Relevant bibliographies by topics / Wearable Actuator

Academic literature on the topic 'Wearable Actuator'

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Published: 14 March 2023

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Journal articles on the topic "Wearable Actuator"

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Lee, Hyewon, So Won Jeong, Im Hyobin, and Jung-Sim Roh. "Design and fabrication of wearable male-type radio button-shaped vibrotactile actuators." Textile Research Journal 90, no. 3-4 (August 8, 2019): 422–32. http://dx.doi.org/10.1177/0040517519868173.

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Vibrotactile actuators have been studied in a variety of wearables that require actuation feedback because of their accurate and rapid feedback. To provide robust and reliable feedback to users, wearable vibration actuators must be seamlessly integrated into smart clothing to deliver vibrotactile stimulation of the appropriate intensity. In order to solve the vibration attenuation problem due to clothing fabric, and seamlessly integrate the actuator, wearable male-type radio button-shaped vibrotactile actuators (WMVAs) were designed and fabricated. The WMVAs were designed with a structure in which a linear resonant actuator was housed in a stud, and vibration was passed through the fabric and transferred to the skin through the cap. Three WMVAs were fabricated, one with a cap of standard size and thickness, the second with a thicker cap than the standard, and the third with a wider cap than the standard. In order to investigate the vibration transmission performance of the WMVA, vibration perception experiments were performed on various body parts of the subjects. As a result, the vibration perception of the WMVA was statistically significant in all tested body parts. Using the WMVA, the mean value of vibration perception was 2.743, while that without a cap and stud was 2.062. The mean value of the vibration perception of the actuator with a cap 2.78 times thicker is 2.736, compared with the standard actuator value of 2.512. The average value of vibration perception of an actuator with a 2.78 times larger cap than the standard size is 2.743.
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Shimooka, So, Tetsuya Akagi, Shujiro Dohta, Takashi Shinohara, and Takumi Kobayashi. "Development of a Spiral Shaped Soft Holding Actuator Using Extension Type Flexible Pneumatic Actuators." Journal of Robotics and Mechatronics 34, no. 2 (April 20, 2022): 373–81. http://dx.doi.org/10.20965/jrm.2022.p0373.

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Recently, several pneumatic soft actuators have been applied to wearable and welfare devices to provide nursing care and physical support for the elderly and disabled. In this study, as a wearable soft actuator for holding body, a spiral shaped soft holding actuator that can wrap a user according to their body shape was proposed and tested. The construction and operating principle of the tested soft actuator with circumferential restraint mechanism using three extension type flexible pneumatic actuators (EFPAs) has been discussed. As a result, it was found that the tested actuator could hold elbows and knees when the joint is in motion. An analytical model of the spiral actuator was also proposed to achieve an optimal design. It can be confirmed that the proposed analytical model can predict the shape of the actuator when various EFPAs are pressurized.
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Copaci, Dorin-Sabin, Dolores Blanco, Alejandro Martin-Clemente, and Luis Moreno. "Flexible shape memory alloy actuators for soft robotics: Modelling and control." International Journal of Advanced Robotic Systems 17, no. 1 (January 1, 2020): 172988141988674. http://dx.doi.org/10.1177/1729881419886747.

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One of the limitations in the development of really soft robotic devices is the development of soft actuators. In recent years, our research group has developed a new flexible shape memory alloy actuator that provides more freedom of movements and a better integration in wearable robots, especially in soft wearable robots. Shape memory alloy wires present characteristics such as force/weight ratio, low weight, and noiseless actuation, which make them an ideal choice in these types of applications. However, the control strategy must take into account its complex dynamics due to thermal phase transformation. Different control approaches based on complex non-linear models and other model-free control methods have been tested on real systems. Some exoskeleton prototypes have been developed, which demonstrate the utility of this actuator and the advantages offered by these flexible actuators to improve the comfort and adaptability of exoskeletons.
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Murphy, Vaughan, Brandon P. R. Edmonds, and Ana Luisa Trejos. "Characterisation and Control of a Woven Biomimetic Actuator for Wearable Neurorehabilitative Devices." Actuators 10, no. 2 (February 19, 2021): 37. http://dx.doi.org/10.3390/act10020037.

