1
|
Govaerts R, De Bock S, Provyn S, Vanderborght B, Roelands B, Meeusen R, De Pauw K. The impact of an active and passive industrial back exoskeleton on functional performance. Ergonomics 2024; 67:597-618. [PMID: 37480301 DOI: 10.1080/00140139.2023.2236817] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/18/2023] [Accepted: 07/10/2023] [Indexed: 07/24/2023]
Abstract
Due to differences in actuation and design, active and passive industrial back exoskeletons could influence functional performance, i.e., work performance, perceived task difficulty, and discomfort, differently. Therefore, this study investigated and compared the impact of the active CrayX (7 kg) and passive Paexo Back (4.5 kg) on functional performance. Eighteen participants performed twelve work-related tasks with both types of exoskeletons and without (NoExo). The CrayX hindered work performance up to 22% in multiple tasks, compared to the Paexo Back and NoExo, while work performance between NoExo and the Paexo Back condition was more comparable, except for stair climbing (13% hindrance). Perceived task difficulty and discomfort seldomly varied between both exoskeletons. Although the CrayX shows promise to benefit workers, limitations in hindrance and comfort should first be addressed. The Paexo Back has demonstrated an advantage in certain static tasks. However, increasing its potential across a broader range of tasks seems warranted.Practitioner Summary: Differences between industrial back exoskeletons with regard to functional performance, i.e. work performance, discomfort and perceived task difficulty, were investigated by evaluating the active CrayX and passive Paexo Back back exoskeletons. The CrayX significantly hindered functional performance, while the Paexo Back seldomly affected functional performance.Abbreviations: WMSD: Work-related musculoskeletal disorder; NoExo: No Exoskeleton; GD: General discomfort; PTD: Perceived task difficulty; BMI: Body Mass Index.
Collapse
Affiliation(s)
- Renée Govaerts
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Sander De Bock
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | | | - Bram Vanderborght
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and IMEC, Brussels, Belgium
| | - Bart Roelands
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Romain Meeusen
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Kevin De Pauw
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| |
Collapse
|
2
|
Durodié Y, Decoster T, Van Herbruggen B, Vanhie-Van Gerwen J, De Poorter E, Munteanu A, Vanderborght B. A UWB-Ego-Motion Particle Filter for Indoor Pose Estimation of a Ground Robot Using a Moving Horizon Hypothesis. Sensors (Basel) 2024; 24:2164. [PMID: 38610375 PMCID: PMC11014049 DOI: 10.3390/s24072164] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/20/2024] [Revised: 03/07/2024] [Accepted: 03/26/2024] [Indexed: 04/14/2024]
Abstract
Ultra-wideband (UWB) has gained increasing interest for providing real-time positioning to robots in GPS-denied environments. For a robot to act on this information, it also requires its heading. This is, however, not provided by UWB. To overcome this, either multiple tags are used to create a local reference frame connected to the robot or a single tag is combined with ego-motion estimation from odometry or Inertial Measurement Unit (IMU) measurements. Both odometry and the IMU suffer from drift, and it is common to use a magnetometer to correct the drift on the heading; however, magnetometers tend to become unreliable in typical GPS-denied environments. To overcome this, a lightweight particle filter was designed to run in real time. The particle filter corrects the ego-motion heading and location drift using the UWB measurements over a moving horizon time frame. The algorithm was evaluated offline using data sets collected from a ground robot that contains line-of-sight (LOS) and non-line-of-sight conditions. An RMSE of 13 cm and 0.12 (rad) was achieved with four anchors in the LOS condition. It is also shown that it can be used to provide the robot with real-time position and heading information for the robot to act on it in LOS conditions, and it is shown to be robust in both experimental conditions.
Collapse
Affiliation(s)
- Yuri Durodié
- Brubotics, Vrije Universiteit Brussel, 1050 Ixelles, Belgium (B.V.)
- imec vzw, 3001 Leuven, Belgium; (B.V.H.); (J.V.-V.G.); (E.D.P.); (A.M.)
| | - Thomas Decoster
- Brubotics, Vrije Universiteit Brussel, 1050 Ixelles, Belgium (B.V.)
- imec vzw, 3001 Leuven, Belgium; (B.V.H.); (J.V.-V.G.); (E.D.P.); (A.M.)
| | - Ben Van Herbruggen
- imec vzw, 3001 Leuven, Belgium; (B.V.H.); (J.V.-V.G.); (E.D.P.); (A.M.)
- IDLab, Universiteit Gent, 9000 Gent, Belgium
| | - Jono Vanhie-Van Gerwen
- imec vzw, 3001 Leuven, Belgium; (B.V.H.); (J.V.-V.G.); (E.D.P.); (A.M.)
- IDLab, Universiteit Gent, 9000 Gent, Belgium
| | - Eli De Poorter
- imec vzw, 3001 Leuven, Belgium; (B.V.H.); (J.V.-V.G.); (E.D.P.); (A.M.)
- IDLab, Universiteit Gent, 9000 Gent, Belgium
| | - Adrian Munteanu
- imec vzw, 3001 Leuven, Belgium; (B.V.H.); (J.V.-V.G.); (E.D.P.); (A.M.)
- ETRO Departement of Electronics and Informatics, Vrije Universiteit Brussel, 1050 Ixelles, Belgium
| | - Bram Vanderborght
- Brubotics, Vrije Universiteit Brussel, 1050 Ixelles, Belgium (B.V.)
- imec vzw, 3001 Leuven, Belgium; (B.V.H.); (J.V.-V.G.); (E.D.P.); (A.M.)
| |
Collapse
|
3
|
Denayer M, De Winter J, Bernardes E, Vanderborght B, Verstraten T. Comparison of Point Cloud Registration Techniques on Scanned Physical Objects. Sensors (Basel) 2024; 24:2142. [PMID: 38610353 PMCID: PMC11014384 DOI: 10.3390/s24072142] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/13/2024] [Revised: 03/07/2024] [Accepted: 03/25/2024] [Indexed: 04/14/2024]
Abstract
This paper presents a comparative analysis of six prominent registration techniques for solving CAD model alignment problems. Unlike the typical approach of assessing registration algorithms with synthetic datasets, our study utilizes point clouds generated from the Cranfield benchmark. Point clouds are sampled from existing CAD models and 3D scans of physical objects, introducing real-world complexities such as noise and outliers. The acquired point cloud scans, including ground-truth transformations, are made publicly available. This dataset includes several cleaned-up scans of nine 3D-printed objects. Our main contribution lies in assessing the performance of three classical (GO-ICP, RANSAC, FGR) and three learning-based (PointNetLK, RPMNet, ROPNet) methods on real-world scans, using a wide range of metrics. These include recall, accuracy and computation time. Our comparison shows a high accuracy for GO-ICP, as well as PointNetLK, RANSAC and RPMNet combined with ICP refinement. However, apart from GO-ICP, all methods show a significant number of failure cases when applied to scans containing more noise or requiring larger transformations. FGR and RANSAC are among the quickest methods, while GO-ICP takes several seconds to solve. Finally, while learning-based methods demonstrate good performance and low computation times, they have difficulties in training and generalizing. Our results can aid novice researchers in the field in selecting a suitable registration method for their application, based on quantitative metrics. Furthermore, our code can be used by others to evaluate novel methods.
Collapse
Affiliation(s)
- Menthy Denayer
- Robotics & Multibody Mechanics Group, Vrije Universiteit Brussel, Pleinlaan 9, 1050 Brussels, Belgium
- Flanders Make, Pleinlaan 9, 1050 Brussels, Belgium
| | - Joris De Winter
- Robotics & Multibody Mechanics Group, Vrije Universiteit Brussel, Pleinlaan 9, 1050 Brussels, Belgium
- Flanders Make, Pleinlaan 9, 1050 Brussels, Belgium
| | - Evandro Bernardes
- Robotics & Multibody Mechanics Group, Vrije Universiteit Brussel, Pleinlaan 9, 1050 Brussels, Belgium
- Flanders Make, Pleinlaan 9, 1050 Brussels, Belgium
| | - Bram Vanderborght
- Robotics & Multibody Mechanics Group, Vrije Universiteit Brussel, Pleinlaan 9, 1050 Brussels, Belgium
- IMEC, Pleinlaan 9, 1050 Brussels, Belgium
| | - Tom Verstraten
- Robotics & Multibody Mechanics Group, Vrije Universiteit Brussel, Pleinlaan 9, 1050 Brussels, Belgium
- Flanders Make, Pleinlaan 9, 1050 Brussels, Belgium
| |
Collapse
|
4
|
Govaerts R, Turcksin T, Vanderborght B, Roelands B, Meeusen R, De Pauw K, De Bock S. Evaluating cognitive and physical work performance: A comparative study of an active and passive industrial back-support exoskeleton. Wearable Technol 2023; 4:e27. [PMID: 38487761 PMCID: PMC10936324 DOI: 10.1017/wtc.2023.25] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/22/2023] [Revised: 10/25/2023] [Accepted: 11/23/2023] [Indexed: 03/17/2024]
Abstract
Occupational back-support exoskeletons, categorized as active or passive, hold promise for mitigating work-related musculoskeletal disorders. However, their impact on combined physical and cognitive aspects of industrial work performance remains inadequately understood, especially regarding potential differences between exoskeleton categories. A randomized, counterbalanced cross-over study was conducted, comparing the active CrayX, passive Paexo Back, and a no exoskeleton condition. A 15-min dual task was used to simulate both cognitive and physical aspects of industrial work performance. Cognitive workload parameters included reaction time, accuracy, and subjective measures. Physical workload included movement duration, segmented in three phases: (1) walking to and grabbing the box, (2) picking up, carrying, and putting down the box, and (3) returning to the starting point. Comfort of both devices was also surveyed. The Paexo significantly increased movement duration in the first segment compared to NoExo (Paexo = 1.55 ± 0.19 s; NoExo = 1.32 ± 0.17 s; p < .01). Moreover, both the Paexo and CrayX increased movement duration for the third segment compared to NoExo (CrayX = 1.70 ± 0.27 s; Paexo = 1.74 ± 0.27 s, NoExo = 1.54 ± 0.23 s; p < .01). No significant impact on cognitive outcomes was observed. Movement Time 2 was not significantly affected by both exoskeletons. Results of the first movement segment suggest the Paexo may hinder trunk bending, favoring the active device for dynamic movements. Both devices may have contributed to a higher workload as the movement duration in the third segment increased compared to NoExo.
