TY - GEN
T1 - An adaptive socket attaches onto residual limb using smart polymers for upper limb prosthesis
AU - Shallal, Christopher
AU - Li, Lu
AU - Nguyen, Harrison
AU - Aronshtein, Filip
AU - Lee, Soo Hyun
AU - Zhu, Jian
AU - Thakor, Nitish
N1 - Funding Information:
This work was supported by the Hopkins Office for Undergraduate Research through the STAR grant. The work was also conducted at the National University of Singapore, at both the Singapore Institute of Neurotechonology and Mechanical Engineering Soft Robotics Laboratory.
Funding Information:
*This work was supported by the Johns Hopkins Office for Undergraduate Research. 1Department of Biomedical Engineering, Johns Hopkins University, Baltimore MD 21218 USA. 2Department of Mechanical Engineering, National University of Singapore, Singapore. 3Department of Electrical and Computer Engineering, Johns Hopkins University, Baltimore, MD 21218 USA. 4Singapore Institute of Neurotechnology, National University of Singapore, Singapore.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/6
Y1 - 2019/6
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85071196061&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85071196061&partnerID=8YFLogxK
U2 - 10.1109/ICORR.2019.8779404
DO - 10.1109/ICORR.2019.8779404
M3 - Conference contribution
C2 - 31374729
AN - SCOPUS:85071196061
T3 - IEEE International Conference on Rehabilitation Robotics
SP - 803
EP - 808
BT - 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019
PB - IEEE Computer Society
T2 - 16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019
Y2 - 24 June 2019 through 28 June 2019
ER -