A textile-based strain sensor for measuring the length of a McKibben pneumatic actuator has been developed. McKibben actuators are flexible, lightweight, and widely used in all those applications where compliance and safety are required, e.g. soft robotics and power assisting device. The actuator length needs to be measured to control the device accurately. However, properties such as flexibility and lightness might be lost if rigid sensors such as potentiometers or linear encoders are directly attached to the actuators. For this reason, flexible and stretchable sensors are necessary. In this study, a flexible sensor using conductive textile is proposed to actively measure the length of manufactured McKibben actuators. Firstly, the electro-mechanical characteristics of the proposed sensor were obtained and a model to compensate its nonlinearities was evaluated. Secondly, an estimation of the accuracy was performed during dynamic actuator contractions. The results showed that, using this sensor, a direct measurement of the actuator axial displacement can be obtained within 20% error, without affecting its performances in terms of contraction.
Dementia and other cognitive disorders affect more than 35 million people worldwide. Over the last years, cognitive training tools were used to improve the brain functioning, thus to slow down the cognitive decline. Recently, research studies have demonstrated that aerobic exercise could play an important restorative role toward cognitive impairments. Therefore, the aim of this work is to present an innovative sensorized approach which combines aerobic exercise and traditional cognitive tools for daily training.
Nowadays, wearable sensors are widely used to quantify physical and motor activity during daily life, and they also represent innovative solutions for healthcare. In the clinical framework, the assessment of motor behaviour is entrusted to clinical scales, but they are dependent on operator experience. Thanks to their intrinsic objectivity, sensor data are extremely useful to provide support to clinicians. Moreover, wearable sensors are user-friendly and compliant to be used in an ecological environment (i.e., at home). This paper aims to propose an innovative approach useful to predict clinical assessment scores of infants' motor activity.Starting from data acquired by accelerometers placed on infants' wrists and trunk during playtime, we exploit the method of functional data analysis to implement new models combining quantitative data and clinical scales. In particular, acceleration data, transformed into activity indexes and combined with baseline clinical data, represent the input dataset for functional linear models.Despite the small number of data samples available, results show correlation between clinical outcome and quantitative predictors, indicating that functional linear models could be able to predict the clinical evaluation. Future works will focus on a more refined and robust application of the proposed method, based on the acquisition of more data for validating the presented models.ClincalTrials.gov; NCT03211533. Registered: July, 7th 2017. ClincalTrials.gov; NCT03234959. Registered: August, 1st 2017.
A new rehabilitative approach, called UPper Limb Children Action Observation Training (UPCAT), based on the principles of action observation training (AOT), has provided promising results for upper limb rehabilitation in children with unilateral cerebral palsy (UCP). This study will investigate if a new information and communication technology platform, named Tele-UPCAT, is able to deliver AOT in a home setting and will test its efficacy on children and young people with UCP.A randomised, allocation concealed (waitlist control) and evaluator-blinded clinical trial with two investigative arms will be carried out. The experimental group will perform AOT at home for 3 weeks using a customised Tele-UPCAT system where they will watch video sequences of goal-directed actions and then complete the motor training of the same actions. The control group will receive usual care for 3 weeks, which may include upper limb training. They will be offered AOT at home after 3 weeks. Twenty-four children with UCP will be recruited for 12 participants per group. The primary outcome will be measured using Assisting Hand Assessment. The Melbourne Assessment 2, ABILHAND, Participation and Environment Measure-Children and Youth and Cerebral Palsy Quality of Life Questionnaire will be included as secondary measures. Quantitative measures from sensorised objects and participants worn Actigraphs GXT3+ will be analysed. The assessment points will be the week before (T0) and after (T1) the period of AOT/standard care. Further assessments will be at T1 plus, the week after the AOT period for the waitlist group and at 8 weeks (T2) and 24 weeks (T3) after AOT training.The trial has been approved by the Tuscany Paediatric Ethics Committee (169/2016). Publication of all outcomes will be in peer-reviewed journals and conference presentations.NCT03094455.
Abstract Purpose of Review The new paradigm of soft robotics has been widely developed in the international robotics community. These robots being soft can be used in applications where delicate yet effective interaction is necessary. Soft grippers and manipulators are important, and their actuation is a fundamental area of study. The main purpose of this work is to provide readers with fast references to actuation technologies for soft robotic grippers in relation to their intended application. Recent Findings The authors have surveyed recent findings on actuation technologies for soft grippers. They presented six major kinds of technologies which are either used independently for actuation or in combination, e.g., pneumatic actuation combined with electro-adhesion, for certain applications. Summary A review on the latest actuation technologies for soft grippers and manipulators is presented. Readers will get a guide on the various methods of technology utilization based on the application.
