soft robotic glove for combined assistance and rehabilitation · soft robotic glove for combined...

Soft robotic glove for combined assistance and rehabilitation

2016 Stroke Rehab Symposium – 9/10/2016

Panagiotis (Panos) Polygerinos, Ph.D.Assistant Professor

The Polytechnic SchoolIra A. Fulton Schools of Engineering

[email protected]

September 10, 2016 2


Future Robots will Interact Directly with Humans

September 10, 2016

Industrial Robots

minimize risk

of injuries

Medical Robots

safer medical

operations

Wearable Robots

assist motion and

functions

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Future Robots will Interact Directly with Humans


Hollywood View of Robotics

September 10, 2016

The primary interest in soft robotics development is to provide systems that offer functionality not found in traditional rigid-bodied robots. Examples include:

• Delicate manipulation -- Soft material robots can grip, manipulate and flexibly control objects that are fragile or deformable.

• Safe Physical Human-Robot Interaction -- Inherently safer for humans to work with.

• Adaptable Morphology -- Inherently more flexible and can be

engineered to change their form in response to the environments.

• Novel Forms of Movement -- Can be designed to move in novel ways formally unavailable to robotic systems including undulation, oscillation, & peristalsis.

• Inexpensive Development -- Can be engineered relatively easily and at low cost.

Video Credits:• Whitesides Group• Wyss Institute• Harvard Microrobotics lab• Harvard Biodesign lab

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New Science and Capabilities with Soft Robots

September 10, 2016

Fiber-reinforced Actuators

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Soft Robotics / Actuators

Air in

Simple actuator



Simple actuator

PairAir in



Simple actuator

PairAir in


An elastomeric bladder without any constraints

(reinforcements) is simply a balloon!


September 10, 2016

Restrict radial expansion to make an

actuator extend in length


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September 10, 2016




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September 10, 2016

Air in




13


September 10, 2016

PairAir in




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September 10, 2016

Air in




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September 10, 2016


Restrict extension on one side of the

actuator to achieve bending

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September 10, 2016

Air in




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September 10, 2016

Pair


Air in



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September 10, 2016

Air in


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bend

bend-twist

extend

bend

bend-twist

extend

extend-twist


Multi-segment FR Soft Actuator

K. Galloway, P. Polygerinos, C. Walsh, and R.J. Wood, ICAR 2013, 2013.

extend-twist

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September 10, 2016

Soft Robotic Glove Development

MissionReturn independence to those with acute and chronic hand pathologies with

an at-home, wearable assistive device capable of supporting the hand’s full range of motion and detecting user intent.

Feasibility studyFeasibility study Generation 1Feasibility study Generation 1 Generation 2

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Wearable Assistive / Rehabilitation Devices

1Americans With Disabilities: 2010. 2Roger et al. Heart disease and stroke statistics—2012 update: a report from the American Heart Association. Circulation. 2012.3Nakayama et al. Compensation in recovery of upper extremity function after stroke. Arch Phys Med Rehabil. 1994.

Hand functionality is a dominant factor in living an independent life!

Hand Pathologies

Rehabilitation

Assistive

6,700,000reported difficulty performing a grasping motion in US1

795,000people suffer from a stroke per year2

26%of stroke patients require assistance with ADL due to upper

extremity disability3

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September 10, 2016

Hand Robotic Rehabilitation and Assistive Devices

Rehabilitation devices Assistive devices

Ho

me

use

Clin

ic u

se

• Bulky • Heavy

• Rigid links• Pressure points• Limited ROM

• No adjustable fit

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Soft Assist GloveSoft Robotic Glove: Gen 1.0

P. Polygerinos, Z. Wang, K. C. Galloway, R. J. Wood, C. J. Walsh, "Soft robotic glove for combined assistance and at-home rehabilitation", Robotics and Autonomous Systems, 2015. 24


September 10, 2016

Custom Design of Segmented FR Actuators

P. Polygerinos, K. C. Galloway, E. Savage, M. Herman, K. O’ Donnell and C.J. Walsh, “Soft Robotic Glove for Hand Rehabilitation and Task Specific Training”, in Proc. IEEE Int. Conf. Robot. Autom.(ICRA 2015). 25


September 10, 2016

Functional & Textile Design

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January 22, 2016

September 10, 2016

User Design Study

• Received IRB approval • Record user’s range of motion and grip strength.• Evaluate & iterate the robotic glove prototypes.