Collapse
Affiliation(s)
- Renée Govaerts
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Tom Turcksin
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Flanders Make AugmentX, Brussels, Belgium
| | - Bram Vanderborght
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and IMEC, Brussels, Belgium
| | - Bart Roelands
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Romain Meeusen
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Kevin De Pauw
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Sander De Bock
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| |
Collapse
|
5
|
Scholz C, Cao HL, El Makrini I, Vanderborght B. Antropo: An open-source platform to increase the anthropomorphism of the Franka Emika collaborative robot arm. PLoS One 2023; 18:e0292078. [PMID: 37851613 PMCID: PMC10584189 DOI: 10.1371/journal.pone.0292078] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/21/2023] [Accepted: 09/12/2023] [Indexed: 10/20/2023] Open
Abstract
Robot-to-human communication is important for mutual understanding during human-robot collaboration. Most of the current collaborative robots (cobots) are designed with low levels of anthropomorphism. Therefore, the ability of cobots to express human-like communication is limited. In this work, we present an open-source platform named Antropo to increase the level of anthropomorphism of Franka Emika-a widely used collaborative robot arm. The Antropo platform includes three modules: a camera module for expressing eye gaze, a light module for visual feedback, and a sound module for acoustic feedback. These modules can be rapidly prototyped through 3D printers, laser-cutters, and off-the-shelf components available at a low cost. The Antropo platform can be easily installed on the Franka Emika robot. The added communication channels can be synchronised with the robot's motions to enhance mutual understanding. All hardware CAD design files and software files are released. The platform can be used to study human-like behaviours of cobots and the effects of these behaviours on different aspects of human-robot collaboration. We demonstrate the Antropo platform in an assembly task in which the Franka Emika robot expresses various human-like communicative behaviours via the added communication channels. We also present two industrial applications in which the Antropo platform was customised for the Universal Robots UR16e.
Collapse
Affiliation(s)
- Constantin Scholz
- Brubotics, Vrije Universiteit Brussel, Brussels, Belgium
- IMEC, Leuven, Belgium
| | - Hoang-Long Cao
- Brubotics, Vrije Universiteit Brussel, Brussels, Belgium
- Flanders Make, Vrije Universiteit Brussel, Brussels, Belgium
| | - Ilias El Makrini
- Brubotics, Vrije Universiteit Brussel, Brussels, Belgium
- Flanders Make, Vrije Universiteit Brussel, Brussels, Belgium
| | - Bram Vanderborght
- Brubotics, Vrije Universiteit Brussel, Brussels, Belgium
- IMEC, Leuven, Belgium
| |
Collapse
|
6
|
ElDiwiny M, Terryn S, Verbruggen S, Vanderborght B. Nonlinear Multimaterial Architecture for Greater Soft Material's Toughness and Delaying Damage Propagation. Soft Robot 2023; 10:959-971. [PMID: 37172281 DOI: 10.1089/soro.2021.0205] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/14/2023] Open
Abstract
Designing soft robots that have greater toughness and better resistance to damage propagation while at the same time retaining their properties of compliance is fundamentally important for soft robotics applications. This study's main contribution is proposing a framework for nonlinear multimaterial architectural design of soft structures to increase their toughness and delay damage propagation. What are the limits when combining significantly different materials in one structure that will delay crack propagation while significantly maintaining postdamage toughness? Through this study, we observed that there is a very dynamic interplay when combining significantly different materials in one structure; this interplay could weaken or strengthen the multimaterial structure's toughness. In biological evolutionary terms, the Pangolin, Seashell, and Arapaima have found their answer for deflecting the crack and maintaining strength in their bodies. How does nature put these multimaterial structures together? Our research led us to find that the multimaterial toughness limits depend largely on the following parameters: components' relative morphology, architecture, spatial distribution, surface areas, and Young's Modulus. We found that a linear geometry, when it comes to morphology and/or architecture relative to surface area in multimaterial design, significantly reduces total toughness and fails to delay crack propagation. In contrast, incorporating geometric nonlinearities in both morphology and architecture significantly maintains higher total toughness even after damage, and significantly delays crack propagation. We believe that this study can open the door to further research and ultimately to promising and wide applications in soft robotics.
Collapse
Affiliation(s)
- Marwa ElDiwiny
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium
| | - Seppe Terryn
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Svetlana Verbruggen
- Department of Mechanics of Materials and Constructions, Vrije Universiteit Brussel (VUB), Brussel, Belgium
| | - Bram Vanderborght
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium
| |
Collapse
|
7
|
Ballen-Moreno F, Langlois K, Ferrentino P, Brancart J, Van Vlerken C, Vanderborght B, Buls N, Verstraten T. Robotically Aided Method to Characterise the Soft Tissue Interaction with Wearable Robots. IEEE Int Conf Rehabil Robot 2023; 2023:1-6. [PMID: 37941219 DOI: 10.1109/icorr58425.2023.10304757] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2023]
Abstract
Wearable robots are widely used to enhance, support or assist humans in different tasks. To accomplish this scope, the interaction between the human body and the device should be comfortable, smooth, high-efficient to transfer forces, and safe for the user. Nevertheless, the pressure and shear stress related to these goals have been overlooked or partially analysed. In this sense, it is crucial to understand the soft tissue response through the in-vivo characterisation of multiple areas of the human body. In fact, soft tissue characterisation plays an essential role in calculating the pressure distribution and shear stress. However, current approaches to estimating soft tissue properties are unsuitable for deployment with multiple human body areas. Hence, this work presents a novel methodology to ease the characterisation of soft tissues using a robotic arm and a 3D superficial scanner. First, the robotic arm is validated by comparing the tensile and compression tests to the indentation tests done by the robot, estimating a 10,4% error. The preliminary experimental tests present the hyperelastic model which fit two adjacent zones of the forearm. This analysis can be extended in several ways, such as: calculating the shear stress, the energy losses or deformations caused by the interaction, and investigating the pressure distribution of different types of physical interfaces.
Collapse
|
8
|
Elprama SA, De Bock S, Meeusen R, De Pauw K, Vanderborght B, Jacobs A. The Dynamic Adoption Journey: A Typology for Users and Non-Users of Occupational Exoskeletons. IEEE Int Conf Rehabil Robot 2023; 2023:1-6. [PMID: 37941288 DOI: 10.1109/icorr58425.2023.10304781] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2023]
Abstract
Various barriers prevent the adoption of occupational exoskeletons. It is therefore important to understand why some people are willing to use occupational exoskeletons, while others are not. To identify why people use or do not use exoskeletons, we created a typology describing different types of users and non-users. These types were created based on existing literature on internet adoption and social robots. Next, literature and empirical data were used to identify reasons why some people use exoskeletons and others do not use them (yet). The typology includes users with pain and users without work-related musculoskeletal disorders, but also non-users: resisters, rejecters, discontinuers, excluded or expelled non-users. It can be used by companies interested in implementing exoskeletons to identify possible early adopters. For exoskeleton designers, it can be used as a tool to identify non-users and focus on design strategies to enable non-users to become users (such as making exoskeletons that would fit people with a wide range of body shapes). Future research can use these types to identify users and non-users in field trials or pilot projects.
Collapse
|
9
|
Safaei A, Brancart J, Wang Z, Yazdani S, Vanderborght B, Van Assche G, Terryn S. Fast Self-Healing at Room Temperature in Diels-Alder Elastomers. Polymers (Basel) 2023; 15:3527. [PMID: 37688153 PMCID: PMC10490179 DOI: 10.3390/polym15173527] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/20/2023] [Revised: 08/16/2023] [Accepted: 08/17/2023] [Indexed: 09/10/2023] Open
Abstract
Despite being primarily categorized as non-autonomous self-healing polymers, we demonstrate the ability of Diels-Alder polymers to heal macroscopic damages at room temperature, resulting in complete restoration of their mechanical properties within a few hours. Moreover, we observe immediate partial recovery, occurring mere minutes after reuniting the fractured surfaces. This fast room-temperature healing is accomplished by employing an off-stoichiometric maleimide-to-furan ratio in the polymer network. Through an extensive investigation of seven Diels-Alder polymers, the influence of crosslink density on self-healing, thermal, and (thermo-)mechanical performance was thoroughly examined. Crosslink density variations were achieved by adjusting the molecular weight of the monomers or utilizing the off-stoichiometric maleimide-to-furan ratio. Quasistatic tensile testing, dynamic mechanical analysis, dynamic rheometry, differential scanning calorimetry, and thermogravimetric analysis were employed to evaluate the individual effects of these parameters on material performance. While lowering the crosslink density in the polymer network via decreasing the off-stoichiometric ratio demonstrated the greatest acceleration of healing, it also led to a slight decrease in (dynamic) mechanical performance. On the other hand, reducing crosslink density using longer monomers resulted in faster healing, albeit to a lesser extent, while maintaining the (dynamic) mechanical performance.
Collapse
Affiliation(s)
- Ali Safaei
- Physical Chemistry and Polymer Science, Department of Materials and Chemistry, Vrije Universiteit Brussel, Pleinlaan 2, B-1050 Brussels, Belgium; (A.S.); (J.B.); (S.Y.); (G.V.A.)
| | - Joost Brancart
- Physical Chemistry and Polymer Science, Department of Materials and Chemistry, Vrije Universiteit Brussel, Pleinlaan 2, B-1050 Brussels, Belgium; (A.S.); (J.B.); (S.Y.); (G.V.A.)
- Brubotics, Vrije Universiteit Brussel and Imec, Pleinlaan 2, B-1050 Brussels, Belgium; (Z.W.); (B.V.)
| | - Zhanwei Wang
- Brubotics, Vrije Universiteit Brussel and Imec, Pleinlaan 2, B-1050 Brussels, Belgium; (Z.W.); (B.V.)
| | - Sogol Yazdani
- Physical Chemistry and Polymer Science, Department of Materials and Chemistry, Vrije Universiteit Brussel, Pleinlaan 2, B-1050 Brussels, Belgium; (A.S.); (J.B.); (S.Y.); (G.V.A.)
| | - Bram Vanderborght
- Brubotics, Vrije Universiteit Brussel and Imec, Pleinlaan 2, B-1050 Brussels, Belgium; (Z.W.); (B.V.)
| | - Guy Van Assche
- Physical Chemistry and Polymer Science, Department of Materials and Chemistry, Vrije Universiteit Brussel, Pleinlaan 2, B-1050 Brussels, Belgium; (A.S.); (J.B.); (S.Y.); (G.V.A.)
| | - Seppe Terryn
- Physical Chemistry and Polymer Science, Department of Materials and Chemistry, Vrije Universiteit Brussel, Pleinlaan 2, B-1050 Brussels, Belgium; (A.S.); (J.B.); (S.Y.); (G.V.A.)
- Brubotics, Vrije Universiteit Brussel and Imec, Pleinlaan 2, B-1050 Brussels, Belgium; (Z.W.); (B.V.)
| |
Collapse
|
10
|
Kashef Tabrizian S, Alabiso W, Shaukat U, Terryn S, Rossegger E, Brancart J, Legrand J, Schlögl S, Vanderborght B. Vitrimeric shape memory polymer-based fingertips for adaptive grasping. Front Robot AI 2023; 10:1206579. [PMID: 37501744 PMCID: PMC10369050 DOI: 10.3389/frobt.2023.1206579] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/16/2023] [Accepted: 06/30/2023] [Indexed: 07/29/2023] Open
Abstract
The variability in the shapes and sizes of objects presents a significant challenge for two-finger robotic grippers when it comes to manipulating them. Based on the chemistry of vitrimers (a new class of polymer materials that have dynamic covalent bonds, which allow them to reversibly change their mechanical properties under specific conditions), we present two designs as 3D-printed shape memory polymer-based shape-adaptive fingertips (SMP-SAF). The fingertips have two main properties needed for an effective grasping. First, the ability to adapt their shape to different objects. Second, exhibiting variable rigidity, to lock and retain this new shape without the need for any continuous external triggering system. Our two design strategies are: 1) A curved part, which is suitable for grasping delicate and fragile objects. In this mode and prior to gripping, the SMP-SAFs are straightened by the force of the parallel gripper and are adapted to the object by shape memory activation. 2) A straight part that takes on the form of the objects by contact force with them. This mode is better suited for gripping hard bodies and provides a more straightforward shape programming process. The SMP-SAFs can be programmed by heating them up above glass transition temperature (54°C) via Joule-effect of the integrated electrically conductive wire or by using a heat gun, followed by reshaping by the external forces (without human intervention), and subsequently fixing the new shape upon cooling. As the shape programming process is time-consuming, this technique suits adaptive sorting lines where the variety of objects is not changed from grasp to grasp, but from batch to batch.
