Design and analysis of soft pneumatic sleeve for ARM orthosis

Gaurav Singh, Chenzhang Xiao, Girish Krishnan, Elizabeth Hsiao-Wecksler

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

Abstract

Patients that use crutches for ambulation experience forces as high as 50% of body weight and extreme extension angles at the wrist, which increases the risk of joint injury such as carpal tunnel syndrome. We have designed and fabricated a soft pneumatic sleeve to reduce the wrist loading by transferring part of the load to the forearm. The sleeve uses a Fiber Reinforced Elastomeric Enclosure (FREE). FREEs are soft pneumatic actuators that can generate force and moment upon inflation. We have used a contracting FREE, which is wrapped in a helical shape around the forearm as part of the sleeve. Upon actuation, it contracts in length and reduces in diameter, thereby generating a constricting force around the forearm. In this paper, we describe the modeling of the constricting force generated by the helical FREE. We can model the FREE as a string due to its negligible bending stiffness. The constriction force can be expressed in terms of the axial tensile force generated in the FREE upon actuation and the geometry of the helix. To obtain the axial force, we have used a model previously reported in literature that uses a constrained volume maximization formulation. We validate the string model by comparing with experimental results.

Original languageEnglish (US)
Title of host publication40th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791850152
DOIs
StatePublished - Jan 1 2016
EventASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016 - Charlotte, United States
Duration: Aug 21 2016Aug 24 2016

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5A-2016

Other

OtherASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016
CountryUnited States
CityCharlotte
Period8/21/168/24/16

Fingerprint

Enclosures
Pneumatics
Enclosure
Fibers
Fiber
Pneumatic actuators
Strings
Tunnels
Stiffness
Helix
Design
Tunnel
Inflation
Actuator
Geometry
Extremes
Model
Moment
Angle
Formulation

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Cite this

Singh, G., Xiao, C., Krishnan, G., & Hsiao-Wecksler, E. (2016). Design and analysis of soft pneumatic sleeve for ARM orthosis. In 40th Mechanisms and Robotics Conference (Proceedings of the ASME Design Engineering Technical Conference; Vol. 5A-2016). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2016-59836

Design and analysis of soft pneumatic sleeve for ARM orthosis. / Singh, Gaurav; Xiao, Chenzhang; Krishnan, Girish; Hsiao-Wecksler, Elizabeth.

40th Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), 2016. (Proceedings of the ASME Design Engineering Technical Conference; Vol. 5A-2016).

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

Singh, G, Xiao, C, Krishnan, G & Hsiao-Wecksler, E 2016, Design and analysis of soft pneumatic sleeve for ARM orthosis. in 40th Mechanisms and Robotics Conference. Proceedings of the ASME Design Engineering Technical Conference, vol. 5A-2016, American Society of Mechanical Engineers (ASME), ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016, Charlotte, United States, 8/21/16. https://doi.org/10.1115/DETC2016-59836
Singh G, Xiao C, Krishnan G, Hsiao-Wecksler E. Design and analysis of soft pneumatic sleeve for ARM orthosis. In 40th Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME). 2016. (Proceedings of the ASME Design Engineering Technical Conference). https://doi.org/10.1115/DETC2016-59836
Singh, Gaurav ; Xiao, Chenzhang ; Krishnan, Girish ; Hsiao-Wecksler, Elizabeth. / Design and analysis of soft pneumatic sleeve for ARM orthosis. 40th Mechanisms and Robotics Conference. American Society of Mechanical Engineers (ASME), 2016. (Proceedings of the ASME Design Engineering Technical Conference).
@inproceedings{edebe605cf574c1a931bcd2d2c223355,
title = "Design and analysis of soft pneumatic sleeve for ARM orthosis",
abstract = "Patients that use crutches for ambulation experience forces as high as 50{\%} of body weight and extreme extension angles at the wrist, which increases the risk of joint injury such as carpal tunnel syndrome. We have designed and fabricated a soft pneumatic sleeve to reduce the wrist loading by transferring part of the load to the forearm. The sleeve uses a Fiber Reinforced Elastomeric Enclosure (FREE). FREEs are soft pneumatic actuators that can generate force and moment upon inflation. We have used a contracting FREE, which is wrapped in a helical shape around the forearm as part of the sleeve. Upon actuation, it contracts in length and reduces in diameter, thereby generating a constricting force around the forearm. In this paper, we describe the modeling of the constricting force generated by the helical FREE. We can model the FREE as a string due to its negligible bending stiffness. The constriction force can be expressed in terms of the axial tensile force generated in the FREE upon actuation and the geometry of the helix. To obtain the axial force, we have used a model previously reported in literature that uses a constrained volume maximization formulation. We validate the string model by comparing with experimental results.",
author = "Gaurav Singh and Chenzhang Xiao and Girish Krishnan and Elizabeth Hsiao-Wecksler",
year = "2016",
month = "1",
day = "1",
doi = "10.1115/DETC2016-59836",
language = "English (US)",
series = "Proceedings of the ASME Design Engineering Technical Conference",
publisher = "American Society of Mechanical Engineers (ASME)",
booktitle = "40th Mechanisms and Robotics Conference",

