A Soft Robotic Textile‐Actuated Anthropomorphic Artificial Shoulder Mechanism
Replicating the human shoulder in anthropomorphic systems is notoriously challenging due to its complex combination of mobility and strength. This study presents the design, fabrication, and control of a new soft artificial shoulder that achieves a broad range of motion, torque, and compliance. Powe...
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| Format: | Article |
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Wiley
2025-04-01
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| Series: | Advanced Intelligent Systems |
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| Online Access: | https://doi.org/10.1002/aisy.202400807 |
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| author | Bibhu Sharma James Davies Emanuele Nicotra Adrienne Ji Kefan Zhu Phuoc Thien Phan Chi Cong Nguyen Trung Thien Hoang Jingjing Wan Patrick Pruscino Hoang‐Phuong Phan Nigel H. Lovell Thanh Nho Do |
| author_facet | Bibhu Sharma James Davies Emanuele Nicotra Adrienne Ji Kefan Zhu Phuoc Thien Phan Chi Cong Nguyen Trung Thien Hoang Jingjing Wan Patrick Pruscino Hoang‐Phuong Phan Nigel H. Lovell Thanh Nho Do |
| author_sort | Bibhu Sharma |
| collection | DOAJ |
| description | Replicating the human shoulder in anthropomorphic systems is notoriously challenging due to its complex combination of mobility and strength. This study presents the design, fabrication, and control of a new soft artificial shoulder that achieves a broad range of motion, torque, and compliance. Powered by soft robotic textiles consisting of a network of hydraulic artificial muscles, the engineered shoulder effectively mimics intricate shoulder movements, including flexion/extension, abduction/adduction, and medial/lateral rotation. Experiments demonstrate that the artificial shoulder can generate a peak torque of 9.6 ± 0.1 Nm, covering 65.3% of the human shoulder workspace. The artificial shoulder capability is demonstrated through several experimental testbeds. First, it is employed to develop a gesture‐controlled telemanipulation robotic system, applicable to robot‐assisted surgery, hazardous environment operations, gaming, and rehabilitation. Second, it serves as a platform for simulating and studying neurological disorders, such as Parkinson's disease. This approach offers a reliable in vitro testing ground for wearable device validation, providing a crucial intermediary step before progressing to user studies. The artificial shoulder marks a significant advancement in next‐generation anthropomorphic systems, closely mimicking the human musculoskeletal system, with promising applications in wearable assistive devices, haptics, orthopedic testing, and medical technologies. |
| format | Article |
| id | doaj-art-ab811147d708463fbaedee8dac4d7d0c |
| institution | OA Journals |
| issn | 2640-4567 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj-art-ab811147d708463fbaedee8dac4d7d0c2025-08-20T02:11:37ZengWileyAdvanced Intelligent Systems2640-45672025-04-0174n/an/a10.1002/aisy.202400807A Soft Robotic Textile‐Actuated Anthropomorphic Artificial Shoulder MechanismBibhu Sharma0James Davies1Emanuele Nicotra2Adrienne Ji3Kefan Zhu4Phuoc Thien Phan5Chi Cong Nguyen6Trung Thien Hoang7Jingjing Wan8Patrick Pruscino9Hoang‐Phuong Phan10Nigel H. Lovell11Thanh Nho Do12Graduate School of Biomedical Engineering and Tyree Institute of Health Engineering (IHealthE), Faculty of Engineering University of New South Wales (UNSW) Sydney NSW 2052 AustraliaGraduate School of Biomedical Engineering and Tyree Institute of Health Engineering (IHealthE), Faculty of Engineering University of New South Wales (UNSW) Sydney NSW 2052 AustraliaGraduate School of Biomedical Engineering and Tyree Institute of Health Engineering (IHealthE), Faculty of Engineering University of New South Wales (UNSW) Sydney NSW 2052 AustraliaGraduate School of Biomedical Engineering and Tyree Institute of Health Engineering (IHealthE), Faculty of Engineering University of New South Wales (UNSW) Sydney NSW 2052 AustraliaGraduate School of Biomedical Engineering and Tyree Institute of Health Engineering (IHealthE), Faculty of