Search
Close
  • About Us
    • Governance
    • Our Team
    • Labs
    • Open positions
    • Alumni
  • Research
    • Wearable robotics
      • ReGait++
      • Third Arm
    • Rescue Robotics
      • Flying Robots
      • Legged robots
      • Collaboration, Learning and Tests
    • Educational robotics
      • Cellulo
      • Thymio
    • Publications
    • Open Science
  • Education
    • How to get into robotics
      • How our professors got into robotics
      • How our researchers got started
    • Robotics for kids
      • Activities for Kids
      • R2t2 Mars Mission
    • Graduate Programs in Robotics
    • Resources
  • Tech Transfer
    • Researchers expertise
    • Spin-Offs
    • Swiss Robotics Day
    • Swiss Robotics Ecosystem
    • Resources
  • Equal Opportunities
    • Robotics for Girls
    • Master students
    • Young Researchers
    • Building Equality
    • Women in Robotics
    • Resources
  • Awards & Programs
    • Spin-Fund
    • Master Students Exchange Program
    • PhD/Postdoc exchange program
    • Award for Career Development
    • Swiss Robotics Masters Award
    • Award for Scientific Visibility
    • Women keynote speakers
    • Best Paper Award
    • Ukrainian researchers
  • Outreach
    • Swiss Drone Days
    • Cybathlon
    • Swiss Robotics Days
    • Other Outreach Events
  • Contact
Menu
  • About Us
    • Governance
    • Our Team
    • Labs
    • Open positions
    • Alumni
  • Research
    • Wearable robotics
      • ReGait++
      • Third Arm
    • Rescue Robotics
      • Flying Robots
      • Legged robots
      • Collaboration, Learning and Tests
    • Educational robotics
      • Cellulo
      • Thymio
    • Publications
    • Open Science
  • Education
    • How to get into robotics
      • How our professors got into robotics
      • How our researchers got started
    • Robotics for kids
      • Activities for Kids
      • R2t2 Mars Mission
    • Graduate Programs in Robotics
    • Resources
  • Tech Transfer
    • Researchers expertise
    • Spin-Offs
    • Swiss Robotics Day
    • Swiss Robotics Ecosystem
    • Resources
  • Equal Opportunities
    • Robotics for Girls
    • Master students
    • Young Researchers
    • Building Equality
    • Women in Robotics
    • Resources
  • Awards & Programs
    • Spin-Fund
    • Master Students Exchange Program
    • PhD/Postdoc exchange program
    • Award for Career Development
    • Swiss Robotics Masters Award
    • Award for Scientific Visibility
    • Women keynote speakers
    • Best Paper Award
    • Ukrainian researchers
  • Outreach
    • Swiss Drone Days
    • Cybathlon
    • Swiss Robotics Days
    • Other Outreach Events
  • Contact
Search
Close
  • About Us
    • Governance
    • Our team
    • Labs
    • Open positions
    • Alumni
  • Research
    • Wearable Robotics
      • ReGait++
      • Third Arm
    • Rescue Robotics
      • Flying robots
      • Legged robots
      • Collaborations, learning and tests
    • Educational Robotics
      • Cellulo
      • Thymio
    • Publications
    • Open Science
  • Education
    • How to get into robotics
      • How our professors got into robotics
      • How our researchers got started
    • Robotics for kids
      • Activities for kids
      • R2t2 Mars mission
    • Graduate programs in robotics
    • Resources
  • Tech Transfer
    • Researchers expertise
    • Spin-Offs
    • Swiss Robotics Day
    • Swiss Robotics Ecosystem
    • Resources
  • Equal Opportunities
    • Robotics for girls
    • Master students
    • Young researchers
    • Building equality
    • Women in Robotics
    • Resources
  • Awards & Programs
    • Spin-Fund
    • Award for Career Development
    • Swiss Robotics Masters Award
    • Award for Scientific Visibility
    • PhD/Postdoc Exchange Program
    • Master Students Exchange Program
    • Women Keynote Speakers
    • Best Paper Awards
    • Ukrainian Researchers
  • Outreach
    • Swiss Robotics Days
    • Swiss Drone Days
    • Cybathlon
    • Other Outreach Events
Menu
  • About Us
    • Governance
    • Our team
    • Labs
    • Open positions
    • Alumni
  • Research
    • Wearable Robotics
      • ReGait++
      • Third Arm
    • Rescue Robotics
      • Flying robots
      • Legged robots
      • Collaborations, learning and tests
    • Educational Robotics
      • Cellulo
      • Thymio
    • Publications
    • Open Science
  • Education
    • How to get into robotics
      • How our professors got into robotics
      • How our researchers got started
    • Robotics for kids
      • Activities for kids
      • R2t2 Mars mission
    • Graduate programs in robotics
    • Resources
  • Tech Transfer
    • Researchers expertise
    • Spin-Offs
    • Swiss Robotics Day
    • Swiss Robotics Ecosystem
    • Resources
  • Equal Opportunities
    • Robotics for girls
    • Master students
    • Young researchers
    • Building equality
    • Women in Robotics
    • Resources
  • Awards & Programs
    • Spin-Fund
    • Award for Career Development
    • Swiss Robotics Masters Award
    • Award for Scientific Visibility
    • PhD/Postdoc Exchange Program
    • Master Students Exchange Program
    • Women Keynote Speakers
    • Best Paper Awards
    • Ukrainian Researchers
  • Outreach
    • Swiss Robotics Days
    • Swiss Drone Days
    • Cybathlon
    • Other Outreach Events

Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance

Publication date:

Authors:

  • Published in: Scientific reports (ISSN: 2045-2322), vol. 7, p. 14391
  • London: Nature Publishing Group, 2017

Wearable soft robotic systems are enabling safer human-robot interaction and are proving to be instrumental for biomedical rehabilitation. In this manuscript, we propose a novel, modular, wearable robotic device for human (lumbar) spine assistance that is developed using vacuum driven, soft pneumatic actuators (V-SPA). The actuators can handle large, repetitive loads efficiently under compression. Computational models to capture the complex non-linear mechanical behavior of individual actuator modules and the integrated assistive device are developed using the finite element method (FEM). The models presented can predict system behavior at large values of mechanical deformations and allow for rapid design iterations. It is shown that a single actuator module can be used to obtain a variety of different motion and force profiles and yield multiple degrees of freedom (DOF) depending on the module loading conditions, resulting in high system versatility and adaptability, and efficient replication of the targeted motion range for the human spinal cord. The efficacy of the finite element model is first validated for a single module using experimental results that include free displacement and blocked-forces. These results are then extended to encompass an extensive investigation of bio-mechanical performance requirements from the module assembly for the human spine-assistive device proposed.

    Reference

    • Detailed record: https://infoscience.epfl.ch/record/232016?ln=en
    • EPFL-ARTICLE-232016
    • doi:10.1038/s41598-017-14220-3
    • View record in Web of Science
    Reference
    Read the paper
    • Intranet
    • News
    • Events
    • Contact
    Menu
    • Intranet
    • News
    • Events
    • Contact
    • Journalists and media
    • News bulletin archive
    • Newsletter archive
    Menu
    • Journalists and media
    • News bulletin archive
    • Newsletter archive
    Subscribe to our newsletter
    Twitter Linkedin Youtube Instagram Facebook
    Partners

    Leading house

    epfl_white

    Co-Leading house

    eth_white
    unizuerich_white
    idsia_white
    unibe_all_white
    empa-all-white
    unibasel_white
    SNSF logo

    Copyright © 2021 NCCR Robotics. All rights reserved.