Collapse
Affiliation(s)
| | | | - Usman Shaukat
- Polymer Competence Center Leoben GmbH, Leoben, Austria
| | - Seppe Terryn
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium
- Physical Chemistry and Polymer Science (FYSC), Brussels, Belgium
| | | | - Joost Brancart
- Physical Chemistry and Polymer Science (FYSC), Brussels, Belgium
| | - Julie Legrand
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium
| | | | - Bram Vanderborght
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium
| |
Collapse
|
11
|
Govaerts R, De Bock S, Stas L, El Makrini I, Habay J, Van Cutsem J, Roelands B, Vanderborght B, Meeusen R, De Pauw K. Work performance in industry: The impact of mental fatigue and a passive back exoskeleton on work efficiency. Appl Ergon 2023; 110:104026. [PMID: 37060653 DOI: 10.1016/j.apergo.2023.104026] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/15/2022] [Revised: 04/04/2023] [Accepted: 04/09/2023] [Indexed: 06/19/2023]
Abstract
Mental fatigue (MF) is likely to occur in the industrial working population. However, the link between MF and industrial work performance has not been investigated, nor how this interacts with a passive lower back exoskeleton used during industrial work. Therefore, to elucidate its potential effect(s), this study investigated the accuracy of work performance and movement duration through a dual task paradigm and compared results between mentally fatigued volunteers and controls, with and without the exoskeleton. No main effects of MF and the exoskeleton were found. However, when mentally fatigued and wearing the exoskeleton, movement duration significantly increased compared to the baseline condition (βMF:Exo = 0.17, p = .02, ω2 = .03), suggesting an important interaction between the exoskeleton and one's psychobiological state. Importantly, presented data indicate a negative effect on production efficiency through increased performance time. Further research into the cognitive aspects of industrial work performance and human-exoskeleton interaction is therefore warranted.
Collapse
Affiliation(s)
- Renée Govaerts
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Sander De Bock
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Lara Stas
- Biostatistics and Medical Informatics Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Support for Quantitative and Qualitative Research, Core Facility of the Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Ilias El Makrini
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Jelle Habay
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Jeroen Van Cutsem
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Vital Signs and Performance Monitoring Research Unit, LIFE Department, Royal Military Academy, Pleinlaan 2, B-1050, Belgium.
| | - Bart Roelands
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Bram Vanderborght
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and IMEC, Pleinlaan 2, B-1050, Belgium.
| | - Romain Meeusen
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| | - Kevin De Pauw
- BruBotics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium; Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Pleinlaan 2, B-1050, Brussels, Belgium.
| |
Collapse
|
12
|
Kashef Tabrizian S, Terryn S, Cornellà AC, Brancart J, Legrand J, Van Assche G, Vanderborght B. Assisted damage closure and healing in soft robots by shape memory alloy wires. Sci Rep 2023; 13:8820. [PMID: 37258618 DOI: 10.1038/s41598-023-35943-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/09/2023] [Accepted: 05/26/2023] [Indexed: 06/02/2023] Open
Abstract
Self-healing soft robots show enormous potential to recover functional performance after healing the damages. However, healing in these systems is limited by the recontact of the fracture surfaces. This paper presents for the first time a shape memory alloy (SMA) wire-reinforced soft bending actuator made out of a castor oil-based self-healing polymer, with the incorporated ability to recover from large incisions via shape memory assisted healing. The integrated SMA wires serve three major purposes; (i) Large incisions are closed by contraction of the current-activated SMA wires that are integrated into the chamber. These pull the fracture surfaces into contact, enabling the healing. (ii) The heat generated during the activation of the SMA wires is synergistically exploited for accelerating the healing. (iii) Lastly, during pneumatic actuation, the wires constrain radial expansion and one-side longitudinal extension of the soft chamber, effectuating the desired actuator bending motion. This novel approach of healing is studied via mechanical and ultrasound tests on the specimen level, as well as via bending characterization of the pneumatic robot in multiple damage healing cycles. This technology allows soft robots to become more independent in terms of their self-healing capabilities from human intervention.
Collapse
Affiliation(s)
| | - Seppe Terryn
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Aleix Costa Cornellà
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Joost Brancart
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Julie Legrand
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium
| | - Guy Van Assche
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Bram Vanderborght
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Brussels, Belgium
| |
Collapse
|
13
|
Raguž I, Berer M, Fleisch M, Holzer C, Brancart J, Vanderborght B, Schlögl S. Soft dielectric actuator produced by multi‐material fused filament fabrication
3D
printing. POLYM ADVAN TECHNOL 2023. [DOI: 10.1002/pat.6024] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/09/2023]
Affiliation(s)
- Ivan Raguž
- Polymer Competence Center Leoben GmbH Leoben Austria
| | - Michael Berer
- Polymer Competence Center Leoben GmbH Leoben Austria
| | | | - Clemens Holzer
- Department of Polymer Engineering and Science, Montanuniversitaet Leoben Leoben Austria
| | - Joost Brancart
- Physical Chemistry and Polymer Science Vrije Universiteit Brussel Brussels Belgium
| | | | | |
Collapse
|
14
|
Lathouwers E, Baeyens JP, Tassignon B, Gomez F, Cherelle P, Meeusen R, Vanderborght B, De Pauw K. Continuous relative phases of walking with an articulated passive ankle-foot prosthesis in individuals with a unilateral transfemoral and transtibial amputation: an explorative case-control study. Biomed Eng Online 2023; 22:14. [PMID: 36793091 PMCID: PMC9933324 DOI: 10.1186/s12938-023-01074-2] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/28/2022] [Accepted: 01/25/2023] [Indexed: 02/17/2023] Open
Abstract
BACKGROUND A mechanical ankle-foot prosthesis (Talaris Demonstrator) was developed to improve prosthetic gait in people with a lower-limb amputation. This study aims to evaluate the Talaris Demonstrator (TD) during level walking by mapping coordination patterns based on the sagittal continuous relative phase (CRP). METHODS Individuals with a unilateral transtibial amputation, transfemoral amputation and able-bodied individuals completed 6 minutes of treadmill walking in consecutive blocks of 2 minutes at self-selected (SS) speed, 75% SS speed and 125% SS speed. Lower extremity kinematics were captured and hip-knee and knee-ankle CRPs were calculated. Statistical non-parametric mapping was applied and statistical significance was set at 0.05. RESULTS The hip-knee CRP at 75% SS walking speed with the TD was larger in the amputated limb of participants with a transfemoral amputation compared to able-bodied individuals at the beginning and end of the gait cycle (p = 0.009). In people with a transtibial amputation, the knee-ankle CRP at SS and 125% SS walking speeds with the TD were smaller in the amputated limb at the beginning of the gait cycle compared to able-bodied individuals (p = 0.014 and p = 0.014, respectively). Additionally, no significant differences were found between both prostheses. However, visual interpretation indicates a potential advantage of the TD over the individual's current prosthesis. CONCLUSION This study provides lower-limb coordination patterns in people with a lower-limb amputation and reveals a possible beneficial effect of the TD over the individuals' current prosthesis. Future research should include a well-sampled investigation of the adaptation process combined with the prolonged effects of the TD.
Collapse
Affiliation(s)
- Elke Lathouwers
- grid.8767.e0000 0001 2290 8069Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050 Brussels, Belgium ,grid.8767.e0000 0001 2290 8069Brussels Human Robotics Research Center (BruBotics), Vrije Universiteit Brussel, 1050 Brussels, Belgium
| | - Jean-Pierre Baeyens
- grid.8767.e0000 0001 2290 8069Experimental Anatomy Research Group, Faculty of Physical Education and Physiotherapy, Vrije Universiteit Brussel, Brussels, Belgium ,THIM, Internationale Hochschule Fur Physiotherapîe, Landquart, Switzerland ,grid.5284.b0000 0001 0790 3681Faculty of Applied Engineering Sciences, Universiteit Antwerpen, Antwerp, Belgium
| | - Bruno Tassignon
- grid.8767.e0000 0001 2290 8069Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050 Brussels, Belgium
| | | | | | - Romain Meeusen
- grid.8767.e0000 0001 2290 8069Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050 Brussels, Belgium ,grid.8767.e0000 0001 2290 8069Brussels Human Robotics Research Center (BruBotics), Vrije Universiteit Brussel, 1050 Brussels, Belgium
| | - Bram Vanderborght
- grid.8767.e0000 0001 2290 8069Brussels Human Robotics Research Center (BruBotics), Vrije Universiteit Brussel, 1050 Brussels, Belgium ,grid.8767.e0000 0001 2290 8069Robotics Research Group, Vrije Universiteit Brussel and IMEC, Brussels, Belgium
| | - Kevin De Pauw
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, 1050, Brussels, Belgium. .,Brussels Human Robotics Research Center (BruBotics), Vrije Universiteit Brussel, 1050, Brussels, Belgium.
| |
Collapse
|
15
|
Roels E, Terryn S, Ferrentino P, Brancart J, Van Assche G, Vanderborght B. An Interdisciplinary Tutorial: A Self-Healing Soft Finger with Embedded Sensor. Sensors (Basel) 2023; 23:811. [PMID: 36679614 PMCID: PMC9863682 DOI: 10.3390/s23020811] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/02/2022] [Revised: 12/28/2022] [Accepted: 01/05/2023] [Indexed: 06/17/2023]
Abstract
In the field of soft robotics, knowledge of material science is becoming more and more important. However, many researchers have a background in only one of both domains. To aid the understanding of the other domain, this tutorial describes the complete process from polymer synthesis over fabrication to testing of a soft finger. Enough background is provided during the tutorial such that researchers from both fields can understand and sharpen their knowledge. Self-healing polymers are used in this tutorial, showing that these polymers that were once a specialty, have become accessible for broader use. The use of self-healing polymers allows soft robots to recover from fatal damage, as shown in this tutorial, which increases their lifespan significantly.
