Miniaturization of Soft Robotic Control Systems and Actuators for Biomedical Applications

Abstract

Soft wearable robotics, a specialized branch of soft robotics, stands on the cusp of transforming the field of biomedical devices, particularly in the realm of assistive technology. This innovative approach offers a marked advantage over traditional rigid systems, owing to its inherent compliance and safety features that adapt seamlessly to the user's body. Despite these benefits, soft wearable robotics has faced significant challenges, particularly the often bulky control systems and actuators that have hindered its successful adoption beyond laboratory settings. This thesis seeks to tackle these obstacles head-on, striving to pioneer advancements in miniaturizing control systems and actuators without compromising performance. By employing a synergy of fluidic dynamics, biomechanics, and user-centered design principles, the research explores two primary categories of advancements: technological and knowledge-focused. The technological advancements target the development of compact and efficient control systems and actuators, essential for real-world adoption. These breakthroughs encompass air microfluidics for sequential gradient control, monolithic sheets for smooth compression, closed-loop regenerative systems for gait-controlled systems, dynamic fluidic cushions, and low-profile actuators and layered toroidal-shaped soft fluidic sensors for prosthetic applications. Meanwhile, the knowledge-focused contributions offer insights into merging microfluidics with soft robotics, designing body-driven electronics-free wearables, and understanding user-centered design approaches. Furthermore, examples of refining and miniaturizing the geometry of soft fluidic actuators to align with established medical device form factors pave the way for more intelligent and seamless integration into existing healthcare technologies are provided. Together, these innovations paint a vivid picture of a future where soft wearable robots become integral to medical devices, enhancing both functionality and user experience.