Sensorized Actuation for Rehabilitative Robotics and Prosthetics

This project develops a fiber-optically sensorized actuator technology and system that may be adapted to advanced upper limb prosthetic hands, as well as orthotic and exoskeleton components for both lower and upper limbs, to enhance sensory and motor function of individuals with disabilities. The goal of this project is to increase independence of individuals with disabilities in community settings, and provide improved means to carry out activities of daily living (ADLs). During Phase I, researchers investigate the application of techniques of under-actuation sensorized actuation, based on tendons equipped with Intelligent Fiber Optic System Corporation (IFOS) fiber Bragg grating (FBG) sensors using methods and implementations of multi-finger robotic hand actuation platform developed at the Carnegie Mellon University (CMU) School of Computer Science Robotic Institute. Fiber-optic sensors alleviate the need for complex and intrusive wiring and control systems and have numerous advantages including robustness, immunity to electromagnetic radiation, and very low weight and size. Initially, the IFOS sensorization approaches and designs developed in this project are adapted for the needs of dexterous prosthetic hands, and later to several other active rehabilitative robotic devices with the aim of greatly enhancing sensory and motor function for individuals with disabilities. The resulting approach is especially beneficial for prosthetic hands, reducing the complex control loops and algorithms needed to drive grasping motions and manipulation of objects of arbitrary size and shape, contributing to greater patient acceptance of prosthetic and orthotic devices.