Collapse
Affiliation(s)
- Ellen Roels
- Brubotics and Imec, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium
| | - Seppe Terryn
- Brubotics and Imec, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium
| | - Pasquale Ferrentino
- Brubotics and Imec, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium
| | - Joost Brancart
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium
| | - Guy Van Assche
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium
| | - Bram Vanderborght
- Brubotics and Imec, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium
| |
Collapse
|
16
|
Liu G, Winter JD, Steckelmacher D, Hota RK, Nowe A, Vanderborght B. Synergistic Task and Motion Planning With Reinforcement Learning-Based Non-Prehensile Actions. IEEE Robot Autom Lett 2023. [DOI: 10.1109/lra.2023.3261708] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/29/2023]
|
17
|
Legrand J, Terryn S, Roels E, Vanderborght B. Reconfigurable, multi-material, voxel-based soft robots. IEEE Robot Autom Lett 2023. [DOI: 10.1109/lra.2023.3236883] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/15/2023]
Affiliation(s)
- Julie Legrand
- Robotics and Multibody Mechanics (R&MM) research group, Vrije Universiteit Brussel and Imec, Brussels, Belgium
| | - Seppe Terryn
- Robotics and Multibody Mechanics (R&MM) research group, Vrije Universiteit Brussel and Imec, Brussels, Belgium
| | - Ellen Roels
- Robotics and Multibody Mechanics (R&MM) research group, Vrije Universiteit Brussel and Imec, Brussels, Belgium
| | - Bram Vanderborght
- Robotics and Multibody Mechanics (R&MM) research group, Vrije Universiteit Brussel and Imec, Brussels, Belgium
| |
Collapse
|
18
|
Vu HTT, Cao HL, Dong D, Verstraten T, Geeroms J, Vanderborght B. Comparison of machine learning and deep learning-based methods for locomotion mode recognition using a single inertial measurement unit. Front Neurorobot 2022; 16:923164. [PMID: 36524219 PMCID: PMC9745042 DOI: 10.3389/fnbot.2022.923164] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/19/2022] [Accepted: 09/06/2022] [Indexed: 09/09/2023] Open
Abstract
Locomotion mode recognition provides the prosthesis control with the information on when to switch between different walking modes, whereas the gait phase detection indicates where we are in the gait cycle. But powered prostheses often implement a different control strategy for each locomotion mode to improve the functionality of the prosthesis. Existing studies employed several classical machine learning methods for locomotion mode recognition. However, these methods were less effective for data with complex decision boundaries and resulted in misclassifications of motion recognition. Deep learning-based methods potentially resolve these limitations as it is a special type of machine learning method with more sophistication. Therefore, this study evaluated three deep learning-based models for locomotion mode recognition, namely recurrent neural network (RNN), long short-term memory (LSTM) neural network, and convolutional neural network (CNN), and compared the recognition performance of deep learning models to the machine learning model with random forest classifier (RFC). The models are trained from data of one inertial measurement unit (IMU) placed on the lower shanks of four able-bodied subjects to perform four walking modes, including level ground walking (LW), standing (ST), and stair ascent/stair descent (SA/SD). The results indicated that CNN and LSTM models outperformed other models, and these models were promising for applying locomotion mode recognition in real-time for robotic prostheses.
Collapse
Affiliation(s)
- Huong Thi Thu Vu
- Brubotics, Vrije Universiteit Brussel and imec, Brussels, Belgium
- Faculty of Electronics Engineering Technology, Hanoi University of Industry, Hanoi, Vietnam
| | - Hoang-Long Cao
- Brubotics, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
- College of Engineering Technology, Can Tho University, Can Tho, Vietnam
| | - Dianbiao Dong
- School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an, China
| | - Tom Verstraten
- Brubotics, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Joost Geeroms
- Brubotics, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | | |
Collapse
|
19
|
Abdulali A, Terryn S, Vanderborght B, Iida F. Data-driven method for damage localization on soft robotic grippers based on motion dynamics. Front Robot AI 2022; 9:1016883. [DOI: 10.3389/frobt.2022.1016883] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/11/2022] [Accepted: 11/07/2022] [Indexed: 11/29/2022] Open
Abstract
Damage detection is one of the critical challenges in operating soft robots in an industrial setting. In repetitive tasks, even a small cut or fatigue can propagate to large damage ceasing the complete operation process. Although research has shown that damage detection can be performed through an embedded sensor network, this approach leads to complicated sensorized systems with additional wiring and equipment, made using complex fabrication processes and often compromising the flexibility of the soft robotic body. Alternatively, in this paper, we proposed a non-invasive approach for damage detection and localization on soft grippers. The essential idea is to track changes in non-linear dynamics of a gripper due to possible damage, where minor changes in material and morphology lead to large differences in the force and torque feedback over time. To test this concept, we developed a classification model based on a bidirectional long short-time memory (biLSTM) network that discovers patterns of dynamics changes in force and torque signals measured at the mounting point. To evaluate this model, we employed a two-fingered Fin Ray gripper and collected data for 43 damage configurations. The experimental results show nearly perfect damage detection accuracy and 97% of its localization. We have also tested the effect of the gripper orientation and the length of time-series data. By shaking the gripper with an optimal roll angle, the localization accuracy can exceed 95% and increase further with additional gripper orientations. The results also show that two periods of the gripper oscillation, i.e., roughly 50 data points, are enough to achieve a reasonable level of damage localization.
Collapse
|
20
|
Ferrentino P, Lopez-Diaz A, Terryn S, Legrand J, Brancart J, Van Assche G, Vazquez E, Vazquez A, Vanderborght B. Quasi-Static FEA Model for a Multi-Material Soft Pneumatic Actuator in SOFA. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3183254] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
| | - Antonio Lopez-Diaz
- ETS Ingeniería Industrial, Universidad de Castilla-La Mancha, Ciudad Real, Spain
| | - Seppe Terryn
- Brubotics, Vrije Universiteit Brussel, Imec, Elsene, Belgium
| | - Julie Legrand
- Brubotics, Vrije Universiteit Brussel, Imec, Elsene, Belgium
| | - Joost Brancart
- Physical Chemistry, Polymer Science, Vrije Universiteit Brussel, Elsene, Belgium
| | - Guy Van Assche
- Physical Chemistry, Polymer Science, Vrije Universiteit Brussel, Elsene, Belgium
| | - Ester Vazquez
- Instituto Regional Investigación Científica Aplicada, Universidad de Castilla-La Mancha, Ciudad Real, Spain
| | - Andres Vazquez
- ETS Ingeniería Industrial, Universidad de Castilla-La Mancha, Ciudad Real, Spain
| | | |
Collapse
|
21
|
Terryn S, Brancart J, Roels E, Verhelle R, Safaei A, Cuvellier A, Vanderborght B, Van Assche G. Structure–Property Relationships of Self-Healing Polymer Networks Based on Reversible Diels–Alder Chemistry. Macromolecules 2022. [DOI: 10.1021/acs.macromol.2c00434] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/29/2022]
Affiliation(s)
- Seppe Terryn
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Pleinlaan 2, B-1050 Brussels, Belgium
| | - Joost Brancart
- Physical Chemistry and Polymer Science (FYSC), VUB, Pleinlaan 2, B-1050 Brussels, Belgium
| | - Ellen Roels
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Pleinlaan 2, B-1050 Brussels, Belgium
| | - Robrecht Verhelle
- Physical Chemistry and Polymer Science (FYSC), VUB, Pleinlaan 2, B-1050 Brussels, Belgium
| | - Ali Safaei
- Physical Chemistry and Polymer Science (FYSC), VUB, Pleinlaan 2, B-1050 Brussels, Belgium
| | - Audrey Cuvellier
- Physical Chemistry and Polymer Science (FYSC), VUB, Pleinlaan 2, B-1050 Brussels, Belgium
| | - Bram Vanderborght
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Pleinlaan 2, B-1050 Brussels, Belgium
| | - Guy Van Assche
- Physical Chemistry and Polymer Science (FYSC), VUB, Pleinlaan 2, B-1050 Brussels, Belgium
| |
Collapse
|
22
|
Elbarbari M, Delgrange F, Vervlimmeren I, Efthymiadis K, Vanderborght B, Nowé A. A framework for flexibly guiding learning agents. Neural Comput Appl 2022. [DOI: 10.1007/s00521-022-07396-x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/18/2022]
|
23
|
Cerdan K, Brancart J, Roels E, Vanderborght B, Van Puyvelde P. Humins Blending in Thermoreversible Diels-Alder Networks for Stiffness Tuning and Enhanced Healing Performance for Soft Robotics. Polymers (Basel) 2022; 14:polym14091657. [PMID: 35566827 PMCID: PMC9101211 DOI: 10.3390/polym14091657] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/22/2022] [Revised: 04/04/2022] [Accepted: 04/11/2022] [Indexed: 02/01/2023] Open
Abstract
Humins waste valorization is considered to be an essential pathway to improve the economic viability of many biorefinery processes and further promote their circularity by avoiding waste formation. In this research, the incorporation of humins in a Diels-Alder (DA) polymer network based on furan-maleimide thermoreversible crosslinks was studied. A considerable enhancement of the healing efficiency was observed by just healing for 1 h at 60 °C at the expense of a reduction of the material mechanical properties, while the unfilled material showed no healing under the same conditions. Nevertheless, the thermal healing step favored the irreversible humins polycondensation, thus strengthening the material while keeping the enhanced healing performance. Our hypothesis states a synergistic healing mechanism based on humins flowing throughout the damage, followed by thermal humins crosslinking during the healing trigger, together with DA thermoreversible bonds recombination. A multi-material soft robotic gripper was manufactured out of the proposed material, showing not only improved recovery of the functional performance upon healing but also stiffness-tunable features by means of humins thermal crosslinking. For the first time, both damage healing and zone reinforcement for further damage prevention are achieved in a single intrinsic self-healing system.
Collapse
Affiliation(s)
- Kenneth Cerdan
- Department of Chemical Engineering, Soft Matter, Rheology and Technology (SMaRT), KU Leuven, Celestijnenlaan 200J, 3001 Heverlee, Belgium;
- Correspondence:
| | - Joost Brancart
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium;
| | - Ellen Roels
- Brubotics and Imec, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium; (E.R.); (B.V.)
| | - Bram Vanderborght
- Brubotics and Imec, Vrije Universiteit Brussel, Pleinlaan 2, 1050 Brussels, Belgium; (E.R.); (B.V.)
| | - Peter Van Puyvelde
- Department of Chemical Engineering, Soft Matter, Rheology and Technology (SMaRT), KU Leuven, Celestijnenlaan 200J, 3001 Heverlee, Belgium;
| |
Collapse
|
24
|
Cao HL, Simut RE, Krepel N, Vanderborght B, Vanderfaeillie J. Could NAO robot function as model demonstrating joint attention skills for children with autism spectrum disorder? An exploratory study. INT J HUM ROBOT 2022. [DOI: 10.1142/s0219843622400060] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
|
25
|
Convens B, Merckaert K, Nicotra MM, Vanderborght B. Safe, Fast, and Efficient Distributed Receding Horizon Constrained Control of Aerial Robot Swarms. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3148455] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
|
26
|
Furnemont R, Verstraten T, Lefeber D, Vanderborght B. Prismatic Gravity Compensator for Variable Payloads. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3147239] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
|
27
|
Tabrizian SK, Sahraeeazartamar F, Brancart J, Roels E, Ferrentino P, Legrand J, Van Assche G, Vanderborght B, Terryn S. A Healable Resistive Heater as a Stimuli-Providing System in Self-Healing Soft Robots. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3150033] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
|
28
|
Elprama SA, Vanderborght B, Jacobs A. An industrial exoskeleton user acceptance framework based on a literature review of empirical studies. Appl Ergon 2022; 100:103615. [PMID: 34847372 DOI: 10.1016/j.apergo.2021.103615] [Citation(s) in RCA: 13] [Impact Index Per Article: 6.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/06/2021] [Revised: 10/14/2021] [Accepted: 10/15/2021] [Indexed: 06/13/2023]
Abstract
Studying the acceptance of exoskeletons in industry has gained increased attention. Exoskeletons (wearable support devices) are envisioned to alleviate heavy work. Examining what factors influence the use of exoskeletons is important, because influencing these factors could positively contribute to the adoption of industrial exoskeletons. The factors identified in this paper have been systematically derived from empirical research with (potential future) end users, most of whom have tried on an exoskeleton. Our framework with factors influencing the acceptance of industrial exoskeletons can be used during the (ideally iterative) design, (re)development and evaluation phase of new or existing exoskeletons. This could improve the quality of exoskeletons since this allows designers to already consider acceptance factors early in the design process instead of finding out what is important late in the design process during (field) testing. In turn, this might accelerate the adoption of exoskeletons. Also, our framework can be used to study the ongoing introduction of exoskeletons at work since it also addresses policy decisions companies interested in implementing exoskeletons should consider.
