼ 60 degrees), it is possible to select a fiber angle that is within the range of human motion. In this paper, the PAM with a fiber angle of 27° was selected as the actuator of forward flexion. From the conclusion, firstly, the simulation study of bending deformation and fiber angle of PAMs has certain guidance for the experiment. Secondly, the simulation results of the module also prove the feasibility of being a wearable soft robotic device.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/25643
Collection机器人学研究室
Corresponding AuthorCui L(崔龙)
Affiliation1.School of Mechanical Engineering, Shenyang Ligong University, Shenyang, Liaoning Province, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences (CAS), Shenyang, Liaoning Province, China
Recommended Citation
GB/T 7714
Huang JW,Liu NL,Wang HW,et al. Design and Simulation of Spine Rehabilitation Soft Robotic Actuator[C]. New York:IEEE,2019:188-193.
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