Development of a soft-type actuator prototype with potential application in the assistance or training of movement patterns in the upper limb

Robotics has traditionally developed around rigid structures that limit its ability to interact with the environment. For some years, robots can be classified as rigid or soft depending on the deformation capacity of the materials that make them up (Trivedi, 2008). Soft robotics is a developing area that is based on imitating the movement of soft bodies that occur in nature, such as worms, snakes, jellyfish and octopuses. The movement strategies of these living beings in complex environments represent desirable advantages, which we try to emulate in the area of soft robots. Just as a mouse or an octopus can pass through a small hole by compressing its body, a soft robot is expected to be elastic, deformable and capable of maneuvering through confined spaces without suffering damage from pressure and stress concentration (Laschieaah, et.al.).

Develop a system using soft-type elements with potential application in the assistance or training of movement patterns in the upper limb.

Development of soft robot modeling strategies for the adequate mathematical description of the movement of the rehabilitation system. Design of strategies and adequate control laws for the movement of the prototype in a structured environment. Two (2) articles submitted for publication in an indexed scientific journal Q3 (ISI or SCOPUS) or higher.Two (2) Undergraduate degree projects.One (1) Master's student completed training at EIA University.One (1) Participation in Scientific EventOne (1) Progress ReportOne ( 1) Final Research Report. Prototype: Soft robotics system with potential use in assisting or training movement patterns in the upper limb. Technology with a maturity level TRL 4 (Validation of the technology in the CAME laboratory).