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This work studies upper-limb impairment resulting from stroke or traumatic brain injury and presents a simple technological solution for a subset of patients: a soft, active stretching aid for at-home use. To better understand the issues associated with existing associated rehabilitation devices, customer discovery conversations were conducted with 153 people in the healthcare ecosystem (60 patients, 30 caregivers, and 63 medical providers). These patients fell into two populations: spastic (stiff, clenched hands) and flaccid (limp hands). Focusing on the first category, a set of design constraints was developed based on the information collected from the customer discovery. With these constraints in mind, a powered wrist-hand stretching orthosis (exoskeleton) was designed and prototyped as a preclinical study (T0 basic science research) to aid in recovery. The orthosis was tested on two patients for proof-of-concept, one survivor of stroke and one of traumatic brain injury. The prototype was able to consistently open both patients’ hands. A mathematical model was developed to characterize joint stiffness based on experimental testing. Donning and doffing times for the prototype averaged 76 and 12.5 s, respectively, for each subject unassisted. This compared favorably to times shown in the literature. This device benefits from simple construction and low-cost materials and is envisioned to become a therapy device accessible to patients in the home. This work lays the foundation for phase 1 clinical trials and further device development. 

Stroke causes neurological and physical impairment in millions of people around the world every year. To better comprehend the upper-limb needs and challenges stroke survivors face and the issues associated with existing technology and formulate ideas for a technological solution, the authors conversed with 153 members of the ecosystem (60 neuro patients, 30 caregivers, and 63 medical providers). Patients fell into two populations depending on their upper-limb impairment: spastic (stiff, clenched hands) and flaccid (limp hands). For this work, the authors chose to focus on the second category and developed a set of design constraints based on the information collected through customer discovery. With these in mind, they designed and prototyped a 3D-printed powered wrist–hand grasping orthosis (exoskeleton) to aid in recovery. The orthosis is easily custom-sized based on two parameters and derived anatomical relationships. The researchers tested the prototype on a survivor of stroke and modeled the kinematic behavior of the orthosis with and without load. The prototype neared or exceeded the target design constraints and was able to grasp objects consistently and stably, as well as exercise the patients’ hands. In particular, donning time was only 42 s, as compared to the next fastest time of 3 min reported in literature. This device has the potential for effective neurorehabilitation in a home setting, and it lays the foundation for clinical trials and further device development. 

Electropermanent magnetic (EPM) valves consist of two permanent magnets, one with high coercivity and one with relatively low coercivity, which are able to rapidly redirect the flux within a magnetic circuit. When combined with magnetorheological (MR) fluid, they provide the ability to rapidly switch flow in a hydraulic circuit on or off. EPM valves contain no moving parts and draw no power except when changing state. These facts, along with their scalability, make them an attractive option for distributed flow control in small hydraulic systems. Current examples of EPM valves are often restricted to relatively low-pressure or low-flow operation. Miniaturization of small-scale hydraulic robots, both soft and rigid, is limited by the availability of sufficiently lightweight, compact, and efficient components which are capable of directing fluid at pressures greater than 700 kPa. This research proposes an EPM valve which leverages the magnetic properties of MR fluid to channel magnetic flux through the fluid. To evaluate the proposed geometry, an exploratory prototype was constructed and evaluated using a test-bench capable of evaluating the valve as a flow resistance. Simulations were conducted to evaluate the design and validate the use of simulation for future design iteration. To be of use in robotic systems, this valve needs to be capable of rapidly switching relatively high pressures while maintaining a highly compact and easily manufactured form factor. Due to its size and low power consumption, it is suitable for distributed hydraulic control in miniature systems such as hydraulically-actuated robots, including soft robots. 

Abstract Often, fluidic soft robots are driven by large pneumatic or low-bandwidth hydraulic systems which struggle to meet performance objectives. This research presents the design of two morphologies of compact, positive displacement hydraulic pumps designed to act as power supplies for fluidic soft robots. These hydraulic pumps were designed to leverage additive manufacturing technology, creating cost-effective, yet volumetrically powerful units. The operational bandwidth of these pumps (> 10Hz) was substantially higher than the natural frequency of most elastomer-based soft robots (1–5Hz), allowing high control authority. These designs allow for highly scalable pumps, with performance documented in the paper. Due to the 3D printed nature of the pump components, manufacture cost is greatly reduced when compared to machined components. Each was tested driving various soft robotic actuators, demonstrating high-bandwidth, yet precise operation. With their minimal size, these pumps are candidates for un-tethered mobile soft robots, and their low weight and low noise allows them to be carried on the body for robotic actuators used in mobility rehabilitation. 

Here, we present a multimodal, lamprey-inspired, 3D printed soft fluidic robot/actuator based on an antagonistic pneunet architecture. The Pacific Lamprey is a unique fish which is able to climb wetted vertical surfaces using its suction-cup mouth and snake-like morphology. The continuum structure of these fish lends itself to soft robots, given their ability to form continuous bends. Additionally, the high gravimetric and volumetric power density attainable by soft actuators make them good candidates for climbing robots. Fluidic soft robots are often limited in the forces they can exert due to limitations on their actuation pressure. This actuator is able to operate at relatively high pressures (for soft robots) of 756 kPa (95 psig) with a −3 dB bandwidth of 2.23 Hz to climb at rates exceeding 18 cm/s. The robot is capable of progression on a vertical surface using a compliant microspine attachment as the functional equivalent of the lamprey’s more complex suction-cup mouth. The paper also presents the details of the 3D-printed manufacturing of this actuator/robot.