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Twisted coiled actuators (TCAs) are a type of soft actuator made from polymer fibres such as nylon sewing thread. As they provide motion in a compact, lightweight, and flexible package, they provide a solution to the actuation of wearable mechatronic devices for motion assistance. Their limitation is that they provide low total force, requiring them to actuate in parallel with multiple units. Previous literature has shown that the force and stroke production can be improved by incorporating them into fabric meshes. A fabric mesh could also improve the contraction efficiency, strain rate, and user comfort. Therefore, this study focused on measuring these performance metrics for a set of TCAs embedded into a woven fabric mesh. The experimental results show that the stroke of the actuators scaled linearly with the number of activated TCAs, achieving a maximum applied force of 11.28 N, a maximum stroke of 12.23%, and an efficiency of 1.8%. Additionally, two control methods were developed and evaluated, resulting in low overshoot and steady-state error. These results indicate that the designed actuators are viable for use in wearable mechatronic devices, since they can scale to meet different requirements, while being able to be accurately controlled with minimal additional components.
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Leonardis, Daniele, Luca Tiseni, Domenico Chiaradia, and Antonio Frisoli. "A Twisted String, Flexure Hinges Approach for Design of a Wearable Haptic Thimble." Actuators 10, no. 9 (August 29, 2021): 211. http://dx.doi.org/10.3390/act10090211.

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Wearable haptic devices in the shape of actuated thimbles are used to render the sense of touch in teleoperation and virtual reality scenarios. The design of similar devices has to comply with concurring requirements and constraints: lightweight and compactness, intensity and bandwidth of the rendered signals. Micro-sized motors require a mechanical reduction to increase the output force, at the cost of noise and vibrations introduced by conventional gear reducers. Here we propose a different actuation method, based on a miniaturized twisted string actuator and a flexure hinge transmission mechanism. The latter is required to transmit and transform the pulling force of the twist actuator to a pushing force of the plate in contact with the fingerpad. It achieves a lightweight and noiseless actuation in a compact mechanism. In this work, we present design guidelines of the proposed approach, optimization, and FEM analysis of the flexure hinge mechanism, implementation of the prototype, and experimental characterization of the twist actuator measuring frequency response and output force capabilities.
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Song, Lee, Park, and Baek. "Design and Performance of Nonlinear Control for an Electro-Hydraulic Actuator Considering a Wearable Robot." Processes 7, no. 6 (June 21, 2019): 389. http://dx.doi.org/10.3390/pr7060389.

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In the development of a wearable robot, compact volume size, high energy efficiency, and a high load capacity linear actuator system are necessary. However, conventional hydraulic actuator systems are difficult to apply to wearable robots. Also, they have nonlinearities because of the presence of hydraulic fluid in a single rod cylinder. Electric linear actuators resolve the problems of hydraulic systems. However, due to their low load capacity, they are not easy to apply to wearable robots. In this paper, a pump-controlled electro-hydraulic actuator (EHA) system that considers the disadvantages of the hydraulic actuator and electric actuator is proposed for a wearable robot. Initially, a locking circuit design is considered for the EHA to give the system load holding capacity. Based on the developed model, the adaptive sliding mode control (ASMC) scheme is designed to resolve the nonlinearity problem of changes in the dynamic system. The ASMC scheme is then modeled and verified with Simulink. In order to verify the performance of the proposed adaptive control with the model, experiments are conducted. The proposed EHA verifies that the ASMC reaches the target value well despite the existence of many model uncertainties.
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Akagi, Tetsuya, and Shujiro Dohta. "Development of Wearable Pneumatic Actuator and Multiport Pressure Control Valve." Journal of Robotics and Mechatronics 17, no. 5 (October 20, 2005): 529–36. http://dx.doi.org/10.20965/jrm.2005.p0529.

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Recently, force feedback devices in virtual reality and power assisted nursing care systems have received much attention and active research. Some involve an actuator and a driving device, such as a pneumatic cylinder and a control valve, worn by the user. Such devices must be compact, lightweight and flexible to avoid excessive load on and injury to the user. The purpose of our study is to develop a flexible and lightweight actuator which can be safe enough to be attached to the human body. We proposed new flexible pneumatic actuators that operate even if the actuator is deformed by external force. We tested a push-pull and flexible pneumatic actuator that moves straight and rotates. We proposed and developed a multiport pressure control valve that drives multiple wearable actuators while reducing the weight of the control valve for multiple degrees of freedom of motion.
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Elmoughni, Hend M., Ayse Feyza Yilmaz, Kadir Ozlem, Fidan Khalilbayli, Leonardo Cappello, Asli Tuncay Atalay, Gökhan Ince, and Ozgur Atalay. "Machine-Knitted Seamless Pneumatic Actuators for Soft Robotics: Design, Fabrication, and Characterization." Actuators 10, no. 5 (April 30, 2021): 94. http://dx.doi.org/10.3390/act10050094.

