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

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...

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Autores principales:	Gunjan Agarwal, Matthew A. Robertson, Harshal Sonar, Jamie Paik
Formato:	article
Lenguaje:	EN
Publicado:	Nature Portfolio 2017
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/45f0c73f4316465dafb0c86d949be238
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spelling	oai:doaj.org-article:45f0c73f4316465dafb0c86d949be2382021-12-02T15:05:19ZDesign and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance10.1038/s41598-017-14220-32045-2322https://doaj.org/article/45f0c73f4316465dafb0c86d949be2382017-10-01T00:00:00Zhttps://doi.org/10.1038/s41598-017-14220-3https://doaj.org/toc/2045-2322Abstract 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 extended to encompass an extensive investigation of bio-mechanical performance requirements from the module assembly for the human spine-assistive device proposed.Gunjan AgarwalMatthew A. RobertsonHarshal SonarJamie PaikNature PortfolioarticleMedicineRScienceQENScientific Reports, Vol 7, Iss 1, Pp 1-11 (2017)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Gunjan Agarwal Matthew A. Robertson Harshal Sonar Jamie Paik Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance
description	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 extended to encompass an extensive investigation of bio-mechanical performance requirements from the module assembly for the human spine-assistive device proposed.
format	article
author	Gunjan Agarwal Matthew A. Robertson Harshal Sonar Jamie Paik
author_facet	Gunjan Agarwal Matthew A. Robertson Harshal Sonar Jamie Paik
author_sort	Gunjan Agarwal
title	Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance
title_short	Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance
title_full	Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance
title_fullStr	Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance
title_full_unstemmed	Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance
title_sort	design and computational modeling of a modular, compliant robotic assembly for human lumbar unit and spinal cord assistance
publisher	Nature Portfolio
publishDate	2017
url	https://doaj.org/article/45f0c73f4316465dafb0c86d949be238
work_keys_str_mv	AT gunjanagarwal designandcomputationalmodelingofamodularcompliantroboticassemblyforhumanlumbarunitandspinalcordassistance AT matthewarobertson designandcomputationalmodelingofamodularcompliantroboticassemblyforhumanlumbarunitandspinalcordassistance AT harshalsonar designandcomputationalmodelingofamodularcompliantroboticassemblyforhumanlumbarunitandspinalcordassistance AT jamiepaik designandcomputationalmodelingofamodularcompliantroboticassemblyforhumanlumbarunitandspinalcordassistance
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Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance

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