Publications

2015
J. Gafford, R. J. Wood, and C. J. Walsh, “Robust, low-cost, modular mm-scale distal force sensors for flexible robotic platforms,” in Proceedings of the 5th Annual Hamlyn Symposium on Medical Robotics, London, UK, 2015. PDF
B. Quinlivan, A. T. Asbeck, D. Wagner, T. Ranzani, S. Russo, and C. J. Walsh, “Force Transfer Characterization of a Soft Exosuit for Gait Assistance,” in ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2015), Boston, MA, USA, 2015. Publisher's VersionAbstract

Recently, there has been a growing interest in moving away from traditional rigid exoskeletons towards soft exosuits that can provide a variety of advantages including a reduction in both the weight carried by the wearer and the inertia experienced as the wearer flexes and extends their joints. These advantages are achieved by using structured functional textiles in combination with a flexible actuation scheme that enables assistive torques to be applied to the biological joints. Understanding the human-suit interface in these systems is important, as one of the key challenges with this approach is applying force to the human body in a manner that is safe, comfortable, and effective. This paper outlines a methodology for characterizing the structured functional textile of soft exosuits and then uses that methodology to evaluate several factors that lead to different suit-human series stiffnesses and pressure distributions over the body. These factors include the size of the force distribution area and the composition of the structured functional textile. Following the test results, design guidelines are suggested to maximize the safety, comfort, and efficiency of the exosuit.

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E. T. Roche, et al., “Design And Fabrication Of A Soft Robotic Direct Cardiac Compression Device,” in Proceedings of the ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2015), Boston, MA, 2015. PDF
M. A. Horvath, E. T. Roche, D. M. Vogt, D. J. Mooney, F. A. Pigula, and C. J. Walsh, “Soft Pressure Sensing Sleeve For Direct Cardiac Compression Device,” in Proceedings of the ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2015), Boston, MA, 2015. PDF
F. Connolly, P. Polygerinos, C. J. Walsh, and K. Bertoldi, “Mechanical Programming of Soft Actuators by Varying Fiber Angle,” Soft Robotics, vol. 2, no. 1, pp. 26-32, 2015. Publisher's VersionAbstract

In this work we investigate the influence of fiber angle on the deformation of fiber-reinforced soft fluidic actuators and examine the manner in which these actuators extend axially, expand radially and twist about their axis as a function of input pressure. We study the quantitative relationship between fiber angle and actuator deformation by performing finite element simulations for actuators with a range of different fiber angles, and we verify the simulation results by experimentally characterizing the actuators. By combining actuator segments in series, we can achieve combinations of motions tailored to specific tasks. We demonstrate this by using the results of simulations of separate actuators to design a segmented wormlike soft robot capable of propelling itself through a tube and performing an orientation-specific peg insertion task at the end of the tube. Understanding the relationship between fiber angle and pressurization response of these soft fluidic actuators enables rapid exploration of the design space, opening the door to the iteration of exciting soft robot concepts such as flexible and compliant endoscopes, pipe inspection devices, and assembly line robots.

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R. Malka, et al., “An Access-closure Device for Percutaneous Beating Heart Surgery,” in ASME Design of Medical Devices Conference, Minneapolis, MN, 2015.
S. De Rossi, et al., “Gait improvements in stroke patients with a soft exosuit,” in Gait and Clinical Movement Analysis Society (GCMAS) Meeting, Portland, OR, 2015. PDF
A. T. Asbeck, K. Schmidt, I. Galiana, D. Wagner, and C. J. Walsh, “Multi-joint Soft Exosuit for Gait Assistance,” in IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, 2015, pp. 6197-6204. Publisher's VersionAbstract

Exosuits represent a new approach for applying assistive forces to an individual, using soft textiles to interface to the wearer and transmit forces through specified load paths. In this paper we present a body-worn, multi-joint soft exosuit that assists both ankle plantar flexion and hip flexion through a multiarticular load path, and hip extension through a separate load path, at walking speeds up to 1.79m/s (4.0mph). The exosuit applies forces of 300N in the multiarticular load path and 150N in hip extension, which correspond to torques of 21% and 19% of the nominal biological moments at the ankle and hip during unloaded walking. The multi-joint soft exosuit uses a new actuation approach that exploits joint synergies, with one motor actuating the multiarticular load paths on both legs and one motor actuating the hip extension load paths on both legs, in order to reduce the total system weight. Control is accomplished by an algorithm that uses only a gyroscope at the heel and a load cell monitoring the suit tension, and is shown to adapt within a single step to changes in cadence. Additionally, the control algorithm can create slack in the suit during non-level-ground walking motions such as stepping over obstacles so that the system can be transparent to the wearer when required. The resulting system consumes 137W, and has a mass of 6.5kg including batteries.

