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Huaroto JJ, Suarez E, Kim W, Vela EA. Leveraging pleat folds and soft compliant elements in inflatable fabric beams. Front Robot AI 2024; 10:1267642. [PMID: 38283800 PMCID: PMC10822686 DOI: 10.3389/frobt.2023.1267642] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/26/2023] [Accepted: 12/13/2023] [Indexed: 01/30/2024] Open
Abstract
Inflatable fabric beams (IFBs) integrating pleat folds can generate complex motion by modifying the pleat characteristics (e.g., dimensions, orientations). However, the capability of the IFB to return to the folded configuration relies upon the elasticity of the fabrics, requiring additional pressure inputs or complementary mechanisms. Using soft compliant elements (SCEs) assembled onto pleat folds is an appealing approach to improving the IFB elasticity and providing a range of spatial configurations when pressurized. This study introduces an actuator comprising an IFB with pleat folds and SCEs. By methodologically assembling the SCEs onto the pleat folds, we constrain the IFB unfolding to achieve out-of-plane motion at 5 kPa. Besides, the proposed actuator can generate angular displacement by regulating the input pressure (> 5 kPa). A matrix-based representation and model are proposed to analyze the actuator motion. We experimentally study the actuator's angular displacement by modifying SCE shapes, fold dimensions, and assembly distances of SCEs. Moreover, we analyze the effects of incorporating two SCEs onto a pleat fold. Our results show that the actuator motion can be tuned by integrating SCEs with different stiffness and varying the pleat fold dimensions. In addition, we demonstrate that the integration of two SCEs onto the pleat fold permits the actuator to return to its folded configuration when depressurized. In order to demonstrate the versatility of the proposed actuator, we devise and conduct experiments showcasing the implementation of a planar serial manipulator and a soft gripper with two grasping modalities.
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Affiliation(s)
- Juan J. Huaroto
- Department of Mechanical Engineering, Universidad Nacional de Ingenieria, Lima, Peru
| | - Etsel Suarez
- Department of Mechanical Engineering, Universidad Nacional de Ingenieria, Lima, Peru
| | - Wangdo Kim
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima, Peru
| | - Emir A. Vela
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima, Peru
- Research Center in Bioengineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima, Peru
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Mendoza MJ, Cancán S, Surichaqui S, Centeno E, Vilchez R, Bertoldi K, Vela EA. Versatile vacuum-powered artificial muscles through replaceable external reinforcements. Front Robot AI 2024; 10:1289074. [PMID: 38239276 PMCID: PMC10794473 DOI: 10.3389/frobt.2023.1289074] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/05/2023] [Accepted: 12/11/2023] [Indexed: 01/22/2024] Open
Abstract
Soft pneumatic artificial muscles are a well actuation scheme in soft robotics due to its key features for robotic machines being safe, lightweight, and conformable. In this work, we present a versatile vacuum-powered artificial muscle (VPAM) with manually tunable output motion. We developed an artificial muscle that consists of a stack of air chambers that can use replaceable external reinforcements. Different modes of operation are achieved by assembling different reinforcements that constrain the output motion of the actuator during actuation. We designed replaceable external reinforcements to produce single motions such as twisting, bending, shearing and rotary. We then conducted a deformation and lifting force characterization for these motions. We demonstrated sophisticated motions and reusability of the artificial muscle in two soft machines with different modes of locomotion. Our results show that our VPAM is reusable and versatile producing a variety and sophisticated output motions if needed. This key feature specially benefits unpredicted workspaces that require a soft actuator that can be adjusted for other tasks. Our scheme has the potential to offer new strategies for locomotion in machines for underwater or terrestrial operation, and wearable devices with different modes of operation.
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Affiliation(s)
- Mijaíl Jaén Mendoza
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
| | - Sergio Cancán
- Department of Mechatronics Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
| | - Steve Surichaqui
- Department of Bioengineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
| | - Esteban Centeno
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
- Department of Mechatronics Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
| | - Ricardo Vilchez
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
| | - Katia Bertoldi
- J. A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, United States
| | - Emir A. Vela
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
- Research Center in Bioengineering, Universidad de Ingenieria y Tecnologia - UTEC, Lima, Peru
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Kim W, Vela EA, Kohles SS, Huayamave V, Gonzalez O. Validation of a Biomechanical Injury and Disease Assessment Platform Applying an Inertial-Based Biosensor and Axis Vector Computation. Electronics (Basel) 2023; 12:3694. [PMID: 37974898 PMCID: PMC10653259 DOI: 10.3390/electronics12173694] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Indexed: 11/19/2023]
Abstract
Inertial kinetics and kinematics have substantial influences on human biomechanical function. A new algorithm for Inertial Measurement Unit (IMU)-based motion tracking is presented in this work. The primary aims of this paper are to combine recent developments in improved biosensor technology with mainstream motion-tracking hardware to measure the overall performance of human movement based on joint axis-angle representations of limb rotation. This work describes an alternative approach to representing three-dimensional rotations using a normalized vector around which an identified joint angle defines the overall rotation, rather than a traditional Euler angle approach. Furthermore, IMUs allow for the direct measurement of joint angular velocities, offering the opportunity to increase the accuracy of instantaneous axis of rotation estimations. Although the axis-angle representation requires vector quotient algebra (quaternions) to define rotation, this approach may be preferred for many graphics, vision, and virtual reality software applications. The analytical method was validated with laboratory data gathered from an infant dummy leg's flexion and extension knee movements and applied to a living subject's upper limb movement. The results showed that the novel approach could reasonably handle a simple case and provide a detailed analysis of axis-angle migration. The described algorithm could play a notable role in the biomechanical analysis of human joints and offers a harbinger of IMU-based biosensors that may detect pathological patterns of joint disease and injury.