}

TY - GEN

T1 - Design and analysis of soft pneumatic sleeve for ARM orthosis

AU - Singh, Gaurav

AU - Xiao, Chenzhang

AU - Krishnan, Girish

AU - Hsiao-Wecksler, Elizabeth

PY - 2016/1/1

Y1 - 2016/1/1

N2 - Patients that use crutches for ambulation experience forces as high as 50% of body weight and extreme extension angles at the wrist, which increases the risk of joint injury such as carpal tunnel syndrome. We have designed and fabricated a soft pneumatic sleeve to reduce the wrist loading by transferring part of the load to the forearm. The sleeve uses a Fiber Reinforced Elastomeric Enclosure (FREE). FREEs are soft pneumatic actuators that can generate force and moment upon inflation. We have used a contracting FREE, which is wrapped in a helical shape around the forearm as part of the sleeve. Upon actuation, it contracts in length and reduces in diameter, thereby generating a constricting force around the forearm. In this paper, we describe the modeling of the constricting force generated by the helical FREE. We can model the FREE as a string due to its negligible bending stiffness. The constriction force can be expressed in terms of the axial tensile force generated in the FREE upon actuation and the geometry of the helix. To obtain the axial force, we have used a model previously reported in literature that uses a constrained volume maximization formulation. We validate the string model by comparing with experimental results.

AB - Patients that use crutches for ambulation experience forces as high as 50% of body weight and extreme extension angles at the wrist, which increases the risk of joint injury such as carpal tunnel syndrome. We have designed and fabricated a soft pneumatic sleeve to reduce the wrist loading by transferring part of the load to the forearm. The sleeve uses a Fiber Reinforced Elastomeric Enclosure (FREE). FREEs are soft pneumatic actuators that can generate force and moment upon inflation. We have used a contracting FREE, which is wrapped in a helical shape around the forearm as part of the sleeve. Upon actuation, it contracts in length and reduces in diameter, thereby generating a constricting force around the forearm. In this paper, we describe the modeling of the constricting force generated by the helical FREE. We can model the FREE as a string due to its negligible bending stiffness. The constriction force can be expressed in terms of the axial tensile force generated in the FREE upon actuation and the geometry of the helix. To obtain the axial force, we have used a model previously reported in literature that uses a constrained volume maximization formulation. We validate the string model by comparing with experimental results.

UR - http://www.scopus.com/inward/record.url?scp=85007579706&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85007579706&partnerID=8YFLogxK

U2 - 10.1115/DETC2016-59836

DO - 10.1115/DETC2016-59836

M3 - Conference contribution

AN - SCOPUS:85007579706

T3 - Proceedings of the ASME Design Engineering Technical Conference

BT - 40th Mechanisms and Robotics Conference

PB - American Society of Mechanical Engineers (ASME)

ER -