Optimal haptic feedback control of artificial muscles

Daniel Chen; Thor Besier; Iain Anderson; Thomas McKay

doi:10.1117/12.2046491

8 March 2014 Optimal haptic feedback control of artificial muscles

Daniel Chen, Thor Besier, Iain Anderson, Thomas McKay

Proceedings Volume 9056, Electroactive Polymer Actuators and Devices (EAPAD) 2014; 90562K (2014) https://doi.org/10.1117/12.2046491
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2014, San Diego, California, United States

Abstract

As our population ages, and trends in obesity continue to grow, joint degenerative diseases like osteoarthritis (OA) are becoming increasingly prevalent. With no cure currently in sight, the only effective treatments for OA are orthopaedic surgery and prolonged rehabilitation, neither of which is guaranteed to succeed. Gait retraining has tremendous potential to alter the contact forces in the joints due to walking, reducing the risk of one developing hip and knee OA. Dielectric Elastomer Actuators (DEAs) are being explored as a potential way of applying intuitive haptic feedback to alter a patient’s walking gait. The main challenge with the use of DEAs in this application is producing large enough forces and strains to induce sensation when coupled to a patient’s skin. A novel controller has been proposed to solve this issue. The controller uses simultaneous capacitive self-sensing and actuation which will optimally apply a haptic sensation to the patient’s skin independent of variability in DEAs and patient geometries.

Citation Download Citation

Daniel Chen, Thor Besier, Iain Anderson, and Thomas McKay "Optimal haptic feedback control of artificial muscles", Proc. SPIE 9056, Electroactive Polymer Actuators and Devices (EAPAD) 2014, 90562K (8 March 2014); https://doi.org/10.1117/12.2046491

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