Collapse
Affiliation(s)
- Shirley A Elprama
- imec-SMIT-Vrije Universiteit Brussel - BruBotics, Pleinlaan 9, 1050 Brussels, Belgium.
| | - Bram Vanderborght
- Vrije Universiteit Brussel - imec - BruBotics, Pleinlaan 2, 1050 Brussels, Belgium.
| | - An Jacobs
- imec-SMIT-Vrije Universiteit Brussel - BruBotics, Pleinlaan 9, 1050 Brussels, Belgium.
| |
Collapse
|
29
|
Dillen A, Steckelmacher D, Efthymiadis K, Langlois K, De Beir A, Marušič U, Vanderborght B, Nowé A, Meeusen R, Ghaffari F, Romain O, De Pauw K. Deep learning for biosignal control: insights from basic to real-time methods with recommendations. J Neural Eng 2022; 19. [PMID: 35086076 DOI: 10.1088/1741-2552/ac4f9a] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/31/2021] [Accepted: 01/27/2022] [Indexed: 11/11/2022]
Abstract
Biosignal control is an interaction modality that allows users to interact with electronic devices by decoding the biological signals emanating from the movements or thoughts of the user. This manner of interaction with devices can enhance the sense of agency for users and enable persons suffering from a paralyzing condition to interact with everyday devices that would otherwise be challenging for them to use. It can also improve control of prosthetic devices and exoskeletons by making the interaction feel more natural and intuitive. However, with the current state of the art, several issues still need to be addressed to reliably decode user intent from biosignals and provide an improved user experience over other interaction modalities. One solution is to leverage advances in Deep Learning (DL) methods to provide more reliable decoding at the expense of added computational complexity. This scoping review introduces the basic concepts of DL and assists readers in deploying DL methods to a real-time control system that should operate under real-world conditions. The scope of this review covers any electronic device, but with an emphasis on robotic devices, as this is the most active area of research in biosignal control. We review the literature pertaining to the implementation and evaluation of control systems that incorporate DL to identify the main gaps and issues in the field, and formulate suggestions on how to mitigate them. Additionally, we formulate guidelines on the best approach to designing, implementing and evaluating research prototypes that use DL in their biosignal control systems.
Collapse
Affiliation(s)
- Arnau Dillen
- Vrije Universiteit Brussel, Pleinlaan 2, Brussel, Brussel, 1050, BELGIUM
| | | | | | - Kevin Langlois
- Vrije Universiteit Brussel, Pleinlaan 2, Brussel, Brussel, 1050, BELGIUM
| | - Albert De Beir
- Vrije Universiteit Brussel, Pleinlaan 2, Brussel, Brussel, 1050, BELGIUM
| | - Uroš Marušič
- Alma Mater Europaea - Evropski Center Maribor, Slovenska ulica 17, Maribor, Maribor, 2000, SLOVENIA
| | - Bram Vanderborght
- Vrije Universiteit Brussel, Faculty of Applied Sciences, Brussel, Brussel, 1050, BELGIUM
| | - Ann Nowé
- Vrije Universiteit Brussel, Pleinlaan 2, Brussel, Brussel, 1050, BELGIUM
| | - Romain Meeusen
- Vrije Universiteit Brussel, Pleinlaan 2, Brussel, Brussel, 1050, BELGIUM
| | - Fakhreddine Ghaffari
- Equipe Traitement de l'Information et Systèmes, CY Cergy Paris University, 6 Rue du Ponceau, Cergy-Pontoise, 95000 , FRANCE
| | - Olivier Romain
- Equipe Traitement de l'Information et Systèmes, CY Cergy Paris University, 6 Rue du Ponceau, Cergy-Pontoise, 95000 , FRANCE
| | - Kevin De Pauw
- Vrije Universiteit Brussel, Pleinlaan 2, Brussel, Brussel, 1050, BELGIUM
| |
Collapse
|
30
|
Roels E, Terryn S, Iida F, Bosman AW, Norvez S, Clemens F, Van Assche G, Vanderborght B, Brancart J. Processing of Self-Healing Polymers for Soft Robotics. Adv Mater 2022; 34:e2104798. [PMID: 34610181 DOI: 10.1002/adma.202104798] [Citation(s) in RCA: 38] [Impact Index Per Article: 19.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/23/2021] [Revised: 09/27/2021] [Indexed: 06/13/2023]
Abstract
Soft robots are, due to their softness, inherently safe and adapt well to unstructured environments. However, they are prone to various damage types. Self-healing polymers address this vulnerability. Self-healing soft robots can recover completely from macroscopic damage, extending their lifetime. For developing healable soft robots, various formative and additive manufacturing methods have been exploited to shape self-healing polymers into complex structures. Additionally, several novel manufacturing techniques, noted as (re)assembly binding techniques that are specific to self-healing polymers, have been created. Herein, the wide variety of processing techniques of self-healing polymers for robotics available in the literature is reviewed, and limitations and opportunities discussed thoroughly. Based on defined requirements for soft robots, these techniques are critically compared and validated. A strong focus is drawn to the reversible covalent and (physico)chemical cross-links present in the self-healing polymers that do not only endow healability to the resulting soft robotic components, but are also beneficial in many manufacturing techniques. They solve current obstacles in soft robots, including the formation of robust multi-material parts, recyclability, and stress relaxation. This review bridges two promising research fields, and guides the reader toward selecting a suitable processing method based on a self-healing polymer and the intended soft robotics application.
Collapse
Affiliation(s)
- Ellen Roels
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Pleinlaan 2, Brussels, 1050, Belgium
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Pleinlaan 2, Brussels, 1050, Belgium
| | - Seppe Terryn
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Pleinlaan 2, Brussels, 1050, Belgium
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Pleinlaan 2, Brussels, 1050, Belgium
| | - Fumiya Iida
- Machine Intelligence Lab, University of Cambridge, Trumpington Street, Cambridge, CB2 1PZ, UK
| | - Anton W Bosman
- SupraPolix B. V., Horsten 1.29, Eindhoven, 5612 AX, The Netherlands
| | - Sophie Norvez
- Chimie Moléculaire, Macromoléculaire, Matériaux, École Supérieure de Physique et de Chimie (ESPCI), 10 Rue Vauquelin, Paris, 75005, France
| | - Frank Clemens
- Laboratory for High Performance Ceramics, Swiss Federal Laboratories for Materials Science and Technology (EMPA), Überlandstrasse 129, Dübendorf, 8600, Switzerland
| | - Guy Van Assche
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Pleinlaan 2, Brussels, 1050, Belgium
| | - Bram Vanderborght
- Brubotics, Vrije Universiteit Brussel (VUB) and Imec, Pleinlaan 2, Brussels, 1050, Belgium
| | - Joost Brancart
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel (VUB), Pleinlaan 2, Brussels, 1050, Belgium
| |
Collapse
|
31
|
Ostyn F, Vanderborght B, Crevecoeur G. Overload Clutch With Integrated Torque Sensing and Decoupling Detection for Collision Tolerant Hybrid High-Speed Industrial Cobots. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3220527] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Affiliation(s)
- Frederik Ostyn
- Department of Electromechanical, Systems and Metal Engineering, Ghent University, Ghent, Belgium
| | - Bram Vanderborght
- Robotics and Multibody Mechanics (R&MM) Research Group, Vrije Universiteit Brussel (VUB), Brussels, Belgium
| | - Guillaume Crevecoeur
- Department of Electromechanical, Systems and Metal Engineering, Ghent University, Ghent, Belgium
| |
Collapse
|
32
|
Khorasani A, Furnemont R, Usman M, Hubert T, Vanderborght B, Lefeber D, Perre GVD, Verstraten T. A Methodology for Designing a Lightweight and Energy-Efficient Kinematically Redundant Actuator. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3192637] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Affiliation(s)
- Amin Khorasani
- Brubotics, Vrije Universiteit Brussel, and Flanders Make, Brussels, Belgium
| | - Raphael Furnemont
- Brubotics, Vrije Universiteit Brussel, and Flanders Make, Brussels, Belgium
| | - Muhammad Usman
- Brubotics, Vrije Universiteit Brussel, and Flanders Make, Brussels, Belgium
| | - Thierry Hubert
- Brubotics, Vrije Universiteit Brussel, and Flanders Make, Brussels, Belgium
| | | | - Dirk Lefeber
- Brubotics, Vrije Universiteit Brussel, and Flanders Make, Brussels, Belgium
| | | | - Tom Verstraten
- Brubotics, Vrije Universiteit Brussel, and Flanders Make, Brussels, Belgium
| |
Collapse
|
33
|
Langlois K, Geeroms J, Van De Velde G, Rodriguez-Guerrero C, Verstraten T, Vanderborght B, Lefeber D. Improved Motion Classification With an Integrated Multimodal Exoskeleton Interface. Front Neurorobot 2021; 15:693110. [PMID: 34759807 PMCID: PMC8572867 DOI: 10.3389/fnbot.2021.693110] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/09/2021] [Accepted: 09/23/2021] [Indexed: 11/13/2022] Open
Abstract
Human motion intention detection is an essential part of the control of upper-body exoskeletons. While surface electromyography (sEMG)-based systems may be able to provide anticipatory control, they typically require exact placement of the electrodes on the muscle bodies which limits the practical use and donning of the technology. In this study, we propose a novel physical interface for exoskeletons with integrated sEMG- and pressure sensors. The sensors are 3D-printed with flexible, conductive materials and allow multi-modal information to be obtained during operation. A K-Nearest Neighbours classifier is implemented in an off-line manner to detect reaching movements and lifting tasks that represent daily activities of industrial workers. The performance of the classifier is validated through repeated experiments and compared to a unimodal EMG-based classifier. The results indicate that excellent prediction performance can be obtained, even with a minimal amount of sEMG electrodes and without specific placement of the electrode.