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Computerized machine knitting offers an attractive fabrication technology for incorporating wearable assistive devices into garments. In this work, we utilized, for the first time, whole-garment knitting techniques to manufacture a seamless fully knitted pneumatic bending actuator, which represents an advancement to existing cut-and-sew manufacturing techniques. Various machine knitting parameters were investigated to create anisotropic actuator structures, which exhibited a range of bending and extension motions when pressurized with air. The functionality of the actuator was demonstrated through integration into an assistive glove for hand grip action. The achieved curvature range when pressurizing the actuators up to 150 kPa was sufficient to grasp objects down to 3 cm in diameter and up to 125 g in weight. This manufacturing technique is rapid and scalable, paving the way for mass-production of customizable soft robotics wearables.
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Saga, N., J. Nagase, and T. Saikawa. "Pneumatic Artificial Muscles Based on Biomechanical Characteristics of Human Muscles." Applied Bionics and Biomechanics 3, no. 3 (2006): 191–97. http://dx.doi.org/10.1155/2006/427569.

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This article reports the pneumatic artificial muscles based on biomechanical characteristics of human muscles. A wearable device and a rehabilitation robot that assist a human muscle should have characteristics similar to those of human muscle. In addition, since the wearable device and the rehabilitation robot should be light, an actuator with a high power to weight ratio is needed. At present, the McKibben type is widely used as an artificial muscle, but in fact its physical model is highly nonlinear. Therefore, an artificial muscle actuator has been developed in which high-strength carbon fibres have been built into the silicone tube. However, its contraction rate is smaller than the actual biological muscles. On the other hand, if an artificial muscle that contracts axially is installed in a robot as compactly as the robot hand, big installing space is required. Therefore, an artificial muscle with a high contraction rate and a tendon-driven system as a compact actuator were developed, respectively. In this study, we report on the basic structure and basic characteristics of two types of actuators.
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Zhang, Liancun, Qiang Huang, Kangjian Cai, Zhiheng Wang, Wenkang Wang, and Juan Liu. "A Wearable Soft Knee Exoskeleton Using Vacuum-Actuated Rotary Actuator." IEEE Access 8 (2020): 61311–26. http://dx.doi.org/10.1109/access.2020.2983790.

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Dissertations / Theses on the topic "Wearable Actuator"

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STOPPA, MATTEO, Candido PIRRI, DANILO DEMARCHI, and Andrew David Green. "Smart Devices and Systems for Wearable Applications." Doctoral thesis, Politecnico di Torino, 2016. http://hdl.handle.net/11583/2646656.

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Wearable technologies need a smooth and unobtrusive integration of electronics and smart materials into textiles. The integration of sensors, actuators and computing technologies able to sense, react and adapt to external stimuli, is the expression of a new generation of wearable devices. The vision of wearable computing describes a system made by embedded, low power and wireless electronics coupled with smart and reliable sensors - as an integrated part of textile structure or directly in contact with the human body. Therefore, such system must maintain its sensing capabilities under the demand of normal clothing or textile substrate, which can impose severe mechanical deformation to the underlying garment/substrate. The objective of this thesis is to introduce a novel technological contribution for the next generation of wearable devices adopting a multidisciplinary approach in which knowledge of circuit design with Ultra-Wide Band and Bluetooth Low Energy technology, realization of smart piezoresistive / piezocapacitive and electro-active material, electro-mechanical characterization, design of read-out circuits and system integration find a fundamental and necessary synergy. The context and the results presented in this thesis follow an “applications driven” method in terms of wearable technology. A proof of concept has been designed and developed for each addressed issue. The solutions proposed are aimed to demonstrate the integration of a touch/pressure sensor into a fabric for space debris detection (CApture DEorbiting Target project), the effectiveness of the Ultra-Wide Band technology as an ultra-low power data transmission option compared with well known Bluetooth (IR-UWB data transmission project) and to solve issues concerning human proximity estimation (IR-UWB Face-to-Face Interaction and Proximity Sensor), wearable actuator for medical applications (EAPtics project) and aerospace physiology countermeasure (Gravity Loading Countermeasure Skinsuit project).
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Petinari, Andrea. "Hand rehabilitation device for extension, opposition and reposition." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.

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In this paper, the research focused on the development of a hand rehabilitation device which could perform extension, opposition and reposition movements. Firstly, the anatomy of the hand is analyzed and studied to understand where the problem resides; since the mechanism will be applied to post-stroke patients, it is necessary to comprehend the structure and the articulations of the hand, the muscles involved in the mentioned movements and how a healthy hand works. Then, the causes of the problem are studied, what are the consequences on the hand and how to solve every issue. Brunnström Approach is taken as reference for the rehabilitation therapy steps. After the performance target is defined and which function has the priority, a brief research on the state of the art is made. Six different devices are analyzed, taking into account their strengths and weaknesses, evaluating them and trying to find possible lacks to solve. An evaluation of possible solutions is done, in order to find the optimal solution for the problem. Various types of actuation and structure of the mechanism are considered. Defined which are the best choices between the ones proposed, the next step is to design a first prototype with the purpose of bringing together the solutions selected. The CAD used is PTC Creo Parametric. Once the first prototype was designed, it was partially printed with 3D technique (additive manufacturing) and tested; tests were made on the actuation and on the device to evaluated its efficacy. The results are visible in this paper. Finally, a conclusion is discussed with a short resume of the experiments made and the results obtained. Furthermore, remaining problems and future works are analyzed and debated.
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Viennet, Emmanuel, and Loïc Bouchardy. "Preliminary design and testing of a servo-hydraulic actuation system for an autonomous ankle exoskeleton." Technische Universität Dresden, 2020. https://tud.qucosa.de/id/qucosa%3A71229.

