Soft robotic assistive device

Abstract

A method of monitoring a device that includes a soft pneumatic actuator and a gas pump, the soft pneumatic actuator configured to actuate, assist and/or resist a movement of a body part. The method includes measuring the pressure of a fluid in the internal chamber of the soft pneumatic actuator. The pressure measurement or measurements is/are used to estimate anyone or any combination of: the volume of the internal chamber; the three-dimensional position, shape, and/or displacement of the soft pneumatic actuator; and the force delivered by the soft pneumatic actuator.

1 . A method of monitoring a device comprising a soft pneumatic actuator and a gas pump, the soft pneumatic actuator configured to actuate, assist and/or resist a movement of a body part, wherein the soft pneumatic actuator is in fluid communication with the gas pump, and wherein the gas pump is for pressurising and/or depressurising an internal chamber of the soft pneumatic actuator, the device further comprising a pressure sensing means for measuring the pressure of a gas in the internal chamber of the soft pneumatic actuator, the method comprising:
 measuring the pressure of the gas in the internal chamber of the soft pneumatic actuator, and using the pressure measurement or measurements to estimate any one or any combination of:
 (a) the volume of the internal chamber of the soft pneumatic actuator; 
 (b) the three-dimensional position, shape, and/or displacement of the soft pneumatic actuator; and 
 (c) the force delivered by the soft pneumatic actuator. 
   
     
     
         2 . The method as claimed in  claim 1 , wherein the soft pneumatic actuator is positioned or fixed in relation to the corresponding body part of a user, and wherein the pressure measurement or measurements is/are used for any one or any combination of:
 (a) tracking the three-dimensional position or displacement of the body part;   (b) determining the starting or resting position of the body part;   (c) determining when the gas pump should be turned on and/or off or determining when pressurisation and/or depressurisation of the internal chamber should start or stop; and   (d) monitoring the strength of the body part or the resistance of the body part to actuation by the soft pneumatic actuator.   
     
     
         3 . The method as claimed in  claim 2 , wherein the body part is a finger and the soft pneumatic actuator is a bending actuator, and wherein the pressure measurement or measurements is/are used to track the degree of extension and/or flexion of the finger. 
     
     
         4 - 6 . (canceled) 
     
     
         7 . The method as claimed in  claim 1 , wherein the pressure of the gas in the internal chamber of the soft pneumatic actuator is measured while the gas pump is in operation. 
     
     
         8 . The method as claimed in  claim 1 , wherein:
 the three-dimensional position, shape, and/or displacement of the soft pneumatic actuator; and/or   the force delivered by the soft pneumatic actuator,   is/are dependent on the pressure of the gas in the internal chamber of the soft pneumatic actuator.   
     
     
         9 . The method as claimed in  claim 1 , further comprising providing an instruction for moving the body part to the user. 
     
     
         10 . The method as claimed in  claim 1 , wherein the pressure of the gas in the internal chamber is recorded over time. 
     
     
         11 . (canceled) 
     
     
         12 . The method as claimed in any one of the preceding claims claim  46 , wherein the pressure measurements are used to determine a characteristic of the change in pressure over time of the gas in the internal chamber, and wherein the characteristic of the change in pressure in combination with gauge pressure of the gas in the internal chamber is used to estimate any one or any combination of:
 (a) the volume of the internal chamber of the soft pneumatic actuator;   (b) the three-dimensional position, shape, and/or displacement of the soft pneumatic actuator; and   (c) the force (e.g. torque) delivered by the soft pneumatic actuator.   
     
     
         13 . The method as claimed in claim  46 , wherein the characteristic of the change in pressure over time is the rate of change of pressure of the gas in the internal chamber. 
     
