soft robotic glove for combined assistance and rehabilitation · soft robotic glove for combined...
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Soft robotic glove for combined assistance and rehabilitation
2016 Stroke Rehab Symposium – 9/10/2016
Panagiotis (Panos) Polygerinos, Ph.D.Assistant Professor
The Polytechnic SchoolIra A. Fulton Schools of Engineering
September 10, 2016 2
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Future Robots will Interact Directly with Humans
September 10, 2016
Industrial Robots
minimize risk
of injuries
Medical Robots
safer medical
operations
Wearable Robots
assist motion and
functions
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Future Robots will Interact Directly with Humans
September 10, 2016 5
Hollywood View of Robotics
September 10, 2016
The primary interest in soft robotics development is to provide systems that offer functionality not found in traditional rigid-bodied robots. Examples include:
• Delicate manipulation -- Soft material robots can grip, manipulate and flexibly control objects that are fragile or deformable.
• Safe Physical Human-Robot Interaction -- Inherently safer for humans to work with.
• Adaptable Morphology -- Inherently more flexible and can be
engineered to change their form in response to the environments.
• Novel Forms of Movement -- Can be designed to move in novel ways formally unavailable to robotic systems including undulation, oscillation, & peristalsis.
• Inexpensive Development -- Can be engineered relatively easily and at low cost.
Video Credits:• Whitesides Group• Wyss Institute• Harvard Microrobotics lab• Harvard Biodesign lab
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New Science and Capabilities with Soft Robots
September 10, 2016
Fiber-reinforced Actuators
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Soft Robotics / Actuators
Air in
Simple actuator
Fiber-reinforced Actuators
Soft Robotics / Actuators
Simple actuator
PairAir in
Fiber-reinforced Actuators
Soft Robotics / Actuators
Simple actuator
PairAir in
Fiber-reinforced Actuators
An elastomeric bladder without any constraints
(reinforcements) is simply a balloon!
Soft Robotics / Actuators
September 10, 2016
Restrict radial expansion to make an
actuator extend in length
Fiber-reinforced Actuators
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Soft Robotics / Actuators
September 10, 2016
Fiber-reinforced Actuators
Restrict radial expansion to make an
actuator extend in length
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Soft Robotics / Actuators
September 10, 2016
Air in
Fiber-reinforced Actuators
Restrict radial expansion to make an
actuator extend in length
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Soft Robotics / Actuators
September 10, 2016
PairAir in
Fiber-reinforced Actuators
Restrict radial expansion to make an
actuator extend in length
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Soft Robotics / Actuators
September 10, 2016
Air in
Fiber-reinforced Actuators
Restrict radial expansion to make an
actuator extend in length
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Soft Robotics / Actuators
September 10, 2016
Fiber-reinforced Actuators
Restrict extension on one side of the
actuator to achieve bending
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Soft Robotics / Actuators
September 10, 2016
Air in
Fiber-reinforced Actuators
Restrict extension on one side of the
actuator to achieve bending
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Soft Robotics / Actuators
September 10, 2016
Pair
Fiber-reinforced Actuators
Air in
Restrict extension on one side of the
actuator to achieve bending
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Soft Robotics / Actuators
September 10, 2016
Air in
Fiber-reinforced Actuators
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Soft Robotics / Actuators
bend
bend-twist
extend
bend
bend-twist
extend
extend-twist
Fiber-reinforced Actuators
Multi-segment FR Soft Actuator
K. Galloway, P. Polygerinos, C. Walsh, and R.J. Wood, ICAR 2013, 2013.
extend-twist
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Soft Robotics / Actuators
September 10, 2016
Soft Robotic Glove Development
MissionReturn independence to those with acute and chronic hand pathologies with
an at-home, wearable assistive device capable of supporting the hand’s full range of motion and detecting user intent.
Feasibility studyFeasibility study Generation 1Feasibility study Generation 1 Generation 2
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Wearable Assistive / Rehabilitation Devices
1Americans With Disabilities: 2010. 2Roger et al. Heart disease and stroke statistics—2012 update: a report from the American Heart Association. Circulation. 2012.3Nakayama et al. Compensation in recovery of upper extremity function after stroke. Arch Phys Med Rehabil. 1994.
Hand functionality is a dominant factor in living an independent life!
Hand Pathologies
Rehabilitation
Assistive
6,700,000reported difficulty performing a grasping motion in US1
795,000people suffer from a stroke per year2
26%of stroke patients require assistance with ADL due to upper
extremity disability3
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Wearable Assistive / Rehabilitation Devices
September 10, 2016
Hand Robotic Rehabilitation and Assistive Devices
Rehabilitation devices Assistive devices
Ho
me
use
Clin
ic u
se
• Bulky • Heavy
• Rigid links• Pressure points• Limited ROM
• No adjustable fit
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Wearable Assistive / Rehabilitation Devices
Soft Assist GloveSoft Robotic Glove: Gen 1.0
P. Polygerinos, Z. Wang, K. C. Galloway, R. J. Wood, C. J. Walsh, "Soft robotic glove for combined assistance and at-home rehabilitation", Robotics and Autonomous Systems, 2015. 24
Wearable Assistive / Rehabilitation Devices
September 10, 2016
Custom Design of Segmented FR Actuators
P. Polygerinos, K. C. Galloway, E. Savage, M. Herman, K. O’ Donnell and C.J. Walsh, “Soft Robotic Glove for Hand Rehabilitation and Task Specific Training”, in Proc. IEEE Int. Conf. Robot. Autom.(ICRA 2015). 25
Wearable Assistive / Rehabilitation Devices
September 10, 2016
Functional & Textile Design
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Wearable Assistive / Rehabilitation Devices
January 22, 2016
September 10, 2016
User Design Study
• Received IRB approval • Record user’s range of motion and grip strength.• Evaluate & iterate the robotic glove prototypes.