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Affiliation(s)
- Wangdo Kim
- Ingeniería Mecánica, Universidad de Ingenieria y Tecnologia—UTEC, Lima 15063, Peru
- Research Center in Bioengineering, Ingeniería Mecánica, Universidad de Ingenieria y Tecnologia—UTEC, Lima 15063, Peru
| | - Emir A. Vela
- Ingeniería Mecánica, Universidad de Ingenieria y Tecnologia—UTEC, Lima 15063, Peru
- Research Center in Bioengineering, Ingeniería Mecánica, Universidad de Ingenieria y Tecnologia—UTEC, Lima 15063, Peru
| | - Sean S. Kohles
- Kohles Bioengineering, Cape Meares, OR 97141, USA
- Division of Biomaterials & Biomechanics, School of Dentistry, Oregon Health & Science University, Portland, OR 97239, USA
- Department of Emergency Medicine, School of Medicine, Oregon Health & Science University, Portland, OR 97239, USA
- Department of Human Physiology and Knight Campus for Accelerating Scientific Impact, University of Oregon, Eugene, OR 97403, USA
| | - Victor Huayamave
- Department of Mechanical Engineering, Embry-Riddle Aeronautical University, Daytona Beach, FL 32114, USA
| | - Oscar Gonzalez
- Ingeniería Mecánica, Universidad de Ingenieria y Tecnologia—UTEC, Lima 15063, Peru
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Gollob SD, Mendoza MJ, Koo BHB, Centeno E, Vela EA, Roche ET. A length-adjustable vacuum-powered artificial muscle for wearable physiotherapy assistance in infants. Front Robot AI 2023; 10:1190387. [PMID: 37213243 PMCID: PMC10192875 DOI: 10.3389/frobt.2023.1190387] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/20/2023] [Accepted: 04/20/2023] [Indexed: 05/23/2023] Open
Abstract
Soft pneumatic artificial muscles are increasingly popular in the field of soft robotics due to their light-weight, complex motions, and safe interfacing with humans. In this paper, we present a Vacuum-Powered Artificial Muscle (VPAM) with an adjustable operating length that offers adaptability throughout its use, particularly in settings with variable workspaces. To achieve the adjustable operating length, we designed the VPAM with a modular structure consisting of cells that can be clipped in a collapsed state and unclipped as desired. We then conducted a case study in infant physical therapy to demonstrate the capabilities of our actuator. We developed a dynamic model of the device and a model-informed open-loop control system, and validated their accuracy in a simulated patient setup. Our results showed that the VPAM maintains its performance as it grows. This is crucial in applications such as infant physical therapy where the device must adapt to the growth of the patient during a 6-month treatment regime without actuator replacement. The ability to adjust the length of the VPAM on demand offers a significant advantage over traditional fixed-length actuators, making it a promising solution for soft robotics. This actuator has potential for various applications that can leverage on demand expansion and shrinking, including exoskeletons, wearable devices, medical robots, and exploration robots.
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Affiliation(s)
- Samuel Dutra Gollob
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States
| | - Mijaíl Jaén Mendoza
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia, Lima, Peru
| | - Bon Ho Brandon Koo
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States
| | - Esteban Centeno
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia, Lima, Peru
| | - Emir A. Vela
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia, Lima, Peru
- Research Center in Bioengineering, Universidad de Ingenieria y Tecnologia, Lima, Peru
- *Correspondence: Ellen T. Roche, ; Emir A. Vela,
| | - Ellen T. Roche
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, United States
- Institute for Medical Engineering and Science, Massachusetts Institute of Technology, Cambridge, MA, United States
- *Correspondence: Ellen T. Roche, ; Emir A. Vela,
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Thorne N, Flores-Olazo L, Egoávil-Espejo R, Vela EA, Noel J, Valdivia-Silva J, van Noort D. Systematic Review: Microfluidics and Plasmodium. Micromachines (Basel) 2021; 12:mi12101245. [PMID: 34683295 PMCID: PMC8538353 DOI: 10.3390/mi12101245] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/10/2021] [Revised: 10/02/2021] [Accepted: 10/04/2021] [Indexed: 11/23/2022]
Abstract
Malaria affects 228 million people worldwide each year, causing severe disease and worsening the conditions of already vulnerable populations. In this review, we explore how malaria has been detected in the past and how it can be detected in the future. Our primary focus is on finding new directions for low-cost diagnostic methods that unspecialized personnel can apply in situ. Through this review, we show that microfluidic devices can help pre-concentrate samples of blood infected with malaria to facilitate the diagnosis. Importantly, these devices can be made cheaply and be readily deployed in remote locations.