Collapse
Affiliation(s)
- Kevin Langlois
- Robotics & Multibody Mechanics Research Group, MECH Department, Vrije Universiteit Brussel, Brussel, Belgium.,IMEC, Leuven, Belgium
| | - Joost Geeroms
- Robotics & Multibody Mechanics Research Group, MECH Department, Vrije Universiteit Brussel, Brussel, Belgium.,Flanders Make, Lommel, Belgium
| | - Gabriel Van De Velde
- Robotics & Multibody Mechanics Research Group, MECH Department, Vrije Universiteit Brussel, Brussel, Belgium
| | - Carlos Rodriguez-Guerrero
- Robotics & Multibody Mechanics Research Group, MECH Department, Vrije Universiteit Brussel, Brussel, Belgium.,Flanders Make, Lommel, Belgium
| | - Tom Verstraten
- Robotics & Multibody Mechanics Research Group, MECH Department, Vrije Universiteit Brussel, Brussel, Belgium.,Flanders Make, Lommel, Belgium
| | - Bram Vanderborght
- Robotics & Multibody Mechanics Research Group, MECH Department, Vrije Universiteit Brussel, Brussel, Belgium.,IMEC, Leuven, Belgium
| | - Dirk Lefeber
- Robotics & Multibody Mechanics Research Group, MECH Department, Vrije Universiteit Brussel, Brussel, Belgium.,Flanders Make, Lommel, Belgium
| |
Collapse
|
34
|
Georgopoulou A, Vanderborght B, Clemens F. Fabrication of a Soft Robotic Gripper With Integrated Strain Sensing Elements Using Multi-Material Additive Manufacturing. Front Robot AI 2021; 8:615991. [PMID: 35372524 PMCID: PMC8965514 DOI: 10.3389/frobt.2021.615991] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/10/2020] [Accepted: 09/24/2021] [Indexed: 01/01/2023] Open
Abstract
With the purpose of making soft robotic structures with embedded sensors, additive manufacturing techniques like fused deposition modeling (FDM) are popular. Thermoplastic polyurethane (TPU) filaments, with and without conductive fillers, are now commercially available. However, conventional FDM still has some limitations because of the marginal compatibility with soft materials. Material selection criteria for the available material options for FDM have not been established. In this study, an open-source soft robotic gripper design has been used to evaluate the FDM printing of TPU structures with integrated strain sensing elements in order to provide some guidelines for the material selection when an elastomer and a soft piezoresistive sensor are combined. Such soft grippers, with integrated strain sensing elements, were successfully printed using a multi-material FDM 3D printer. Characterization of the integrated piezoresistive sensor function, using dynamic tensile testing, revealed that the sensors exhibited good linearity up to 30% strain, which was sufficient for the deformation range of the selected gripper structure. Grippers produced using four different TPU materials were used to investigate the effect of the Shore hardness of the TPU on the piezoresistive sensor properties. The results indicated that the in situ printed strain sensing elements on the soft gripper were able to detect the deformation of the structure when the tentacles of the gripper were open or closed. The sensor signal could differentiate between the picking of small or big objects and when an obstacle prevented the tentacles from opening. Interestingly, the sensors embedded in the tentacles exhibited good reproducibility and linearity, and the sensitivity of the sensor response changed with the Shore hardness of the gripper. Correlation between TPU Shore hardness, used for the gripper body and sensitivity of the integrated in situ strain sensing elements, showed that material selection affects the sensor signal significantly.
Collapse
Affiliation(s)
- Antonia Georgopoulou
- Department of Functional Materials, Empa–Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
- Department of Mechanical Engineering (MECH), Vrije Universiteit Brussel (VUB), and Flanders Make, Brussels, Belgium
- *Correspondence: Antonia Georgopoulou, ; Frank Clemens,
| | - Bram Vanderborght
- Department of Mechanical Engineering (MECH), Vrije Universiteit Brussel (VUB), and Flanders Make, Brussels, Belgium
| | - Frank Clemens
- Department of Functional Materials, Empa–Swiss Federal Laboratories for Materials Science and Technology, Dübendorf, Switzerland
- *Correspondence: Antonia Georgopoulou, ; Frank Clemens,
| |
Collapse
|
35
|
Bacek T, Moltedo M, Serrien B, Langlois K, Vanderborght B, Lefeber D, Rodriguez-Guerrero C. Human Musculoskeletal and Energetic Adaptations to Unilateral Robotic Knee Gait Assistance. IEEE Trans Biomed Eng 2021; 69:1141-1150. [PMID: 34559629 DOI: 10.1109/tbme.2021.3114737] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
OBJECTIVE This paper aims to analyse the human musculoskeletal and energetic adaptation mechanisms when physically interacting with a unilateral knee orthosis during treadmill walking. METHODS Test subjects participated in two walking trials, whereby the orthosis was controlled to deliver five predefined torque profiles of different duration (as % of a gait cycle). The adaptations to assistive torques of different duration were analysed in terms of gait parameters, metabolic effort, and muscle activity. RESULTS Orthotic assistances kinematic effects remain local to the assisted leg and joint, unlike the muscles spanning the knee joint, which engage in a balancing-out action to retain stability. Duration of assistive torque significantly affects only the timing of the knee joints peak flexion angle in the stance phase, while the observed joint kinematics and muscle activity demonstrate different recovery times upon changing robotic support (washout effects). CONCLUSION Human body adaptations to external robotic knee joint assistance during walking take place on multiple levels and to a different extent in a joint effort to keep the gait stable. SIGNIFICANCE This paper provides important insights into the human bodys multiple adaptation mechanisms in the presence of external robotic assistance.
Collapse
|
36
|
Govaerts R, Tassignon B, Ghillebert J, Serrien B, De Bock S, Ampe T, El Makrini I, Vanderborght B, Meeusen R, De Pauw K. Prevalence and incidence of work-related musculoskeletal disorders in secondary industries of 21st century Europe: a systematic review and meta-analysis. BMC Musculoskelet Disord 2021; 22:751. [PMID: 34465326 PMCID: PMC8408961 DOI: 10.1186/s12891-021-04615-9] [Citation(s) in RCA: 43] [Impact Index Per Article: 14.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 05/14/2021] [Accepted: 08/11/2021] [Indexed: 01/08/2023] Open
Abstract
OBJECTIVE Over the course of the twenty-first century, work-related musculoskeletal disorders are still persisting among blue collar workers. At present, no epidemiological overview exists. Therefore, a systematic review and meta-analysis was performed on the epidemiology of work-related musculoskeletal disorders (WMSD) within Europe's secondary industries. METHODS Five databases were screened, yielding 34 studies for the qualitative analysis and 17 for the quantitative analysis. Twelve subgroups of WMSDs were obtained for the meta-analysis by means of predefined inclusion criteria: back (overall), upper back, lower back, neck, shoulder, neck/shoulder, elbow, wrist/hand, leg (overall), hip, knee, and ankle/feet. RESULTS The most prevalent WMSDs were located at the back (overall), shoulder/neck, neck, shoulder, lower back and wrist WMSDs with mean 12-month prevalence values of 60, 54, 51, 50, 47, and 42%, respectively. The food industry was in the majority of subgroups the most prominent researched sector and was frequently associated with high prevalence values of WMSDs. Incidence ratios of upper limb WMSDs ranged between 0.04 and 0.26. Incidence ratios could not be calculated for other anatomical regions due to the lack of sufficient articles. CONCLUSION WMSDs are still highly present among blue collar workers. Relatively high prevalence values and low incidence ratios indicate a limited onset of WMSDs with however long-term complaints.
Collapse
Affiliation(s)
- Renée Govaerts
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium.,Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium.,Strategic Research Program 'Exercise and the Brain in Health & Disease: the added value of Human-centered Robotics', Vrije Universiteit Brussel, Brussels, Belgium
| | - Bruno Tassignon
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Jo Ghillebert
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium.,Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium.,Strategic Research Program 'Exercise and the Brain in Health & Disease: the added value of Human-centered Robotics', Vrije Universiteit Brussel, Brussels, Belgium
| | - Ben Serrien
- Sciensano Research Institute, Brussels, Belgium
| | - Sander De Bock
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium.,Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium.,Strategic Research Program 'Exercise and the Brain in Health & Disease: the added value of Human-centered Robotics', Vrije Universiteit Brussel, Brussels, Belgium
| | - Toon Ampe
- Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium
| | - Ilias El Makrini
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium.,Robotics research group, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Bram Vanderborght
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium.,Robotics research group, Vrije Universiteit Brussel and IMEC, Brussels, Belgium
| | - Romain Meeusen
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium.,Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium.,Strategic Research Program 'Exercise and the Brain in Health & Disease: the added value of Human-centered Robotics', Vrije Universiteit Brussel, Brussels, Belgium
| | - Kevin De Pauw
- BruBotics, Vrije Universiteit Brussel, Brussels, Belgium. .,Human Physiology and Sports Physiotherapy Research Group, Vrije Universiteit Brussel, Brussels, Belgium. .,Strategic Research Program 'Exercise and the Brain in Health & Disease: the added value of Human-centered Robotics', Vrije Universiteit Brussel, Brussels, Belgium.
| |
Collapse
|
37
|
Convens B, Merckaert K, Vanderborght B, Nicotra MM. Invariant Set Distributed Explicit Reference Governors for Provably Safe On-Board Control of Nano-Quadrotor Swarms. Front Robot AI 2021; 8:663809. [PMID: 34239901 PMCID: PMC8258155 DOI: 10.3389/frobt.2021.663809] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/03/2021] [Accepted: 04/21/2021] [Indexed: 01/05/2023] Open
Abstract
This article provides a theory for provably safe and computationally efficient distributed constrained control, and describes an application to a swarm of nano-quadrotors with limited on-board hardware and subject to multiple state and input constraints. We provide a formal extension of the explicit reference governor framework to address the case of distributed systems. The efficacy, robustness, and scalability of the proposed theory is demonstrated by an extensive experimental validation campaign and a comparative simulation study on single and multiple nano-quadrotors. The control strategy is implemented in real-time on-board palm-sized unmanned erial vehicles, and achieves safe swarm coordination without relying on any offline trajectory computations.
