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User Intent Detection and Control of a Soft Poly-Limb

Abstract 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 suction adhesion or a soft grasper, and can also wrap its entire length around objects for m... (more)
Created Date 2018
Contributor Vale, Nicholas Marshall (Author) / Polygerinos, Panagiotis (Advisor) / Zhang, Wenlong (Committee member) / Artemiadis, Panagiotis (Committee member) / Arizona State University (Publisher)
Subject Robotics / Engineering / biomedical engineering / control / intrinsically soft devices / Soft Poly Limb / soft robotics / user intent
Type Masters Thesis
Extent 95 pages
Language English
Reuse Permissions All Rights Reserved
Note Masters Thesis Biomedical Engineering 2018
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS

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Description Dissertation/Thesis