Soft Robotic Gripper with Pneumatic Actuation and Integrated Sensing
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Solution Overview
Problem
Peripheral neuropathy patients, particularly those with diabetic neuropathy, face significant challenges in performing daily tasks due to reduced sensation and functionality in their hands, leading to increased risk of injuries and complications such as burns and amputations, with limited effective solutions available to assist them in gripping and manipulating objects safely.
Innovation Solution
A soft gripper device made from flexible materials, powered by compressed air, equipped with sensors for temperature, pressure, and motion detection, and controlled by a microprocessor, providing both gross and fine motor control, and featuring a modular design for adjustability and customization, which can be affixed to a hand or used as a standalone device to assist in gripping and sensing objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional rigid robotic grippers are used, then gripping force is strong, but the device cannot adapt to different object shapes and sizes
Solution Approach 1:
The gripper employs flexible silicone rubber material throughout its structure, allowing the entire device to deform and conform to various object shapes. The flexible skin and body can be inflated or deflated to adapt to different gripping requirements, eliminating the need for complex mechanical adjustment mechanisms while maintaining high adaptability.
Solution Approach 2:
The gripper transitions from a static rigid structure to a dynamic flexible system that can change its shape and stiffness in real-time. By controlling the inflation/deflation of the silicone body, the gripper can dynamically adjust its gripping force and conformability to match different object characteristics, providing versatile adaptation without structural complexity.
2Loss of information
If sensors are added to detect physical stimuli, then feedback capability is improved, but device complexity increases
Solution Approach 1:
The sensors are integrated directly into the flexible silicone skin of the gripper, merging the sensing function with the structural component. This eliminates separate sensor housings and mounting mechanisms, reducing overall device complexity while maintaining comprehensive sensory feedback capability across multiple physical stimuli.
Solution Approach 2:
The sensors are embedded within the flexible silicone skin, allowing them to move and deform with the gripper body. This integration maintains the flexible, simple structure of the gripper while adding sensing capability, avoiding the complexity of rigid sensor assemblies and multiple separate components.
3Adaptability or versatility
If the gripper is made from soft flexible materials, then conformability to objects is improved, but gripping force may be reduced
Solution Approach 1:
The soft silicone gripper body is inflated with air or fluid to generate gripping force. The pneumatic pressure transmitted through the flexible material allows the soft gripper to maintain both its conformable nature and sufficient gripping force. The flexibility enables better contact with objects while the internal pressure provides the necessary grip strength.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The device enables patients to perform daily tasks independently by providing sensitive and customizable grip assistance, reducing the risk of injuries and monitoring disease progression, while also serving as a rehabilitation tool for improving hand functionality and tracking neuropathy progression.
Implementation Method 1
The pressurizing inlet can receive air to fill the chambers and actuate the molded body by expanding the elastic material, thus causing a bending motion
Implementation Method 2
sensors for detecting a physical stimulus (e.g., temperature, pressure, flexure, and motion)
Implementation Method 3
sensors for detecting a physical stimulus (e.g., temperature, pressure, flexure, and motion)
Data Source
AI summary
This invention is directed to offer a customizable, cost effective, and comfortable soft gripping solution for patients with chronic disabilities, such as diabetic neuropathy, allowing the patients to function independently and perform routine daily tasks. A soft robotic gripper has been developed with one or more inflatable systems actuated by aft to assist a user to grip an object. The main body of the gripper bends with air actuation while the fingertip actuation helps functionality in the extremities. The gripper is further enhanced by adding sensors that integrate feedback for sensitivity to touch, conformability, and grip ability. The modular design modifications allow for gripper adjustments as the disease progresses or rescinds. The gripper also works as a training aid for routine physical therapy exercises. Data collected by a microprocessor can also help learn more about these chronic diseases and use artificial intelligence to customize treatment regimens for individual patients.