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Affiliation(s)
- Nicolas Thorne
- Centro de Investigación en Bioingeniería, Universidad de Ingenieria y Tecnologia (UTEC), 15063 Lima, Peru; (L.F.-O.); (R.E.-E.); (E.A.V.); (J.N.); (J.V.-S.)
- Correspondence: (N.T.); (D.v.N.)
| | - Luis Flores-Olazo
- Centro de Investigación en Bioingeniería, Universidad de Ingenieria y Tecnologia (UTEC), 15063 Lima, Peru; (L.F.-O.); (R.E.-E.); (E.A.V.); (J.N.); (J.V.-S.)
| | - Rocío Egoávil-Espejo
- Centro de Investigación en Bioingeniería, Universidad de Ingenieria y Tecnologia (UTEC), 15063 Lima, Peru; (L.F.-O.); (R.E.-E.); (E.A.V.); (J.N.); (J.V.-S.)
| | - Emir A. Vela
- Centro de Investigación en Bioingeniería, Universidad de Ingenieria y Tecnologia (UTEC), 15063 Lima, Peru; (L.F.-O.); (R.E.-E.); (E.A.V.); (J.N.); (J.V.-S.)
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia (UTEC), 15063 Lima, Peru
| | - Julien Noel
- Centro de Investigación en Bioingeniería, Universidad de Ingenieria y Tecnologia (UTEC), 15063 Lima, Peru; (L.F.-O.); (R.E.-E.); (E.A.V.); (J.N.); (J.V.-S.)
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia (UTEC), 15063 Lima, Peru
| | - Julio Valdivia-Silva
- Centro de Investigación en Bioingeniería, Universidad de Ingenieria y Tecnologia (UTEC), 15063 Lima, Peru; (L.F.-O.); (R.E.-E.); (E.A.V.); (J.N.); (J.V.-S.)
| | - Danny van Noort
- Centro de Investigación en Bioingeniería, Universidad de Ingenieria y Tecnologia (UTEC), 15063 Lima, Peru; (L.F.-O.); (R.E.-E.); (E.A.V.); (J.N.); (J.V.-S.)
- Biotechnology, Linköping University, 581 83 Linköping, Sweden
- Correspondence: (N.T.); (D.v.N.)
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Mendoza MJ, Gollob SD, Lavado D, Koo BHB, Cruz S, Roche ET, Vela EA. A Vacuum-Powered Artificial Muscle Designed for Infant Rehabilitation. Micromachines (Basel) 2021; 12:971. [PMID: 34442593 PMCID: PMC8400328 DOI: 10.3390/mi12080971] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/19/2021] [Revised: 07/26/2021] [Accepted: 08/09/2021] [Indexed: 11/17/2022]
Abstract
The majority of soft pneumatic actuators for rehabilitation exercises have been designed for adult users. Specifically, there is a paucity of soft rehabilitative devices designed for infants with upper and lower limb motor disabilities. We present a low-profile vacuum-powered artificial muscle (LP-VPAM) with dimensions suitable for infants. The actuator produced a maximum force of 26 N at vacuum pressures of -40 kPa. When implemented in an experimental model of an infant leg in an antagonistic-agonist configuration to measure resultant knee flexion, the actuator generated knee flexion angles of 43° and 61° in the prone and side-lying position, respectively.
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Affiliation(s)
- Mijaíl Jaén Mendoza
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima 15063, Peru; (M.J.M.); (D.L.)
| | - Samuel Dutra Gollob
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA; (S.D.G.); (B.H.B.K.)
| | - Diego Lavado
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima 15063, Peru; (M.J.M.); (D.L.)
| | - Bon Ho Brandon Koo
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA; (S.D.G.); (B.H.B.K.)
| | - Segundo Cruz
- Instituto Nacional de Salud del Niño de San Borja, Lima 15037, Peru;
| | - Ellen T. Roche
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA; (S.D.G.); (B.H.B.K.)
- Institute for Medical Engineering and Science, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Emir A. Vela
- Department of Mechanical Engineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima 15063, Peru; (M.J.M.); (D.L.)
- Research Centre in Bioengineering, Universidad de Ingenieria y Tecnologia—UTEC, Lima 15063, Peru
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Huaroto JJ, Suarez E, Krebs HI, Marasco PD, Vela EA. A Soft Pneumatic Actuator as a Haptic Wearable Device for Upper Limb Amputees: Toward a Soft Robotic Liner. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2018.2874379] [Citation(s) in RCA: 27] [Impact Index Per Article: 5.4] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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