Design, development, and control of a fabric-based soft ankle module to mimic human ankle stiffness

Sunny Amatya; Amir Salimi Lafmejani; Souvik Poddar; Saivimal Sridar; Thomas Sugar; Panagiotis Polygerinos

doi:10.1109/ICORR.2019.8779495

Design, development, and control of a fabric-based soft ankle module to mimic human ankle stiffness

Sunny Amatya, Amir Salimi Lafmejani, Souvik Poddar, Saivimal Sridar, Thomas Sugar, Panagiotis Polygerinos

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Scopus citations

Abstract

This paper investigates the design of a robotic fabric-based, soft ankle module capable of generating 50% of the human ankle stiffness, in plantarflexion and dorsiflexion for walking. Kinematics, dynamics, and anatomy of the human ankle joint are studied to set the functional requirements of the module. The design of the compliant and lightweight soft ankle module uses fabric-based inflatable actuator arrays for actuation. Models for the human ankle stiffness, as well as a data-driven model of soft ankle module is presented. A high-level stiffness controller utilizing the human ankle and soft ankle model with a low-level pressure controller is implemented. We demonstrate the ability to closely follow the ankle stiffness trajectory using soft ankle module.

Original language	English (US)
Title of host publication	2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019
Publisher	IEEE Computer Society
Pages	886-891
Number of pages	6
ISBN (Electronic)	9781728127552
DOIs	https://doi.org/10.1109/ICORR.2019.8779495
State	Published - Jun 2019
Event	16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019 - Toronto, Canada Duration: Jun 24 2019 → Jun 28 2019

Publication series

Name	IEEE International Conference on Rehabilitation Robotics
Volume	2019-June
ISSN (Print)	1945-7898
ISSN (Electronic)	1945-7901

Conference

Conference	16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019
Country/Territory	Canada
City	Toronto
Period	6/24/19 → 6/28/19

ASJC Scopus subject areas

Control and Systems Engineering
Rehabilitation
Electrical and Electronic Engineering

Access to Document

10.1109/ICORR.2019.8779495

Cite this

Amatya, S., Lafmejani, A. S., Poddar, S., Sridar, S., Sugar, T., & Polygerinos, P. (2019). Design, development, and control of a fabric-based soft ankle module to mimic human ankle stiffness. In 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019 (pp. 886-891). Article 8779495 (IEEE International Conference on Rehabilitation Robotics; Vol. 2019-June). IEEE Computer Society. https://doi.org/10.1109/ICORR.2019.8779495

Design, development, and control of a fabric-based soft ankle module to mimic human ankle stiffness. / Amatya, Sunny; Lafmejani, Amir Salimi; Poddar, Souvik et al.
2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019. IEEE Computer Society, 2019. p. 886-891 8779495 (IEEE International Conference on Rehabilitation Robotics; Vol. 2019-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Amatya, S, Lafmejani, AS, Poddar, S, Sridar, S, Sugar, T & Polygerinos, P 2019, Design, development, and control of a fabric-based soft ankle module to mimic human ankle stiffness. in 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019., 8779495, IEEE International Conference on Rehabilitation Robotics, vol. 2019-June, IEEE Computer Society, pp. 886-891, 16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019, Toronto, Canada, 6/24/19. https://doi.org/10.1109/ICORR.2019.8779495

Amatya S, Lafmejani AS, Poddar S, Sridar S, Sugar T, Polygerinos P. Design, development, and control of a fabric-based soft ankle module to mimic human ankle stiffness. In 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019. IEEE Computer Society. 2019. p. 886-891. 8779495. (IEEE International Conference on Rehabilitation Robotics). doi: 10.1109/ICORR.2019.8779495

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title = "Design, development, and control of a fabric-based soft ankle module to mimic human ankle stiffness",

abstract = "This paper investigates the design of a robotic fabric-based, soft ankle module capable of generating 50% of the human ankle stiffness, in plantarflexion and dorsiflexion for walking. Kinematics, dynamics, and anatomy of the human ankle joint are studied to set the functional requirements of the module. The design of the compliant and lightweight soft ankle module uses fabric-based inflatable actuator arrays for actuation. Models for the human ankle stiffness, as well as a data-driven model of soft ankle module is presented. A high-level stiffness controller utilizing the human ankle and soft ankle model with a low-level pressure controller is implemented. We demonstrate the ability to closely follow the ankle stiffness trajectory using soft ankle module.",

author = "Sunny Amatya and Lafmejani, {Amir Salimi} and Souvik Poddar and Saivimal Sridar and Thomas Sugar and Panagiotis Polygerinos",

note = "Funding Information: ACKNOWLEDGMENT This work was supported in part by the National Science Foundation under Grant IIS-1830256. Publisher Copyright: {\textcopyright} 2019 IEEE.; 16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019 ; Conference date: 24-06-2019 Through 28-06-2019",

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Design, development, and control of a fabric-based soft ankle module to mimic human ankle stiffness

Abstract

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