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J. Gafford, et al., “Shape Deposition Manufacturing of a Soft, Atraumatic, Deployable Surgical Grasper,” ASME Journal of Mechanisms and Robotics, Special Issue: Fabrication of Fully Integrated Robotic Mechanisms, vol. 7, no. 2, pp. 021006-021006-11, 2015. Publisher's VersionAbstract

This paper details the design, analysis, fabrication, and validation of a deployable, atraumatic grasper intended for retraction and manipulation tasks in manual and robotic minimally invasive surgical (MIS) procedures. Fabricated using a combination of shape deposition manufacturing (SDM) and 3D printing, the device (which acts as a deployable end-effector for robotic platforms) has the potential to reduce the risk of intraoperative hemorrhage by providing a soft, compliant interface between delicate tissue structures and the metal laparoscopic forceps and graspers that are currently used to manipulate and retract these structures on an ad hoc basis. This paper introduces a general analytical framework for designing SDM fingers where the desire is to predict the shape and the transmission ratio, and this framework was used to design a multijointed grasper that relies on geometric trapping to manipulate tissue, rather than friction or pinching, to provide a safe, stable, adaptive, and conformable means for manipulation. Passive structural compliance, coupled with active grip force monitoring enabled by embedded pressure sensors, helps to reduce the cognitive load on the surgeon. Initial manipulation tasks in a simulated environment have demonstrated that the device can be deployed though a 15 mm trocar and develop a stable grasp using Intuitive Surgical's daVinci robotic platform to deftly manipulate a tissue analog.

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E. Rogers, P. Polygerinos, C. J. Walsh, and E. Goldfield, “Smart and Connected Actuated Mobile and Sensing Suit to Encourage Motion in Developmentally Delayed Infants,” in ASME Design of Medical Devices Conference, Minneapolis, MN, 2015. PDF
A. T. Asbeck, K. Schmidt, and C. J. Walsh, “Soft Exosuit for Hip Assistance,” Robotics and Autonomous Systems (RAS) Special Issue on Wearable Robotics, vol. 73, pp. 102-110, 2015. Publisher's VersionAbstract

Exoskeletons comprised of rigid load-bearing structures have been developed for many years, but a new paradigm is to create “exosuits” that apply tensile forces to the body using textiles and utilize the body’s skeletal structure to support compressive forces. Exosuits are intended to augment the musculature by providing small to moderate levels of assistance at appropriate times in the walking cycle. They have a number of substantial benefits: with their fabric construction, exosuits eliminate problems of needing to align a rigid frame precisely with the biological joints and their inertia can be extremely low. In this paper, we present a fully portable hip-assistance exosuit that uses a backpack frame to attach to the torso, onto which is mounted a spooled-webbing actuator that connects to the back of the users thigh. The actuators, powered by a geared brushless motor connected to a spool via a timing belt, wind up seat-belt webbing onto the spool so that a large travel is possible with a simple, compact mechanism. Designed to be worn over the clothing, the webbing creates a large moment arm around the hip that provides torques in the sagittal plane of up to 30% of the nominal biological torques for level-ground walking. Due to its soft design, the system does not restrict the motion of the hip in the ab- and adduction directions or rotation about the leg axis. Here we present the design of the system along with some initial measurements of the system in use during walking on level ground at 1.25 m/s, where it creates a force of up to 150 N on the thigh, equivalent to a torque of 20.5 Nm to assist hip extension.

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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 IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, 2015, pp. 2913-2919. Publisher's VersionAbstract

This paper presents advancements in the design of a portable, soft robotic glove for individuals with functional grasp pathologies. The robotic glove leverages soft material actuator technology to safely distribute forces along the length of the finger and provide active flexion and passive extension. These actuators consist of molded elastomeric bladders with anisotropic fiber reinforcements that produce specific bending, twisting, and extending trajectories upon fluid pressurization. In particular, we present a method for customizing a soft actuator to a wearer's biomechanics and demonstrate in a motion capture system that the ranges of motion (ROM) of the two are nearly equivalent. The active ROM of the glove is further evaluated using the Kapandji test. Lastly, in a case study, we present preliminary results of a patient with very weak hand strength performing a timed Box-and-Block test with and without the soft robotic glove.

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N. Bartlett, et al., “A Soft Robotic Orthosis for Wrist Rehabilitation,” in ASME Design of Medical Devices Conference, Minneapolis, MN, 2015.
K. Subramanyam, et al., “Soft Wearable Orthotic Device for Assisting Kicking Motion in Developmentally Delayed Infants,” in ASME Design of Medical Devices Conference, Minneapolis, MN, 2015. Publisher's Version PDF
J. Bae, et al., “A Soft, Wearable, Quantitative Ankle Diagnostic Device,” in ASME Design of Medical Devices Conference, Minneapolis, MN, 2015.
Capacitive Soft Strain Sensors via Multicore-Shell Fiber Printing
A. Frutiger, et al., “Capacitive Soft Strain Sensors via Multicore-Shell Fiber Printing,” Advanced Materials, vol. 27, no. 15, pp. 2440-2446. [Back Cover], 2015. Publisher's VersionAbstract

We report a new method for fabricating textile integrable capacitive soft strain sensors based on multicore–shell fiber printing. The fiber sensors consist of four concentric, alternating layers of conductor and dielectric, respectively. These wearable sensors provide accurate and hysteresis-free strain measurements under both static and dynamic conditions.