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The work presented in this paper aims at developing a hydraulic actuation system for an ankle exoskeleton that is able to deliver a peak power of 250 W, with a maximum torque of 90 N.m and maximum speed of 320 deg/s. After justifying the choice of a servo hydraulic actuator (SHA) over an electro hydrostatic actuator (EHA) for the targeted application, some test results of a first functional prototype are presented. The closed-loop unloaded displacement frequency response of the prototype shows a bandwidth ranging from 5 Hz to 8 Hz for displacement amplitudes between +/-5mm and +/- 20mm, thus demonstrating adequate dynamic performance for normal walking speed. Then, a detailed design is proposed as a combination of commercially available components (in particular a miniature servo valve and a membrane accumulator) and a custom aluminium manifold that incorporates the hydraulic cylinder. The actuator design achieves a total weight of 1.0 kg worn at the ankle.
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Frediani, Gabriele. "Enabling wearable soft tactile displays with dielectric elastomer actuators." Thesis, Queen Mary, University of London, 2018. http://qmro.qmul.ac.uk/xmlui/handle/123456789/36219.

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Touch is one of the less exploited sensory channels in human machine interactions. While the introduction of the tactile feedback would improve the user experience in several fields, such as training for medical operators, teleoperation, computer aided design and 3D model exploration, no interfaces able to mimic accurately and realistically the tactile feeling produced by the contact with a real soft object are currently available. Devices able to simulate the contact with soft bodies, such as the human organs, might improve the experience. The existing commercially available tactile displays consist of complex mechanisms that limit their portability. Moreover, no devices are able to provide tactile stimuli via a soft interface that can also modulate the contact area with the finger pad, which is required to realistically mimic the contact with soft bodies, as needed for example in systems aimed at simulating interactions with virtual biological tissues or in robot-assisted minimally invasive surgery. The aim of this thesis is to develop such a wearable tactile display based on the dielectric elastomer actuators (DEAs). DEAs are a class of materials that respond to an electric field producing a deformation. In particular, in this thesis, the tactile element consists of a so-called hydrostatically coupled dielectric elastomer actuator (HC-DEAs). HC-DEAs rely on an incompressible fluid that hydrostatically couples a DEA-based active part to a passive part interfaced to the user. The display was also tested within a closed-loop configuration consisting of a hand tracking system and a custom made virtual environment. This proof of concept system allowed for a validation of the abilities of the display. Mechanical and psychophysical tests were performed in order to assess the ability of the system to provide tactile stimuli that can be distinguished by the users. Also, the miniaturisation of the HC-DEA was investigated for applications in refreshable Braille displays or arrays of tactile elements for tactile maps.
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Höijertz, Erik. "Supercoiled Actuators with Liquid Metal Joule Heating : novel miniaturized actuators for pneumatic control of reconfigurable wearables." Thesis, Uppsala universitet, Mikrosystemteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-426008.

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Garments serve a number of purposes, from protection and physiological comfort to social and cultural expressions. With the recent developments of active textiles, sensors and actuators with shapes and sizes similar to textiles, the real multifunctional garments have been realized. The functions of such garments can be regulating heat by changing the spacing between the strands of yarn, giving massage or assisting lifting movement by expanding and contracting one or more actuators.   This project is a part of a main project targeting on reconfigurable hybrid wearables. The main started from studying possible actuators that could have textile-like properties, where pneumatic actuators were chosen. A model of different forces, strains and braiding angles of a pneumatic actuator sometimes called a McKibben muscle was made. It should be noted that such garments with pneumatic actuators to be functional and applicable each segment needed an external pump. For local actuation, miniaturized servo valves were needed. Hence, study on super coiled actuators (SCAs) was initiated to investigate their potential of controlling the valves for constricting the flow when needed. In this project different SCAs were developed and their performances were recorded. To assist with heating of the SCAs Galinstan and Gallium were used as electric resistors to provide for Joule heating.  A contraction of over 19% and an efficiency of 0.29% were achieved but could most likely be improved by optimizing the fabrication and testing process.
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Lo, Roger (Roger D. ). "Control of a pneumatically actuated joint for wearable supernumerary robotic limbs application." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/105691.