Collapse
Affiliation(s)
- Bryan Convens
- Robotics and Multibody Mechanics (R&MM), Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium.,Imec, Leuven, Belgium
| | - Kelly Merckaert
- Robotics and Multibody Mechanics (R&MM), Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium.,Flanders Make, Leuven, Belgium
| | - Bram Vanderborght
- Robotics and Multibody Mechanics (R&MM), Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium.,Imec, Leuven, Belgium
| | - Marco M Nicotra
- Robotics, Optimization, and Constrained Control (ROCC), Department of Electrical, Computer, and Energy Engineering, University of Colorado Boulder, Boulder, CO, United States
| |
Collapse
|
38
|
Ostyn F, Lefebvre T, Vanderborght B, Crevecoeur G. Overload Clutch Design for Collision Tolerant High–Speed Industrial Robots. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3051616] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
|
39
|
Esteban PG, Bagheri E, Elprama SA, Jewell CIC, Cao HL, De Beir A, Jacobs A, Vanderborght B. Should I be Introvert or Extrovert? A Pairwise Robot Comparison Assessing the Perception of Personality-Based Social Robot Behaviors. Int J Soc Robot 2021. [DOI: 10.1007/s12369-020-00715-z] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/24/2022]
|
40
|
Caspar EA, De Beir A, Lauwers G, Cleeremans A, Vanderborght B. How using brain-machine interfaces influences the human sense of agency. PLoS One 2021; 16:e0245191. [PMID: 33411838 PMCID: PMC7790430 DOI: 10.1371/journal.pone.0245191] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/30/2020] [Accepted: 12/23/2020] [Indexed: 11/18/2022] Open
Abstract
Brain-machine interfaces (BMI) allows individuals to control an external device by controlling their own brain activity, without requiring bodily or muscle movements. Performing voluntary movements is associated with the experience of agency ("sense of agency") over those movements and their outcomes. When people voluntarily control a BMI, they should likewise experience a sense of agency. However, using a BMI to act presents several differences compared to normal movements. In particular, BMIs lack sensorimotor feedback, afford lower controllability and are associated with increased cognitive fatigue. Here, we explored how these different factors influence the sense of agency across two studies in which participants learned to control a robotic hand through motor imagery decoded online through electroencephalography. We observed that the lack of sensorimotor information when using a BMI did not appear to influence the sense of agency. We further observed that experiencing lower control over the BMI reduced the sense of agency. Finally, we observed that the better participants controlled the BMI, the greater was the appropriation of the robotic hand, as measured by body-ownership and agency scores. Results are discussed based on existing theories on the sense of agency in light of the importance of BMI technology for patients using prosthetic limbs.
Collapse
Affiliation(s)
- Emilie A. Caspar
- CO3 lab, Center for Research in Cognition and Neuroscience, Université libre de Bruxelles, Brussels, Belgium
| | - Albert De Beir
- Vrij Universiteit Brussels, Brussels, Belgium
- Flanders Make, Lommel, Belgium
| | - Gil Lauwers
- Vrij Universiteit Brussels, Brussels, Belgium
| | - Axel Cleeremans
- CO3 lab, Center for Research in Cognition and Neuroscience, Université libre de Bruxelles, Brussels, Belgium
| | - Bram Vanderborght
- Vrij Universiteit Brussels, Brussels, Belgium
- Flanders Make, Lommel, Belgium
| |
Collapse
|
41
|
Bagheri E, Esteban PG, Cao HL, Beir AD, Lefeber D, Vanderborght B. An Autonomous Cognitive Empathy Model Responsive to Users’ Facial Emotion Expressions. ACM T INTERACT INTEL 2020. [DOI: 10.1145/3341198] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/23/2022]
Abstract
Successful social robot services depend on how robots can interact with users. The effective service can be obtained through smooth, engaged, and humanoid interactions in which robots react properly to a user’s affective state. This article proposes a novel Automatic Cognitive Empathy Model, ACEM, for humanoid robots to achieve longer and more engaged human-robot interactions (HRI) by considering humans’ emotions and replying to them appropriately. The proposed model continuously detects the affective states of a user based on facial expressions and generates desired, either parallel or reactive, empathic behaviors that are already adapted to the user’s personality. Users’ affective states are detected using a stacked autoencoder network that is trained and tested on the RAVDESS dataset.
The overall proposed empathic model is verified throughout an experiment, where different emotions are triggered in participants and then empathic behaviors are applied based on proposed hypothesis. The results confirm the effectiveness of the proposed model in terms of related social and friendship concepts that participants perceived during interaction with the robot.
Collapse
Affiliation(s)
- Elahe Bagheri
- Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Pablo G. Esteban
- Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Hoang-Long Cao
- Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Albert De Beir
- Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Dirk Lefeber
- Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Bram Vanderborght
- Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| |
Collapse
|
42
|
Ranavolo A, Ajoudani A, Cherubini A, Bianchi M, Fritzsche L, Iavicoli S, Sartori M, Silvetti A, Vanderborght B, Varrecchia T, Draicchio F. The Sensor-Based Biomechanical Risk Assessment at the Base of the Need for Revising of Standards for Human Ergonomics. Sensors (Basel) 2020; 20:s20205750. [PMID: 33050438 PMCID: PMC7599507 DOI: 10.3390/s20205750] [Citation(s) in RCA: 14] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Subscribe] [Scholar Register] [Received: 09/02/2020] [Revised: 09/24/2020] [Accepted: 10/03/2020] [Indexed: 02/06/2023]
Abstract
Due to the epochal changes introduced by “Industry 4.0”, it is getting harder to apply the varying approaches for biomechanical risk assessment of manual handling tasks used to prevent work-related musculoskeletal disorders (WMDs) considered within the International Standards for ergonomics. In fact, the innovative human–robot collaboration (HRC) systems are widening the number of work motor tasks that cannot be assessed. On the other hand, new sensor-based tools for biomechanical risk assessment could be used for both quantitative “direct instrumental evaluations” and “rating of standard methods”, allowing certain improvements over traditional methods. In this light, this Letter aims at detecting the need for revising the standards for human ergonomics and biomechanical risk assessment by analyzing the WMDs prevalence and incidence; additionally, the strengths and weaknesses of traditional methods listed within the International Standards for manual handling activities and the next challenges needed for their revision are considered. As a representative example, the discussion is referred to the lifting of heavy loads where the revision should include the use of sensor-based tools for biomechanical risk assessment during lifting performed with the use of exoskeletons, by more than one person (team lifting) and when the traditional methods cannot be applied. The wearability of sensing and feedback sensors in addition to human augmentation technologies allows for increasing workers’ awareness about possible risks and enhance the effectiveness and safety during the execution of in many manual handling activities.
Collapse
Affiliation(s)
- Alberto Ranavolo
- Department of Occupational and Environmental Medicine, Epidemiology and Hygiene, INAIL, Monte Porzio Catone, 00040 Rome, Italy; (S.I.); (A.S.); (T.V.); (F.D.)
- Correspondence: ; Tel.: +39-043-224-0233
| | - Arash Ajoudani
- HRI2 Laboratory, Istituto Italiano di Tecnologia, 16163 Genova, Italy;
| | | | - Matteo Bianchi
- Centro di Ricerca “Enrico Piaggio” and Department of Information Engineering, Università di Pisa, 56126 Pisa, Italy;
| | - Lars Fritzsche
- Ergonomics Division, IMK Automotive GmbH, 09128 Chemnitz, Germany;
| | - Sergio Iavicoli
- Department of Occupational and Environmental Medicine, Epidemiology and Hygiene, INAIL, Monte Porzio Catone, 00040 Rome, Italy; (S.I.); (A.S.); (T.V.); (F.D.)
| | - Massimo Sartori
- Department of Biomechanical Engineering, University of Twente, 7522 NB Enschede, The Netherlands;
| | - Alessio Silvetti
- Department of Occupational and Environmental Medicine, Epidemiology and Hygiene, INAIL, Monte Porzio Catone, 00040 Rome, Italy; (S.I.); (A.S.); (T.V.); (F.D.)
| | - Bram Vanderborght
- Brubotics, Vrije Universiteit Brussel, 1050 Brussels, Belgium;
- Flanders Make, Oude Diestersebaan 133, 3920 Lommel, Belgium
| | - Tiwana Varrecchia
- Department of Occupational and Environmental Medicine, Epidemiology and Hygiene, INAIL, Monte Porzio Catone, 00040 Rome, Italy; (S.I.); (A.S.); (T.V.); (F.D.)
| | - Francesco Draicchio
- Department of Occupational and Environmental Medicine, Epidemiology and Hygiene, INAIL, Monte Porzio Catone, 00040 Rome, Italy; (S.I.); (A.S.); (T.V.); (F.D.)
| |
Collapse
|
43
|
|
44
|
Billing E, Belpaeme T, Cai H, Cao HL, Ciocan A, Costescu C, David D, Homewood R, Hernandez Garcia D, Gómez Esteban P, Liu H, Nair V, Matu S, Mazel A, Selescu M, Senft E, Thill S, Vanderborght B, Vernon D, Ziemke T. The DREAM Dataset: Supporting a data-driven study of autism spectrum disorder and robot enhanced therapy. PLoS One 2020; 15:e0236939. [PMID: 32823270 PMCID: PMC7444515 DOI: 10.1371/journal.pone.0236939] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/25/2020] [Accepted: 07/14/2020] [Indexed: 11/21/2022] Open
Abstract
We present a dataset of behavioral data recorded from 61 children diagnosed with Autism Spectrum Disorder (ASD). The data was collected during a large-scale evaluation of Robot Enhanced Therapy (RET). The dataset covers over 3000 therapy sessions and more than 300 hours of therapy. Half of the children interacted with the social robot NAO supervised by a therapist. The other half, constituting a control group, interacted directly with a therapist. Both groups followed the Applied Behavior Analysis (ABA) protocol. Each session was recorded with three RGB cameras and two RGBD (Kinect) cameras, providing detailed information of children's behavior during therapy. This public release of the dataset comprises body motion, head position and orientation, and eye gaze variables, all specified as 3D data in a joint frame of reference. In addition, metadata including participant age, gender, and autism diagnosis (ADOS) variables are included. We release this data with the hope of supporting further data-driven studies towards improved therapy methods as well as a better understanding of ASD in general.
Collapse
Affiliation(s)
| | - Tony Belpaeme
- University of Plymouth, Plymouth, United Kingdom
- IDLab - imec, Ghent University, Ghent, Belgium
| | - Haibin Cai
- University of Portsmouth, Portsmouth, United Kingdom
| | - Hoang-Long Cao
- Vrije Universiteit Brussel, Brussel, Belgium
- Flanders Make, Lommel, Belgium
| | | | | | - Daniel David
- Universitatea Babeş-Bolyai, Cluj-Napoca, Romania
| | | | | | | | - Honghai Liu
- University of Portsmouth, Portsmouth, United Kingdom
| | | | - Silviu Matu
- Universitatea Babeş-Bolyai, Cluj-Napoca, Romania
| | | | | | | | - Serge Thill
- University of Skövde, Skövde, Sweden
- Donders Institute for Brain, Cognition, and Behavior, Radboud University, Nijmegen, The Netherlands
| | - Bram Vanderborght
- Vrije Universiteit Brussel, Brussel, Belgium
- Flanders Make, Lommel, Belgium
| | | | - Tom Ziemke
- University of Skövde, Skövde, Sweden
- Linköping University, Linköping, Sweden
| |
Collapse
|
45
|
Moltedo M, Baček T, Serrien B, Langlois K, Vanderborght B, Lefeber D, Rodriguez-Guerrero C. Walking with a powered ankle-foot orthosis: the effects of actuation timing and stiffness level on healthy users. J Neuroeng Rehabil 2020; 17:98. [PMID: 32680539 PMCID: PMC7367242 DOI: 10.1186/s12984-020-00723-0] [Citation(s) in RCA: 10] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/24/2019] [Accepted: 07/06/2020] [Indexed: 11/10/2022] Open
Abstract
BACKGROUND In the last decades, several powered ankle-foot orthoses have been developed to assist the ankle joint of their users during walking. Recent studies have shown that the effects of the assistance provided by powered ankle-foot orthoses depend on the assistive profile. In compliant actuators, the stiffness level influences the actuator's performance. However, the effects of this parameter on the users has not been yet evaluated. The goal of this study is to assess the effects of the assistance provided by a variable stiffness ankle actuator on healthy young users. More specifically, the effect of different onset times of the push-off torque and different actuator's stiffness levels has been investigated. METHODS Eight healthy subjects walked with a unilateral powered ankle-foot orthosis in several assisted walking trials. The powered orthosis was actuated in the sagittal plane by a variable stiffness actuator. During the assisted walking trials, three different onset times of the push-off assistance and three different actuator's stiffness levels were used. The metabolic cost of walking, lower limb muscles activation, joint kinematics, and gait parameters measured during different assisted walking trials were compared to the ones measured during normal walking and walking with the powered orthosis not providing assistance. RESULTS This study found trends for more compliant settings of the ankle actuator resulting in bigger reductions of the metabolic cost of walking and soleus muscle activation in the stance phase during assisted walking as compared to the unassisted walking trial. In addition to this, the study found that, among the tested onset times, the earlier ones showed a trend for bigger reductions of the activation of the soleus muscle during stance, while the later ones led to a bigger reduction in the metabolic cost of walking in the assisted walking trials as compared to the unassisted condition. CONCLUSIONS This study presents a first attempt to show that, together with the assistive torque profile, also the stiffness level of a compliant ankle actuator can influence the assistive performance of a powered ankle-foot orthosis.