User Study

Spinal cord injury

Spinal cord injury

Stroke Stroke - aphasia

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September 10, 2016 informed consent was taken to show this video

Soft Robotic Glove: Gen 1.0 - User Study

Muscular dystrophy

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September 10, 2016

Soft Robotic Glove: Gen 2.0

Side palm support

Wrist straps

Modular sleeves

Spandex fabric sleevesGripping material

Open palm design

Actuator cover



September 10, 2016

Soft Robotic Glove: Gen 2.0 - User Study

informed consent was taken to show this videos



September 10, 2016

User Intent ApproachesSurface EMG sensors

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P. Polygerinos, K. Galloway, S. Sanan, M. Herman, C. James Walsh, “EMG Controlled Soft Robotic Glove for Assistance During Activities of Daily Living”, ICORR 2015. BEST CONFERENCE PAPER AWARD

September 10, 2016

User Intent ApproachesSurface EMG sensors

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P. Polygerinos, K. Galloway, S. Sanan, M. Herman, C. James Walsh, “EMG Controlled Soft Robotic Glove for Assistance During Activities of Daily Living”, ICORR 2015. BEST CONFERENCE PAPER AWARD


Assistive Exoskeleton for Downhill Walking

A lightweight wearable device that reduces the muscular effort and physical stress on the knee during downhill walking

September 10, 2016

100%

Heel Strike Opposite Toe Off Opposite Heel Strike Toe Off Heel Strike

0% 12% 50% 62%

Stance Phase Swing Phase

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Biomechanics of Walking

September 10, 2016

Push Off

Join

t M

om

ent

(Nm

/kg)

-1

2

0

0

90

45

Join

t A

ngl

e (D

egre

es)

0 10062Gait Cycle (%)

Weight Transfer Highest Risk

Lay, A., Hass, C., Gregor, R., 2006, “The effects of sloped surfaces on locomotion: A kinematic and kinetic analysis," Journal of Biomechanics, Vol. 39, pp. 1621-1628. 35


Knee Kinematics During Downhill Walking



Muscle Activity

September 10, 2016

31% require use of assistive device

41% infants have limited crawling and walking ability

$1 million lifetime care cost for individual

$11.5 billion lifetime care cost for all affected individuals born in 2000

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Soft Sensing Suit for Infants

• Helps build coordination between joints

• Essential for gait development

• Rebuild damaged neural connections

Impact & Importance of Infant Kicking

September 10, 2016

Soft Sensing Suit for Infants

E. Rogers, P. Polygerinos, E. Goldfield, C. Walsh, ASME Journal of Medical Devices, 2015.

Motion sensing suit for developmentally delayed infants

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September 10, 2016

EGR598 –Mechatronics Device Innovation

Sponsored by:

Supported by:

September 10, 2016

Dr. K. GallowayDr. D. Holland Dr. Z. WangDr. B. Mosadegh

Z. Dubrovsky K. O'Donnell

D. WagnerT. WongR. Ryzman

Prof. R. J. WoodProf. C. J. Walsh Prof. K. Bertoldi Prof. G. Whitesides Prof. R. Howe

D. VogtF. ConnollyE. SavageM. Herman J.T.B. OverveldeS. LyneE. Rogers

Prof. A. Moser Prof. P. DelNido Prof. E. Goldfield

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Acknowledgements

A. Hoffmann B. Gracia

T. Lopez

September 10, 2016

Questions?

Panagiotis (Panos) Polygerinos, Ph.D.Assistant Professor

The Polytechnic SchoolIra A. Fulton Schools of Engineering

[email protected]

soft robotic glove for combined assistance and rehabilitation · soft robotic glove for combined...

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