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Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.
Cataloged from PDF version of thesis.
Includes bibliographical references (page 31).
Presented is work on the development of the Supernumerary Robotic Limbs project, headed by Federico Parietti in the d'Arbeloff Labs under Prof. Harry Asada. Specifically, this paper focuses on the integration of lightweight, pneumatic systems for prismatic joint actuation, and the various control schemes studied. This joint serves as the leg of the robot, and extends from the hip of the wearer to contact the ground. The design consists of a two-way pneumatic cylinder inside a load bearing carbon fiber sleeve, actuated with a nominally closed 5-3 way solenoid valve, and weighs in at <1kg per actuator. The positional control scheme is closed via tracking from a linear magnetopotentiometer, while the force control scheme utilizes both the positional tracking as well as a load cell at the foot of the leg. System modeling of the actuator dynamics allowed for development of a model based proportional control method. Optimization of the proportional gain and system delay time produced a rise time of 200ms given a step input command for a 250mm stroke. The developed scheme was implemented in the full wearable system to assist a human support weight in crouched positions and standing up from a sitting position. Initial testing has shown the effectiveness of the power, compactness and compliance of pneumatic systems in a wearable robotic device.
by Roger Lo.
S.B.
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Wirekoh, Jackson O. "Development of Soft Actuation Systems for Use in Human-Centered Applications." Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1124.

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In recent years, soft materials have seen increased prevalence in the design of robotic systems and wearables capable of addressing the needs of individuals living with disabilities. In particular, pneumatic artificial muscles (PAMs) have readily been employed in place of electromagnetic actuators due to their ability to produce large forces and motions, while still remaining lightweight, compact, and flexible. Due to the inherent nonlinearity of PAMs however, additional external or embedded sensors must be utilized in order to effectively control the overall system. In the case of external sensors, the bulkiness of the overall system is increased, which places limits on the system’s design. Meanwhile, the traditional cylindrical form factor of PAMs limits their ability to remain compact and results in overly complex fabrication processes when embedded fibers and/or sensing elements are required to provide efficient actuation and control. In order to overcome these limitations, this thesis proposed the design of flat pneumatic artificial muscles (FPAMs) capable of being fabricated using a simple layered manufacturing process, in which water-soluble masks were utilized to create collapsed air chambers. Furthermore, hyperelastic deformation models were developed to approximate the mechanical performance of the FPAMs and were verified through experimental characterization. The feasibility of these design techniques to meet the requirements of human centered applications, including the suppression of hand tremors and catheter ablation procedures, was explored and the potential for these soft actuation systems to act as solutions in other real world applications was demonstrated. We expect the design, fabrication, and modeling techniques developed in this thesis to aid in the development of future wearable devices and motivate new methods for researchers to employ soft pneumatic systems as solutions in human-centered applications.
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TESSARI, FEDERICO. "Development of a knee prosthesis powered by electro-hydrostatic actuation." Doctoral thesis, Politecnico di Torino, 2021. http://hdl.handle.net/11583/2932755.

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BUFFAGNI, ALESSIA. "Intelligent clothing for the ageing body : The pursuit of a design method." Doctoral thesis, Università IUAV di Venezia, 2021. http://hdl.handle.net/11578/306340.

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The extension of life that medical science and technology have assured mankind in the last century is an unprecedented achievement, a success of delicate administration for social policies worldwide. Life expectancy is increasing, and so is the demand for long-term health care. Starting from the original principle of bio-extension (temporal, anatomical, qualitative), the research introduces in its first part (also through field observation) an overview of the natural and pathological disorders of ageing and the social strategies to cope with them. Thus, it proceeds to examine the technological innovations (prosthetic, handheld, wearable) that in the past and to date have compensated for the human body’s capabilities. It compares those in production and under study that keep serving the purpose by adapting to the demographic change, changing themselves, becoming more and more intelligent and more adherent to the no longer young bodies that they are designed to assist. Once offered a projection of what their evolution would be (already underway, but for the most part still to be accomplished) toward a full-functional symbiosis with the human they dress, the analysis returns to focus on present day and the central consideration of the thesis: what it means—and, mainly, what it implies—to design for, around, on (if not even inside) a body in pain. The research ends with the third section: the drafting of the design guidelines for researchers who want to commit to the same field, and the assembly report of a prototype meant not as a finished industrial product but rather an additional (three-dimensional) platform for future studies. The implementation aims to answer to one of the central research questions (how Design Science, at its state of the art, can be applied to rehabilitative therapies for the elderly at risk) and will finally clarify the contribution that the thesis intends to bring to Design Science and the material culture of the product. And, more specifically, to the field of Gerontechnology.
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ALO', Roberta. "Safety and energetic efficiency in wearable robots. Innovative actuated devices." Doctoral thesis, 2017. http://hdl.handle.net/11589/100567.

