Date of Award
8-2022
Document Type
Thesis
Degree Name
Master of Science (MS)
Department
Mechanical Engineering
Committee Chair/Advisor
Dr. Ge Lv
Committee Member
Dr. Ian Walker
Committee Member
Dr. Garrett Pataky
Abstract
Most fall mitigation devices present a heavy system that avoid injuries to the user by preventing the impact of a fall. They are dependent on the user capability or on the probability that the user falls in the assumed manner the system was designed for. Often that is not the case, hence this project initiates a novel concept of using soft robotic arms to prevent falls from happening in the first place itself and save the user from any injuries. This thesis describes the prototype and development of a soft continuum robotic backpack system. The system can validate its use in fall mitigation over the front, backward, or sideways direction. The soft robotic arm is constructed with a bladder made of a soft rubber tubing , surrounded by a nylon braiding to allow the extension of the arm in the desired positions, sealed with custom made 3D printed nylon barbed connectors and plugs. The backpack is placed on a plastic mannequin and subjected to controlled falls in the directions mentioned above in a single plane. Results of the experiments with the prototype for each test scenario have been discussed.
Recommended Citation
Malhotra, Param, "Soft Robotic Arms for Fall Mitigation: Design, Control and Evaluation" (2022). All Theses. 3840.
https://tigerprints.clemson.edu/all_theses/3840
Included in
Biomedical Engineering and Bioengineering Commons, Computer-Aided Engineering and Design Commons, Electro-Mechanical Systems Commons