ASU Electronic Theses and Dissertations
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This work presents the integration of user intent detection and control in the development of the fluid-driven, wearable, and continuum, Soft Poly-Limb (SPL). The SPL utilizes the numerous traits of soft robotics to enable a novel approach to provide safe and compliant mobile manipulation assistance to healthy and impaired users. This wearable system equips the user with an additional limb made of soft materials that can be controlled to produce complex three-dimensional motion in space, like its biological counterparts with hydrostatic muscles. Similar to the elephant trunk, the SPL is able to manipulate objects using various end effectors, such as …
- Vale, Nicholas Marshall, Polygerinos, Panagiotis, Zhang, Wenlong, et al.
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