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Wearable robots are person-oriented robots worn by human operators and aimed at assisting users' movements. They provide human limbs with physical support and functional supplement by enhancing the strength of wearer's joint in order to give people with mobility impairments the chance to regain the ability to walk over the ground, upstairs and downstairs, or to augment the performance of able-bodied wearers. Research in the field of wearable robots started in late 1960s in USA and Yugoslavia for military and medical purposes respectively and even though a lot of progresses have been done especially in the last two decades, a lot of challenges are still associated with them and several research contributions aim to overcome current limitations. Portability is one of the main requirement of wearable robots. It is conceived as the capability to be worn and carried around by users who need to be supported in a large variety of operational scenarios and for an extended length of time. Comfortable and ergonomic mechanical structures, as well as efficient and convenient actuation systems ensure portability of these robotic devices. Current actuation technologies challenge the development of portable and effective wearable robots. Actuation of these devices must fulfil often opposing requirements which are hard to conciliate at the same time. They must be powerful enough for providing the high peak of torque and power demanded in a gait cycle of locomotion tasks, they should have a low energy consumption in order to increase the operating range of the device and finally they must be as small and lightweight as possible in order to decrease the metabolic expenditure and facilitate portability. Efficient actuatosr capable of exploiting the passive dynamic of human walking by storing and releasing energy according to the phases of the gait cycle, can reduce the energy requirement of the motor leading to the development of long lasting and lightweight systems. More than the joint power augmentation, also the balance challenges the development of portable wearable robots. Most of wearable robots have been not primarily designed to assist balance and users have to count on conventional assistive technologies, such as canes or crutches, to prevent the risk of falling. However, these external assistive devices are hold in the hands and this is not convenient for people with limited strength in upper limbs. Furthermore, they can interfere with balance in some situations and they reduce the effectiveness of wearable robots in comparison to wheel chairs. Multi degree of freedom actuated joints would improve gait stability, despite the increase of the weight and of the control complexity. Robotic assistive technologies, such as moment exchange actuators, have the potential of providing balance assistance to the wearer in his daily life actions and consistently with human balance control. They detect the subject�s loss of balance and exert corrective actions to avoid or delay the risk of falling. Balance assistive devices can either be included in powered wearable robots or be worn separately by subjects suffering balance disorders to control and improve their balance. This thesis gives a contribution to the development of portable wearable robots in terms of energetic efficiency and safety. The current actuation technologies for joint power augmentation and balance assistance have been investigated with the aim of finding novel solutions that could improve the portability of wearable robots for human locomotion assistance and human strength augmentation. The investigation resulted in the development of two concepts of actuated devices focused on enhancing joint strength and on balance compensation respectively.
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Book chapters on the topic "Wearable Actuator"

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Verstraten, Tom, and Dirk Lefeber. "Compliant Actuation for Wearable Robotics." In Novel Bioinspired Actuator Designs for Robotics, 91–98. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-40886-2_10.

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Verstraten, Tom, Raphaël Furnémont, Pablo López-García, Stein Crispel, Bram Vanderborght, and Dirk Lefeber. "A Series Elastic Dual-Motor Actuator Concept for Wearable Robotics." In Biosystems & Biorobotics, 165–69. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-01887-0_32.

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Qi, Di, Mina Shibasaki, Youichi Kamiyama, Sakiko Tanaka, Bunsuke Kawasaki, Chisa Mitsuhashi, Yun Suen Pai, and Kouta Minamizawa. "Furekit: Wearable Tactile Music Toolkit for Children with ASD." In Haptics: Science, Technology, Applications, 310–18. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-06249-0_35.

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AbstractChildren with autism spectrum disorder (ASD) face the challenge of social interaction and communication, leading to them often requiring significant support from others in their daily lives. This includes challenges like basic communication to convey their emotions to comprehension in early education. To aid with their early development, we propose Furekit, a wearable toolkit that encourages physical interaction via audio and tactile stimuli. Furekit can be attached to various parts of the body, can be operated wirelessly, and is equipped with both a speaker and a vibrotactile actuator. The audio and tactile stimuli are triggered when touched via a conductive pad on the surface, aiming to aid these children’s learning and social experience. From our conducted workshop with children with ASD, we found that Furekit was well-received and was able to encourage their spontaneous physical movement. In the workshop, Furekit shows its potential as an educational and communication tool for children with ASD.
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Kong, Kyoungchul, Joonbum Bae, and Masayoshi Tomizuka. "Mechatronic Considerations for Actuation of Human Assistive Wearable Robotics: Robust Control of a Series Elastic Actuator." In Springer Tracts in Advanced Robotics, 401–29. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-12922-8_16.