User Study
Spinal cord injury
Spinal cord injury
Stroke Stroke - aphasia
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Wearable Assistive / Rehabilitation Devices
September 10, 2016 informed consent was taken to show this video
Soft Robotic Glove: Gen 1.0 - User Study
Muscular dystrophy
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Wearable Assistive / Rehabilitation Devices
September 10, 2016
Soft Robotic Glove: Gen 2.0
Side palm support
Wrist straps
Modular sleeves
Spandex fabric sleevesGripping material
Open palm design
Actuator cover
P. Polygerinos, K. C. Galloway, E. Savage, M. Herman, K. O’ Donnell and C.J. Walsh, “Soft Robotic Glove for Hand Rehabilitation and Task Specific Training”, in Proc. IEEE Int. Conf. Robot. Autom.(ICRA 2015). 29
Wearable Assistive / Rehabilitation Devices
September 10, 2016
Soft Robotic Glove: Gen 2.0 - User Study
informed consent was taken to show this videos
P. Polygerinos, K. C. Galloway, E. Savage, M. Herman, K. O’ Donnell and C.J. Walsh, “Soft Robotic Glove for Hand Rehabilitation and Task Specific Training”, in Proc. IEEE Int. Conf. Robot. Autom.(ICRA 2015). 30
Wearable Assistive / Rehabilitation Devices
September 10, 2016
User Intent ApproachesSurface EMG sensors
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Wearable Assistive / Rehabilitation Devices
P. Polygerinos, K. Galloway, S. Sanan, M. Herman, C. James Walsh, “EMG Controlled Soft Robotic Glove for Assistance During Activities of Daily Living”, ICORR 2015. BEST CONFERENCE PAPER AWARD
September 10, 2016
User Intent ApproachesSurface EMG sensors
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Wearable Assistive / Rehabilitation Devices
P. Polygerinos, K. Galloway, S. Sanan, M. Herman, C. James Walsh, “EMG Controlled Soft Robotic Glove for Assistance During Activities of Daily Living”, ICORR 2015. BEST CONFERENCE PAPER AWARD
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Assistive Exoskeleton for Downhill Walking
A lightweight wearable device that reduces the muscular effort and physical stress on the knee during downhill walking
September 10, 2016
100%
Heel Strike Opposite Toe Off Opposite Heel Strike Toe Off Heel Strike
0% 12% 50% 62%
Stance Phase Swing Phase
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Assistive Exoskeleton for Downhill Walking
Biomechanics of Walking
September 10, 2016
Push Off
Join
t M
om
ent
(Nm
/kg)
-1
2
0
0
90
45
Join
t A
ngl
e (D
egre
es)
0 10062Gait Cycle (%)
Weight Transfer Highest Risk
Lay, A., Hass, C., Gregor, R., 2006, “The effects of sloped surfaces on locomotion: A kinematic and kinetic analysis," Journal of Biomechanics, Vol. 39, pp. 1621-1628. 35
Assistive Exoskeleton for Downhill Walking
Knee Kinematics During Downhill Walking
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Assistive Exoskeleton for Downhill Walking
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Assistive Exoskeleton for Downhill Walking
Muscle Activity
September 10, 2016
31% require use of assistive device
41% infants have limited crawling and walking ability
$1 million lifetime care cost for individual
$11.5 billion lifetime care cost for all affected individuals born in 2000
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Soft Sensing Suit for Infants
• Helps build coordination between joints
• Essential for gait development
• Rebuild damaged neural connections
Impact & Importance of Infant Kicking
September 10, 2016
Soft Sensing Suit for Infants
E. Rogers, P. Polygerinos, E. Goldfield, C. Walsh, ASME Journal of Medical Devices, 2015.
Motion sensing suit for developmentally delayed infants
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September 10, 2016
EGR598 –Mechatronics Device Innovation
Sponsored by:
Supported by:
September 10, 2016
Dr. K. GallowayDr. D. Holland Dr. Z. WangDr. B. Mosadegh
Z. Dubrovsky K. O'Donnell
D. WagnerT. WongR. Ryzman
Prof. R. J. WoodProf. C. J. Walsh Prof. K. Bertoldi Prof. G. Whitesides Prof. R. Howe
D. VogtF. ConnollyE. SavageM. Herman J.T.B. OverveldeS. LyneE. Rogers
Prof. A. Moser Prof. P. DelNido Prof. E. Goldfield
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Acknowledgements
A. Hoffmann B. Gracia
T. Lopez
September 10, 2016
Questions?
Panagiotis (Panos) Polygerinos, Ph.D.Assistant Professor
The Polytechnic SchoolIra A. Fulton Schools of Engineering