Design and Simulation of Spine Rehabilitation Soft Robotic Actuator

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 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
	2019
会议日期	April 19-22, 2019
会议地点	Beijing, China
关键词	pneumatic artificial muscle biomedical rehabilitation bending deformation spinal assistance modular
页码	188-193
英文摘要	Pneumatic 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.
产权排序	1
会议录	2019 5th International Conference on Control, Automation and Robotics, ICCAR 2019
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-3326-3
WOS记录号	WOS:000589413000034
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25643]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Cui L(崔龙)
作者单位	1.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
推荐引用方式 GB/T 7714	Huang JW,Liu NL,Wang HW,et al. Design and Simulation of Spine Rehabilitation Soft Robotic Actuator[C]. 见:. Beijing, China. April 19-22, 2019.