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Paliwal, Gaurav, and Aaquil Bunglowala. "Nanosensor and Actuator Technologies for Wearable Mobile Patient Monitoring Systems: A Review." In Computational Mathematics, Nanoelectronics, and Astrophysics, 83–95. Singapore: Springer Singapore, 2021. http://dx.doi.org/10.1007/978-981-15-9708-4_7.

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Yamazoe, Hirotake, and Tomoko Yonezawa. "A Tactile Expression Mechanism Using Pneumatic Actuator Array for Notification from Wearable Robots." In Lecture Notes in Computer Science, 466–75. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-58463-8_39.

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Bergamasco, M., F. Salsedo, S. Marcheschi, and N. Lucchesi. "A Novel Actuation Module for Wearable Robots." In Advances in Robot Kinematics: Motion in Man and Machine, 117–25. Dordrecht: Springer Netherlands, 2010. http://dx.doi.org/10.1007/978-90-481-9262-5_13.

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Cho, Feifei, Xiangpan Li, and Toshiro Noritsugu. "Development of Wearable Power Assist Wear Using Pneumatic Actuators." In Lecture Notes in Electrical Engineering, 461–68. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-17314-6_59.

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Gomez-Vargas, Daniel, Diego Casas-Bocanegra, Marcela Múnera, Flavio Roberti, Ricardo Carelli, and Carlos A. Cifuentes. "Variable Stiffness Actuators for Wearable Applications in Gait Rehabilitation." In Interfacing Humans and Robots for Gait Assistance and Rehabilitation, 193–212. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-79630-3_7.

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de Tinguy, Xavier, Thomas Howard, Claudio Pacchierotti, Maud Marchal, and Anatole Lécuyer. "WeATaViX: WEarable Actuated TAngibles for VIrtual Reality eXperiences." In Haptics: Science, Technology, Applications, 262–70. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-58147-3_29.

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Conference papers on the topic "Wearable Actuator"

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Dalton, Sean, Henry Koon, Jennifer O’Malley, and Julianna Abel. "A Black Box Design Approach to Avian-Inspired SMA Coil Actuated Wearable Morphing Angel Wings." In ASME 2017 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/smasis2017-3943.

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Black box design is a constraint driven design approach that distills essential elements of a physical process into inputs and outputs. This paper details the black box design implementation and validation of shape memory alloy (SMA) coil actuators as active members in a Watt I six bar avian-inspired wearable morphing angel wing mechanism. SMA coil actuators leverage the unique characteristics of high energy density SMA wire by providing a compact structural platform for large actuation displacement applications. The moderate force and displacement performance of low spring index coil actuators paired with their virtually silent actuation performance made them an attractive actuator solution to an avian-inspired wearable morphing wing mechanism for the University of Minnesota Department of Theatre Arts and Dance production of ‘Marisol’. The wing design constraints (extended span of 7.5 ft, a closed span of 3 ft) required a tailorable actuator system with capacity to perform at particular target force and strain metrics cyclically. A low spring index parameter study was conducted to facilitate an accelerated phase of design prototyping. The parameter study featured six SMA coil actuator prototypes made with 0.012” diameter Dynalloy Flexinol® wire of varying spring indexes (C = 2.5–4.9). The coil actuators were manufactured through a CNC winding process, shape set in a furnace at 450 °C for 10 minutes, and water quenched for hardening. A series of thermomechanical actuation tests were conducted to experimentally characterize the low spring index actuation performances. The coil actuation characterizations demonstrated increased force and decreased actuator displacement corresponding to decreased spring indexes. Scaling these results aided an accelerated design of an actuator system. The actuator system consisted of four C = 3.05 coil actuators wound with 0.02” diameter SMA that were integrated into each Watt I mechanism. The characterization of the force-displacement profiles for low index SMA coil actuators provides an effective empirical design strategy for scaling actuator performance to mechanical systems requiring moderate force, moderate displacement actuators.
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Obara, T., and S. Konishi. "Multiarticular actuator composed of serially connected micropistons for wearable actuator." In 2012 IEEE 25th International Conference on Micro Electro Mechanical Systems (MEMS). IEEE, 2012. http://dx.doi.org/10.1109/memsys.2012.6170097.

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Eschen, Kevin, Julianna Abel, Rachael Granberry, and Brad Holschuh. "Active-Contracting Variable-Stiffness Fabrics for Self-Fitting Wearables." In ASME 2018 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/smasis2018-7920.

