EFRI C3 SoRo: Textile Robotics: Integrative Design, Modeling, Manufacture, and Control of Soft Human-Interactive Apparel

EFRI C3 SoRo：纺织机器人：软质人机交互服装的集成设计、建模、制造和控制

基本信息

批准号：
1830896
负责人：
Conor Walsh
金额：
$ 200万
依托单位：
Harvard University
依托单位国家：
美国
项目类别：
Continuing Grant
财政年份：
2018
资助国家：
美国
起止时间：
2018-09-15 至 2023-08-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1830896&HistoricalAwards=false
关键词：
EFRI C3 SoRo Textile Robotics

项目摘要

This project seeks to leverage textile materials to create soft and compliant wearable robots that are lightweight and nonrestrictive, and can deliver valuable levels of assistance. This will be achieved by studying how to model, manufacture and control textile-based robotic systems. The outcomes from this project will highlight the benefits of textiles as a materials platform for new components that enable wearable robot systems that can be worn like clothing. When people suffer neurologic and musculoskeletal injuries, they often cannot perform even the simplest activities of daily life. The innovative new devices and systems that result from this project will offer the potential to provide additional strength by applying forces to a wearer's limb to mitigate disability and augment the natural abilities of the human body. This will simultaneously open avenues for independence, societal participation, and return-to-work, while reducing healthcare costs. This project will also promote interdisciplinary research and teaching, and facilitate interactions between roboticists, applied mathematicians, computer scientists, biomedical engineers, material scientists, and functional apparel designers. This project will create, analyze, and evaluate a new class of textile-based, conformal, and compliant wearable robots in the form of garments. Embedded textile strain and pressure sensors will monitor the state of the actuators and the underlying limb, while integrated air-impermeable and conductive pathways for fluid power and data transfer will enable manipulation of the limb through simultaneous online estimation and control. This transformative, interdisciplinary research program will address fundamental questions aimed at increasing our understanding of how to leverage the mechanical and electrical properties of advanced textile materials to achieve flexible and distributed actuation, sensing, and information/power transfer for textile-based robots. The project will develop new computational and analytical modeling tools that account for the inherent material and geometric nonlinearities to guide the parametric design of both individual actuators, sensors and their distributions on a limb; model-based and data-driven control and estimation algorithms that account for the nonlinear actuator properties and inherent uncertainty in positioning a textile-based robot on a limb and finally novel material constructions and their manufacturing processes spanning the nanoscale to wearable garments. This project will integrate the activities at all stages of the research through highly collaborative interactions and demonstrate and validate the benefits of this approach through multiple experimental testbeds.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目旨在利用纺织品材料来创建轻巧且非限制性的柔软和合规的可穿戴机器人，并可以提供宝贵的帮助水平。这将通过研究如何建模，制造和控制基于纺织品的机器人系统来实现。该项目的结果将突出纺织品的好处，作为新组件的材料平台，可以使可穿戴机器人系统像衣服一样穿着。当人们遭受神经系统损伤和肌肉骨骼损伤时，他们通常甚至无法进行日常生活中最简单的活动。该项目产生的创新新设备和系统将通过将力量应用于佩戴者的肢体来减轻残疾和增强人体的自然能力来提供更多的力量。这将同时开放独立，社会参与和重返工作的途径，同时降低医疗费用。该项目还将促进跨学科研究和教学，并促进机器人，应用数学家，计算机科学家，生物医学工程师，物质科学家和功能性服装设计师之间的互动。该项目将以服装的形式创建，分析和评估一类新的基于纺织品的基于纺织品，结合和合规的可穿戴机器人。嵌入式纺织应变和压力传感器将监测执行器和潜在的肢体的状态，而综合的可渗透和导电途径，用于流体功率和数据传输，将通过同时在线估计和控制来操纵肢体。这项变革性的跨学科研究计划将解决旨在提高我们对如何利用高级纺织材料的机械和电气性能的理解，以实现基于纺织机器人的灵活和分布式驱动，传感以及信息/功率传递。该项目将开发新的计算和分析建模工具，以解释固有的材料和几何非线性，以指导单个执行器，传感器及其分布的参数设计；基于模型和数据驱动的控制和估计算法，这些算法是将基于纺织品的机器人定位在肢体上，最后是新颖的材料结构及其制造工艺跨越纳米级对可穿戴服装的新型材料结构及其制造过程。该项目将通过高度协作的互动来整合研究的各个阶段的活动，并通过多个实验测试台证明和证明和验证这种方法的好处。该奖项反映了NSF的法定任务，并被认为是值得通过基金会的知识分子优点和更广泛影响的审查标准来通过评估来获得支持的。

项目成果

期刊论文数量（5）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

3D Knitting for Pneumatic Soft Robotics

DOI：
10.1002/adfm.202212541
发表时间：
2023-04
期刊：
Advanced Functional Materials
影响因子：
19
作者：
Vanessa Sanchez;K. Mahadevan;Gabrielle Ohlson;M. Graule;Michelle C. Yuen;Clark B. Teeple;James C. Weaver;J. McCann;K. Bertoldi;Robert J. Wood
通讯作者：
Vanessa Sanchez;K. Mahadevan;Gabrielle Ohlson;M. Graule;Michelle C. Yuen;Clark B. Teeple;James C. Weaver;J. McCann;K. Bertoldi;Robert J. Wood

In-Situ Measurement of Multi-Axis Torques Applied by Wearable Soft Robots for Shoulder Assistance

用于肩部辅助的可穿戴软机器人所施加的多轴扭矩的现场测量

DOI：
10.1109/tmrb.2023.3258499
发表时间：
2023
期刊：
IEEE Transactions on Medical Robotics and Bionics
影响因子：
0
作者：
McCann, Connor M.;Hohimer, Cameron J.;O’Neill, Ciarán T.;Young, Harrison T.;Bertoldi, Katia;Walsh, Conor J.
通讯作者：
Walsh, Conor J.

Restoring arm function with a soft robotic wearable for individuals with amyotrophic lateral sclerosis

DOI：
10.1126/scitranslmed.add1504
发表时间：
2023-02-01
期刊：
SCIENCE TRANSLATIONAL MEDICINE
影响因子：
17.1
作者：
Proietti, Tommaso;Neill, Ciaran O. ';Walsh, Conor
通讯作者：
Walsh, Conor

Air Efficient Soft Wearable Robot for High-Torque Elbow Flexion Assistance

用于高扭矩肘部弯曲辅助的空气效率软可穿戴机器人

DOI：
10.1109/icorr58425.2023.10304679
发表时间：
2023
期刊：
IEEE
影响因子：
0
作者：
Young, Harrison;Gerez, Lucas;Cole, Tazzy;Inirio, Bianca;Proietti, Tommaso;Closs, Bettie;Paganoni, Sabrina;Walsh, Conor
通讯作者：
Walsh, Conor

Pre-College Robotics: Best Practices for Adapting Research to Outreach

大学预科机器人：使研究适应推广的最佳实践