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A. T. Asbeck, S. M. M. De Rossi, K. G. Holt, and C. J. Walsh, “A Biologically Inspired Soft Exosuit for Walking Assistance,” The International Journal of Robotics Research (IJRR), vol. 34, no. 6, pp. 744-762, 2015. Publisher's VersionAbstract

We present the design and evaluation of a multi-articular soft exosuit that is portable, fully autonomous, and provides assistive torques to the wearer at the ankle and hip during walking. Traditional rigid exoskeletons can be challenging to perfectly align with a wearer’s biological joints and can have large inertias, which can lead to the wearer altering their natural motion patterns. Exosuits, in comparison, use textiles to create tensile forces over the body in parallel with the muscles, enabling them to be light and not restrict the wearer’s kinematics. We describe the biologically inspired design and function of our exosuit, including a simplified model of the suit’s architecture and its interaction with the body. A key feature of the exosuit is that it can generate forces passively due to the body’s motion, similar to the body’s ligaments and tendons. These passively generated forces can be supplemented by actively contracting Bowden cables using geared electric motors, to create peak forces in the suit of up to 200 N. We define the suit–human series stiffness as an important parameter in the design of the exosuit and measure it on several subjects, and we perform human subjects testing to determine the biomechanical and physiological effects of the suit. Results from a five-subject study showed a minimal effect on gait kinematics and an average best-case metabolic reduction of 6.4%, comparing suit worn unpowered versus powered, during loaded walking with 34.6 kg of carried mass including the exosuit and actuators (2.0 kg on both legs, 10.1 kg total).

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C. L. Hastings, et al., “Drug and cell delivery for cardiac regeneration,” Advanced Drug Delivery Reviews, vol. 84, pp. 85-106, 2015. Publisher's VersionAbstract

The spectrum of ischaemic cardiomyopathy, encompassing acute myocardial infarction to congestive heart failure is a significant clinical issue in the modern era. This group of diseases is an enormous source of morbidity and mortality and underlies significant healthcare costs worldwide. Cardiac regenerative therapy, whereby pro-regenerative cells, drugs or growth factors are administered to damaged and ischaemic myocardium has demonstrated significant potential, especially preclinically. While some of these strategies have demonstrated a measure of success in clinical trials, tangible clinical translation has been slow. To date, the majority of clinical studies and a significant number of preclinical studies have utilised relatively simple delivery methods for regenerative therapeutics, such as simple systemic administration or local injection in saline carrier vehicles. Here, we review cardiac regenerative strategies with a particular focus on advanced delivery concepts as a potential means to enhance treatment efficacy and tolerability and ultimately, clinical translation. These include (i) delivery of therapeutic agents in biomaterial carriers, (ii) nanoparticulate encapsulation, (iii) multimodal therapeutic strategies and (iv) localised, minimally invasive delivery via percutaneous transcatheter systems.

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P. Polygerinos, et al., “Modeling of Soft Fiber-reinforced Bending Actuators,” IEEE Transactions on Robotics, vol. 31, no. 3, pp. 778-789, 2015. Publisher's VersionAbstract

Soft fluidic actuators consisting of elastomeric matrices with embedded flexible materials are of particular interest to the robotics community because they are affordable and can be easily customized to a given application. However, the significant potential of such actuators is currently limited as their design has typically been based on intuition. In this paper, the principle of operation of these actuators is comprehensively analyzed and described through experimentally validated quasi-static analytical and finite-element method models for bending in free space and force generation when in contact with an object. This study provides a set of systematic design rules to help the robotics community create soft actuators by understanding how these vary their outputs as a function of input pressure for a number of geometrical parameters. Additionally, the proposed analytical model is implemented in a controller demonstrating its ability to convert pressure information to bending angle in real time. Such an understanding of soft multimaterial actuators will allow future design concepts to be rapidly iterated and their performance predicted, thus enabling new and innovative applications that produce more complex motions to be explored.

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P. Polygerinos, Z. Wang, K. C. Galloway, R. J. Wood, and C. J. Walsh, “Soft Robotic Glove for Combined Assistance and at-Home Rehabilitation,” Robotics and Autonomous Systems (RAS) Special Issue on Wearable Robotics, vol. 73, pp. 135-143, 2015. Publisher's VersionAbstract

This paper presents a portable, assistive, soft robotic glove designed to augment hand rehabilitation for individuals with functional grasp pathologies. The robotic glove utilizes soft actuators consisting of molded elastomeric chambers with fiber reinforcements that induce specific bending, twisting and extending trajectories under fluid pressurization. These soft actuators were mechanically programmed to match and support the range of motion of individual fingers. They demonstrated the ability to generate significant force when pressurized and exhibited low impedance when un-actuated. To operate the soft robotic glove, a control hardware system was designed and included fluidic pressure sensors in line with the hydraulic actuators and a closed-loop controller to regulate the pressure. Demonstrations with the complete system were performed to evaluate the ability of the soft robotic glove to carry out gross and precise functional grasping. Compared to existing devices, the soft robotic glove has the potential to increase user freedom and independence through its portable waist belt pack and open palm design.

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