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Self-fitting is the ability of a wearable, garment or body-mounted object to recover the exact shape and size of the human body. Self-fitting is highly desirable for wearable applications, ranging from medical and recreational health monitoring to wearable robotics and haptic feedback, because it enables complex devices to achieve accurate body proximity, which is often required for functionality. While garments designed with compliant fabrics can easily accomplish accurate fit for a range of body shapes and sizes, integrated actuators and sensors require fabric stiffness to prevent drift and deflection from the body surface. This paper merges smart materials and structures research with anthropometric analysis and functional apparel methodologies to present a novel, functionally gradient self-fitting garment designed to address the challenge of achieving accurate individual and population fit. This fully functional garment, constructed with contractile SMA knitted actuator fabrics, exhibits tunable %-actuation contractions between 4–50%, exerts minimal on-body pressure (≤ 1333Pa or 10 mmHg), and can be designed to actuate fully self-powered with body heat. The primary challenge in the development of the proposed garment is to design a functionally gradient system that does not exert significant pressure on part of the leg and/or remain oversized in others. Our research presents a new methodology for the design of contractile SMA knitted actuator garments, describes the manufacture of such self-fitting garments, and concludes with an experimental analysis of the garment performance evaluated through three-dimensional marker tracking.
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Claros, M., R. Soto, J. J. Rodriguez, C. Cantu, and Jose L. Contreras-Vidal. "Novel compliant actuator for wearable robotics applications." In 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). IEEE, 2013. http://dx.doi.org/10.1109/embc.2013.6610135.

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Nassour, John, and Fred Hamker. "Enfolded Textile Actuator for Soft Wearable Robots." In 2019 IEEE International Conference on Cyborg and Bionic Systems (CBS). IEEE, 2019. http://dx.doi.org/10.1109/cbs46900.2019.9114425.

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Foo, Esther, Heidi Woelfle, and Brad Holschuh. "Design Tradeoffs in the Development of a Wearable Soft Exoskeleton for Upper Limb Mobility Disorders." In 2019 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/dmd2019-3285.

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This paper investigates the tradeoffs between design variables important for the development of a mobility support soft exoskeleton for horizontal shoulder adduction. The soft exoskeleton utilizes discreet shape memory alloy (SMA) spring actuators to generate the required torque to move the arm segment, while preserving the qualities of a soft, wearable garment solution. A pilot benchtop test involving varying power input, actuator anchor position, actuator orientation, and added weight, was investigated to evaluate their effects against the degree of motion the soft exoskeleton allows. The results show that the power input, actuator anchor position, and simulated limb weight each affect the ultimate horizontal adduction angle the exoskeleton is able to induce. Further, the project highlights a crucial point in regard to the tradeoffs between functionality and wearability: when actuator orientation was investigated, we found a decrement in functionality (as measured by maximum achievable horizontal adduction angle) when the actuators were constrained close to the body. This shows that when aiming to improve the hypothetical system’s wearability/usability, the effective torque that can be generated is reduced. Together these findings demonstrate important design considerations while developing a wearable, soft exoskeleton system that is capable of effectively supporting movement of the body while maintaining the comfort and discreetness of a regular garment.
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Terfurth, Jonathan, and Nejila Parspour. "Integrated Planetary Gear Joint Actuator Concept for Wearable and Industrial Robotic Applications." In 2019 Wearable Robotics Association Conference (WearRAcon). IEEE, 2019. http://dx.doi.org/10.1109/wearracon.2019.8719400.

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Lemerle, Simon, Satoshi Fukushima, Yuki Saito, Takahiro Nozaki, and Kouhei Ohnishi. "Wearable finger exoskeleton using flexible actuator for rehabilitation." In 2017 IEEE International Conference on Mechatronics (ICM). IEEE, 2017. http://dx.doi.org/10.1109/icmech.2017.7921111.

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Wan, Fang, Zheng Wang, Brooke Franchuk, Xinyao Hu, Zhenglong Sun, and Chaoyang Song. "Hybrid actuator design for a gait augmentation wearable." In 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2017. http://dx.doi.org/10.1109/robio.2017.8324761.

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Safwat, Tahzib, Ryan Tosto, Michael D. Grissom, and Christopher D. Rahn. "A Dynamic Model of Electrostrictive Unimorph Actuators for Haptic Devices." In ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/detc2016-60512.

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Piezoelectric materials are commonly found in many devices, but their usage is limited by the low strain and high stiffness of the material. This prevents their use in “soft” applications, such as compliant actuators for haptic feedback devices and wearable technology. The actuation dynamics of a ferro-electric relaxor terpolymer, a type of soft and high strain electroactive polymer (EAP), are examined. This paper studies the unimorph actuator via a linearized time-domain model and experiments to validate the model include step response and frequency response of tip displacement.
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