An adaptive socket attaches onto residual limb using smart polymers for upper limb prosthesis

Christopher Shallal, Lu Li, Harrison Nguyen, Filip Aronshtein, Soo Hyun Lee, Jian Zhu, Nitish Thakor

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

Abstract

A major challenge for upper limb amputees is discomfort due to improper socket fit on the residual limb during daily use of their prosthesis. Our work introduces the implementation of soft robotic actuators into a prosthetic socket. The soft actuators are a type of electrically-powered actuator. The actuator is driven through changes in internal temperature causing actuation due to vapor pressure, which results in high and reliable force outputs. A regression fit was generated to model how the smart polymer's temperature relates to force output, and the model was cross-validated based on training data collected from each actuator. A proportional integral (PI) controller regulated the force exerted by the actuators based off of tactile and temperature feedback. Results showed that a socket system can be integrated with smart polymers and sensors, and demonstrated the ability to control two actuators and reach desired forces from set temperatures.

Original languageEnglish (US)
Title of host publication2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019
PublisherIEEE Computer Society
Pages803-808
Number of pages6
ISBN (Electronic)9781728127552
DOIs
StatePublished - Jun 2019
Event16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019 - Toronto, Canada
Duration: Jun 24 2019Jun 28 2019

Publication series

NameIEEE International Conference on Rehabilitation Robotics
Volume2019-June
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901

Conference

Conference16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019
CountryCanada
CityToronto
Period6/24/196/28/19

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Rehabilitation
  • Electrical and Electronic Engineering

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