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We present the design of a soft wearable robotic device composed of elastomeric artificial muscle actuators and soft fabric sleeves, for active assistance of knee motions. A key feature of the device is the two-dimensional design of the elastomer muscles that not only allows the compactness of the device, but also significantly simplifies the manufacturing process. In addition, the fabric sleeves...
This paper presents measurements of open-loop roll, pitch and yaw torques, and open-loop flight experiments for an insect-sized robotic bee. Torques are generated entirely with flapping wings via an actuation scheme that uses a single, central power actuator and two smaller control actuators that fine-tune wing motion. We present an initial 110mg design used for torque measurements and a lighter 83mg...
A proposed adaptive soft orthotic device performs motion sensing and production of assistive forces with a modular, pneumatically-driven, hyper-elastic composite. Wrapping the material around a joint will allow simultaneous motion sensing and active force response through shape and rigidity control. This monolithic elastomer sheet contains a series of miniaturized pneumatically-powered McKibben-type...
We describe the design, fabrication, and calibration of a highly compliant artificial skin sensor. The sensor consists of multilayered mircochannels in an elastomer matrix filled with a conductive liquid, capable of detecting multiaxis strains and contact pressure. A novel manufacturing method comprised of layered molding and casting processes is demonstrated to fabricate the multilayered soft sensor...
We describe the design, fabrication and calibration of a highly compliant mechanism to be used as an artificial skin sensor. The artificial skin sensor consists of multilayered mircochannels filled with a conductive liquid capable of detecting multi-axis strains and contact pressure. A novel manufacturing method composed of layered molding and casting processes was proposed to fabricate a multilayered...
We describe the design of an active soft ankle-foot orthotic device powered by pneumatic artificial muscles for treating gait pathologies associated with neuromuscular disorders. The design is inspired by the biological musculoskeletal system of a human foot and a lower leg, and mimics the muscle-tendon-ligament structure. A key feature of the device is that it is fabricated with flexible and soft...
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