Experimental characterization of components for active soft orthotics

Michael Wehner, Yong Lae Park, Conor Walsh, Radhika Nagpal, Robert J. Wood, Talia Moore, Eugene Goldfield

Research output: Chapter in Book/Report/Conference proceedingConference contribution

37 Scopus citations

Abstract

In this paper, we present the characterization of soft pneumatic actuators currently under development for active soft orthotics. The actuators are tested statically and dynamically to characterize force and displacement properties needed for use in system design. They are shown to demonstrate remarkably repeatable performance, and very predictable behavior as actuator size (initial length) is varied to adjust total actuation. The results of the characterization are then used to inform design rules for selecting the size and number of actuators for a soft leg orthotic that can produce the force/moment/velocity properties required for a target wearer. The device was tested on a silicone model with inner frame and articulated ankle. Additionally, a portable pneumatic system was developed and characterized, that can actuate the pneumatic actuator over 800 times before refilling the gas supply.

Original languageEnglish (US)
Title of host publication2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Pages1586-1592
Number of pages7
DOIs
StatePublished - 2012
Externally publishedYes
Event2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy
Duration: Jun 24 2012Jun 27 2012

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)2155-1774

Other

Other2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Country/TerritoryItaly
CityRome
Period6/24/126/27/12

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

Keywords

  • actuator
  • Orthotic
  • Pneumatics
  • Soft

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