     
         14 - 16 . (canceled) 
     
     
         17 . The method as claimed in  claim 1 , wherein the pressure measurement or measurements and/or a characteristic of the change in pressure over time is compared with a corresponding dataset or model, predetermined for the soft pneumatic actuator, to estimate any one or any combination of:
 (a) the volume of the internal chamber of the soft pneumatic actuator;   (b) the three-dimensional position, shape, and/or displacement of the soft pneumatic actuator; and   (c) the force delivered by the soft pneumatic actuator.   
     
     
         18 . The method as claimed in  claim 1 , further comprising priming the soft pneumatic actuator by pressurising or depressurising the soft pneumatic actuator to a pre-determined pressure level using the gas pump. 
     
     
         19 . (canceled) 
     
     
         20 . The method as claimed in  claim 1 , wherein the soft pneumatic actuator is positioned or fixed in relation to the corresponding body part of a user, and wherein the pressure measurement or measurements is/are used to estimate:
 the three-dimensional position or displacement of the corresponding body part; and/or   the user's strength in respect of a movement of the corresponding body part.   
     
     
         21 . The method as claimed in  claim 2 , wherein the pressure measurement or measurements is/are used to estimate any one or any combination of:
 the maximum displacement or the resting position of the corresponding body part of the user;   the range of motion of the corresponding body part of the user; and/or   the user's maximum strength in respect of a movement of the corresponding body part.   
     
     
         22 - 27 . (canceled) 
     
     
         28 . The method as claimed in  claim 1  for use in calibrating the device or for controlling the device. 
     
     
         29 - 35 . (canceled) 
     
     
         36 . The method as claimed in  claim 1 , wherein the device is configured such that the soft pneumatic actuator is engageable with a digit or digits of a hand, such that if the soft pneumatic actuator bends an engaged digit(s) is caused to bend and/or vice versa. 
     
     
         37 . (canceled) 
     
     
         38 . (canceled) 
     
     
         39 . The method as claimed in  claim 1 , the method further comprising:
 using the device to actuate, assist or resist the movement of the body part and/or using the device to monitor the underlying strength, accuracy and/or range of motion of the movement of the body part.   
     
     
         40 . (canceled) 
     
     
         41 . A device comprising a soft pneumatic actuator and a gas pump, the soft pneumatic actuator configured to actuate, assist and/or resist a movement of a body part, wherein the soft pneumatic actuator is in fluid communication with the gas pump, and wherein the gas pump is for pressurising and/or depressurising an internal chamber of the soft pneumatic actuator,
 the device further comprising a pressure sensing means for measuring the pressure of a gas in the internal chamber of the soft pneumatic actuator, wherein the device is configured to perform the method of  claim 1 .   
     
     
         42 . (canceled) 
     
     
         43 . A method of operating a soft pneumatic actuator as part of a device further comprising a gas pump, the soft pneumatic actuator configured to actuate, assist and/or resist a movement of a body part, wherein the soft pneumatic actuator is in fluid communication with the gas pump, and wherein the gas pump is for pressurising and/or depressurising an internal chamber of the soft pneumatic actuator, the device further comprising a pressure sensing means for measuring the pressure of a gas in the internal chamber of the soft pneumatic actuator, wherein the soft pneumatic actuator is operated dependent on an estimation or estimations according to the method of monitoring of  claim 1 . 
     
     
         44 . (canceled) 
     
     
         45 . (canceled) 
     
     
         46 . The method as claimed in  claim 1 , the method comprising: using the pressure measurement or measurements to determine a characteristic of the change in pressure over time of the gas in the internal chamber, and wherein the characteristic of the change in pressure is used to estimate any one or any combination of:
 (a) the volume of the internal chamber of the soft pneumatic actuator;   (b) the three-dimensional position, shape, and/or displacement of the soft pneumatic actuator; and   (c) the force delivered by the soft pneumatic actuator.   
     
     
         47 . The method as claimed in  claim 8  wherein at least one of the three-dimensional position, shape, and/or displacement of the soft pneumatic actuator; and/or the force delivered by the soft pneumatic actuator is/are further dependent on the volume of the internal chamber of the soft pneumatic actuator.