Collapse
Affiliation(s)
- Marta Moltedo
- Department of Mechanical Engineering, R&MM Research Group, and Flanders Make, Vrije Universiteit Brussel (VUB), Pleinlaan 2, Brussels, 1050 Belgium
| | - Tomislav Baček
- Department of Mechanical Engineering, R&MM Research Group, and Flanders Make, Vrije Universiteit Brussel (VUB), Pleinlaan 2, Brussels, 1050 Belgium
| | - Ben Serrien
- Department of Biomechanics, Vrije Universiteit Brussel (VUB), Pleinlaan 2, Brussels, 1050 Belgium
| | - Kevin Langlois
- Department of Mechanical Engineering, R&MM Research Group, and Flanders Make, Vrije Universiteit Brussel (VUB), Pleinlaan 2, Brussels, 1050 Belgium
| | - Bram Vanderborght
- Department of Mechanical Engineering, R&MM Research Group, and Flanders Make, Vrije Universiteit Brussel (VUB), Pleinlaan 2, Brussels, 1050 Belgium
| | - Dirk Lefeber
- Department of Mechanical Engineering, R&MM Research Group, and Flanders Make, Vrije Universiteit Brussel (VUB), Pleinlaan 2, Brussels, 1050 Belgium
| | - Carlos Rodriguez-Guerrero
- Department of Mechanical Engineering, R&MM Research Group, and Flanders Make, Vrije Universiteit Brussel (VUB), Pleinlaan 2, Brussels, 1050 Belgium
| |
Collapse
|
46
|
Vu HTT, Dong D, Cao HL, Verstraten T, Lefeber D, Vanderborght B, Geeroms J. A Review of Gait Phase Detection Algorithms for Lower Limb Prostheses. Sensors (Basel) 2020; 20:E3972. [PMID: 32708924 PMCID: PMC7411778 DOI: 10.3390/s20143972] [Citation(s) in RCA: 38] [Impact Index Per Article: 9.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/11/2020] [Revised: 07/08/2020] [Accepted: 07/15/2020] [Indexed: 01/01/2023]
Abstract
Fast and accurate gait phase detection is essential to achieve effective powered lower-limb prostheses and exoskeletons. As the versatility but also the complexity of these robotic devices increases, the research on how to make gait detection algorithms more performant and their sensing devices smaller and more wearable gains interest. A functional gait detection algorithm will improve the precision, stability, and safety of prostheses, and other rehabilitation devices. In the past years the state-of-the-art has advanced significantly in terms of sensors, signal processing, and gait detection algorithms. In this review, we investigate studies and developments in the field of gait event detection methods, more precisely applied to prosthetic devices. We compared advantages and limitations between all the proposed methods and extracted the relevant questions and recommendations about gait detection methods for future developments.
Collapse
Affiliation(s)
- Huong Thi Thu Vu
- Robotics & Multibody Mechanics Research Group (R & MM), Vrije Universiteit Brussel and Flanders Make, 1050 Brussels, Belgium; (D.D.); (H.-L.C.); (T.V.); (D.L.); (B.V.); (J.G.)
- Faculty of Electronics Engineering Technology, Hanoi University of Industry, Hanoi 100000, Vietnam
| | - Dianbiao Dong
- Robotics & Multibody Mechanics Research Group (R & MM), Vrije Universiteit Brussel and Flanders Make, 1050 Brussels, Belgium; (D.D.); (H.-L.C.); (T.V.); (D.L.); (B.V.); (J.G.)
- School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an 710072, China
| | - Hoang-Long Cao
- Robotics & Multibody Mechanics Research Group (R & MM), Vrije Universiteit Brussel and Flanders Make, 1050 Brussels, Belgium; (D.D.); (H.-L.C.); (T.V.); (D.L.); (B.V.); (J.G.)
- College of Engineering Technology, Can Tho University, Can Tho 90000, Vietnam
| | - Tom Verstraten
- Robotics & Multibody Mechanics Research Group (R & MM), Vrije Universiteit Brussel and Flanders Make, 1050 Brussels, Belgium; (D.D.); (H.-L.C.); (T.V.); (D.L.); (B.V.); (J.G.)
| | - Dirk Lefeber
- Robotics & Multibody Mechanics Research Group (R & MM), Vrije Universiteit Brussel and Flanders Make, 1050 Brussels, Belgium; (D.D.); (H.-L.C.); (T.V.); (D.L.); (B.V.); (J.G.)
| | - Bram Vanderborght
- Robotics & Multibody Mechanics Research Group (R & MM), Vrije Universiteit Brussel and Flanders Make, 1050 Brussels, Belgium; (D.D.); (H.-L.C.); (T.V.); (D.L.); (B.V.); (J.G.)
| | - Joost Geeroms
- Robotics & Multibody Mechanics Research Group (R & MM), Vrije Universiteit Brussel and Flanders Make, 1050 Brussels, Belgium; (D.D.); (H.-L.C.); (T.V.); (D.L.); (B.V.); (J.G.)
| |
Collapse
|
47
|
Elprama SA, Vannieuwenhuyze JTA, De Bock S, Vanderborght B, De Pauw K, Meeusen R, Jacobs A. Social Processes: What Determines Industrial Workers' Intention to Use Exoskeletons? Hum Factors 2020; 62:337-350. [PMID: 31971838 DOI: 10.1177/0018720819889534] [Citation(s) in RCA: 23] [Impact Index Per Article: 5.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
OBJECTIVE The aim of this study is to test the unified theory of acceptance and use of technology (UTAUT) model for explaining the intention to use exoskeletons among industrial workers. BACKGROUND Exoskeletons could help reduce physical workload and risk for injuries among industrial workers. Therefore, it is crucial to understand which factors play a role in workers' intention to use such exoskeletons. METHOD Industrial workers (N = 124) completed a survey on their attitudes regarding the use of exoskeletons at their workplace. Using partial least squares (PLS) path modeling, the UTAUT model and a revised version of the UTAUT model were fitted to these data. RESULTS The adapted UTAUT model of Dwivedi et al. (2017) was able to explain up to 75.6% of the variance in intention to use exoskeletons, suggesting a reasonable model fit. CONCLUSION The model fit suggests that effort expectancy (how easy it seems to use an exoskeleton) plays an important role in predicting the intention to use exoskeletons. Social influence (whether others think workers should use exoskeletons) and performance expectancy (how useful exoskeletons seem to be for work) play a smaller role in predicting the intention to use. APPLICATIONS This research informs companies about the optimal implementation of exoskeletons by improving the determinants of acceptance among their workers.
Collapse
Affiliation(s)
| | | | - Sander De Bock
- 70493 70497 Vrije Universiteit Brussel, Belgium
- BruBOTICS, Belgium
| | - Bram Vanderborght
- 70493 70497 Vrije Universiteit Brussel, Belgium
- BruBOTICS, Belgium
- Flanders Make, Belgium
| | - Kevin De Pauw
- 70493 70497 Vrije Universiteit Brussel, Belgium
- BruBOTICS, Belgium
| | - Romain Meeusen
- 70493 70497 Vrije Universiteit Brussel, Belgium
- BruBOTICS, Belgium
| | - An Jacobs
- 70493 70497 Vrije Universiteit Brussel, Belgium
- BruBOTICS, Belgium
| |
Collapse
|
48
|
Abstract
The field of self-healing soft robots was initiated a few years ago. A healing ability can be integrated in soft robots by manufacturing their soft membranes out of synthetic self-healing polymers, more specifically elastomeric Diels-Alder (DA) networks. As such they can recover completely from macroscopic damage, including scratches, cuts, and ruptures. Before this research, these robots were manufactured using a technique named "shaping-through-folding-and-self-healing." This technique requires extensive manual labor, is relatively slow, and does not allow for complex shapes. In this article, an additive manufacturing methodology, fused filament fabrication, is developed for the thermoreversible DA polymers, and the approach is validated on a soft robotic gripper. The reversibility of their network permits manufacturing these flexible self-healing polymers through reactive printing into the complex shapes required in soft robotics. The degree of freedom in the design of soft robotics that this new manufacturing technique offers is illustrated through the construction of adaptive DHAS gripper fingers, based on the design by FESTO. Being constructed out of self-healing soft flexible polymer, the fingers can recover entirely from large cuts, tears, and punctures. This is highlighted through various damage-heal cycles.
Collapse
Affiliation(s)
- Ellen Roels
- Robotics and Multibody Mechanics (R&MM), Vrije Universiteit Brussel, Brussels, Belgium.,Flanders Make, Brussels, Belgium.,Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel, Brussels, Belgium
| | - Seppe Terryn
- Robotics and Multibody Mechanics (R&MM), Vrije Universiteit Brussel, Brussels, Belgium.,Flanders Make, Brussels, Belgium.,Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel, Brussels, Belgium
| | - Joost Brancart
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel, Brussels, Belgium
| | - Robrecht Verhelle
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel, Brussels, Belgium
| | - Guy Van Assche
- Physical Chemistry and Polymer Science (FYSC), Vrije Universiteit Brussel, Brussels, Belgium
| | - Bram Vanderborght
- Robotics and Multibody Mechanics (R&MM), Vrije Universiteit Brussel, Brussels, Belgium.,Flanders Make, Brussels, Belgium
| |
Collapse
|
49
|
Mathijssen G, Furnemont R, Saerens E, Garabini M, Catalano MG, Lefeber D, Bicchi A, Vanderborght B. Novel Lockable and Stackable Compliant Actuation Unit for Modular +SPEA Actuators. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2937479] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
|
50
|
Verstraten T, Furnemont R, Beckerle P, Vanderborght B, Lefeber D. A Hopping Robot Driven by a Series Elastic Dual-Motor Actuator. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2902071] [Citation(s) in RCA: 14] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
|