Soft robotic haptic interface with variable stiffness for rehabilitation of sensorimotor hand function

Patent metadata

Field	Value
Publication number	US-11446545-B2
Application number	US-201816212205-A
Country	US
Kind code	B2
Filing date	Dec 6, 2018
Priority date	Dec 6, 2017
Publication date	Sep 20, 2022
Grant date	Sep 20, 2022

Abstract

A pneumatically-actuated soft robotics-based variable stiffness haptic interface device for rehabilitation of a hand includes a body having a flexible outer wall and a cavity defined by the outer wall, the outer wall including a plurality of grooves configured to receive a fiber wound around the outer wall. The device further includes a pneumatic actuator in communication with the cavity and configured to provide pressure to the cavity.

First claim

What is claimed is:

1. A pneumatically-actuated soft robotics-based variable stiffness haptic interface device for rehabilitation of a hand, the device comprising:
a body including a flexible outer wall and a cavity defined by the outer wall, the outer wall including a plurality of grooves configured to receive a fiber wound around the outer wall, wherein the body is sized and shaped to be gripped by the hand during use; and
a pneumatic actuator in communication with the cavity and configured to provide pressure to the cavity;
wherein in an open loop mode the pneumatic actuator is configured to provide a predetermined pressure to the cavity and an internal pressure of the cavity is allowed to increase with an increased force applied to the device, and wherein in a closed loop mode the pneumatic actuator is configured to provide constant control, the cavity is given a starting pressure, and the internal pressure is configured to be maintained at the starting pressure as increased force is applied to the device.

2. The device of claim 1 , wherein the outer wall comprises silicone.

3. The device of claim 1 , further comprising a first end cap secured to a first end of the outer wall and a second end cap secured to a second end of the outer wall.

4. The device of claim 3 , further comprising a rod secured to the first end cap and the second end cap and extending between the first end cap and the second end cap inside the cavity.

5. The device of claim 1 , wherein the outer wall comprises a first layer of shore hardness 10A silicone rubber.

6. The device of claim 5 , wherein the outer wall comprises a second layer of shore hardness 20A silicone rubber.

7. The device of claim 1 , further comprising the fiber, wherein the fiber is wound around the body in clockwise and counter clockwise directions.

8. The device of claim 1 , further comprising:
a controller configured to set the predetermined pressure in the cavity,
a solenoid valve in communication with the controller, the solenoid valve configured to remain closed,
wherein the pneumatic actuator is in communication with the solenoid valve, and
a pressure sensor in communication with the pneumatic actuator and the cavity, the pressure sensor configured to monitor pressure variations in the cavity.

9. The device of claim 1 , further comprising:
a controller configured to set the predetermined pressure in the cavity,
a pressure sensor configured to monitor pressure in the cavity, the pressure sensor in communication with the controller, and
a solenoid valve in communication with the controller and configured to regulate the pressure in the cavity to the set pressure based on feedback from the pressure sensor, and
wherein the pneumatic actuator is in communication with the solenoid valve and the pressure sensor.

10. The device of claim 1 , wherein the body is cylindrical, and has a diameter between 35 mm and 45 mm and a height between 115 mm and 125 mm.

11. A pneumatically-actuated soft robotics-based variable stiffness haptic interface device for rehabilitation of a hand, the device comprising:
a cylindrical body including a flexible outer wall and a cavity defined by the outer wall;
a pneumatic actuator in communication with the cavity and configured to provide pressure to the cavity,
a pressure sensor to monitor a pressure in the cavity, and
a valve configured to regulate the pressure in the cavity in response to a user supplied force that acts radially on the flexible outer wall;
wherein the pressure sensor is configured to measure the pressure of the cavity, and
wherein the pressure measured by the pressure sensor of the cavity is greater than a predetermined pressure as the user supplied force applied to the device increases.

12. The device of claim 11 , further comprising an end cap secured to a first end of the outer wall, the end cap including a pneumatic tube for providing fluid communication between the cavity and the pneumatic actuator.

13. The device of claim 11 , wherein the outer wall includes a plurality of grooves and a fiber is disposed in the plurality of grooves and wound around the outer wall.

14. The device of claim 11 , wherein the outer wall comprises silicone.

15. The device of claim 11 , further comprising a controller coupled to the valve, wherein the controller is configured to open and close the valve to regulate a flow of air into and out of the cavity and to maintain a constant pressure within the cavity when the user applies the radial user supplied force.

16. The device of claim 15 , wherein the body is cylindrical and has a diameter between 35 mm and 45 mm, and has a height between 115 mm and 125 mm, wherein the body is configured to be gripped by a hand of the user.

17. A pneumatically-actuated soft robotics-based variable stiffness haptic interface device for rehabilitation of a hand, the device comprising:
a cylindrical body including a flexible outer wall and a cavity defined by the outer wall;
a pneumatic actuator in communication with the cavity and configured to provide pressure to the cavity;
a pressure sensor to monitor a pressure in the cavity;
a valve configured to regulate the pressure in the cavity in response to a user supplied force that acts radially on the flexible outer wall;
a controller coupled to the valve, wherein the controller is configured to open and close the valve to regulate a flow of air into and out of the cavity and to maintain a constant pressure within the cavity when the user applies the radial user supplied force;
wherein the body is cylindrical and has a diameter between 35 mm and 45 mm, and has a height between 115 mm and 125 mm, wherein the body is configured to be gripped by a hand of the user.

Assignees

• Polygerinos Panagiotis
• Sebastian Frederick
• Fu Qiushi
• Santello Marco
• Univ Arizona State

Inventors

• Polygerinos Panagiotis
• Sebastian Frederick
• Fu Qiushi
• Santello Marco

Classifications

• A61H1/00 Primary

  Apparatus for passive exercising (A61H5/00 takes precedence); Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones · CPC title

• A61H2201/1409

  Hydraulic or pneumatic means · CPC title

• A63B21/4023

  the user operating the resistance directly, without additional interface (A63B21/072 takes precedence) · CPC title

• A61H2201/169

  Physical characteristics of the surface, e.g. material, relief, texture or indicia · CPC title

• A63B24/0087

  Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load · CPC title