Engineering University of New South Wales (UNSW) Sydney NSW 2052 AustraliaGraduate School of Biomedical Engineering and Tyree Institute of Health Engineering (IHealthE), Faculty of Engineering University of New South Wales (UNSW) Sydney NSW 2052 AustraliaGraduate School of Biomedical Engineering and Tyree Institute of Health Engineering (IHealthE), Faculty of Engineering University of New South Wales (UNSW) Sydney NSW 2052 AustraliaGraduate School of Biomedical Engineering and Tyree Institute of Health Engineering (IHealthE), Faculty of Engineering University of New South Wales (UNSW) Sydney NSW 2052 AustraliaGraduate School of Biomedical Engineering and Tyree Institute of Health Engineering (IHealthE), Faculty of Engineering University of New South Wales (UNSW) Sydney NSW 2052 AustraliaGraduate School of Biomedical Engineering and Tyree Institute of Health Engineering (IHealthE), Faculty of Engineering University of New South Wales (UNSW) Sydney NSW 2052 AustraliaSchool of Mechanical and Manufacturing Engineering, Faculty of Engineering University of New South Wales (UNSW) Kensington Campus Sydney NSW 2052 AustraliaGraduate School of Biomedical Engineering and Tyree Institute of Health Engineering (IHealthE), Faculty of Engineering University of New South Wales (UNSW) Sydney NSW 2052 AustraliaGraduate School of Biomedical Engineering and Tyree Institute of Health Engineering (IHealthE), Faculty of Engineering University of New South Wales (UNSW) Sydney NSW 2052 AustraliaReplicating the human shoulder in anthropomorphic systems is notoriously challenging due to its complex combination of mobility and strength. This study presents the design, fabrication, and control of a new soft artificial shoulder that achieves a broad range of motion, torque, and compliance. Powered by soft robotic textiles consisting of a network of hydraulic artificial muscles, the engineered shoulder effectively mimics intricate shoulder movements, including flexion/extension, abduction/adduction, and medial/lateral rotation. Experiments demonstrate that the artificial shoulder can generate a peak torque of 9.6 ± 0.1 Nm, covering 65.3% of the human shoulder workspace. The artificial shoulder capability is demonstrated through several experimental testbeds. First, it is employed to develop a gesture‐controlled telemanipulation robotic system, applicable to robot‐assisted surgery, hazardous environment operations, gaming, and rehabilitation. Second, it serves as a platform for simulating and studying neurological disorders, such as Parkinson's disease. This approach offers a reliable in vitro testing ground for wearable device validation, providing a crucial intermediary step before progressing to user studies. The artificial shoulder marks a significant advancement in next‐generation anthropomorphic systems, closely mimicking the human musculoskeletal system, with promising applications in wearable assistive devices, haptics, orthopedic testing, and medical technologies.https://doi.org/10.1002/aisy.202400807anthropomorphic robotsbioinspirationshydraulic artificial musclessoft robotics |
| spellingShingle | Bibhu Sharma James Davies Emanuele Nicotra Adrienne Ji Kefan Zhu Phuoc Thien Phan Chi Cong Nguyen Trung Thien Hoang Jingjing Wan Patrick Pruscino Hoang‐Phuong Phan Nigel H. Lovell Thanh Nho Do A Soft Robotic Textile‐Actuated Anthropomorphic Artificial Shoulder Mechanism Advanced Intelligent Systems anthropomorphic robots bioinspirations hydraulic artificial muscles soft robotics |
| title | A Soft Robotic Textile‐Actuated Anthropomorphic Artificial Shoulder Mechanism |
| title_full | A Soft Robotic Textile‐Actuated Anthropomorphic Artificial Shoulder Mechanism |
| title_fullStr | A Soft Robotic Textile‐Actuated Anthropomorphic Artificial Shoulder Mechanism |
| title_full_unstemmed | A Soft Robotic Textile‐Actuated Anthropomorphic Artificial Shoulder Mechanism |
| title_short | A Soft Robotic Textile‐Actuated Anthropomorphic Artificial Shoulder Mechanism |
| title_sort | soft robotic textile actuated anthropomorphic artificial shoulder mechanism |
| topic | anthropomorphic robots bioinspirations hydraulic artificial muscles soft robotics |
| url | https://doi.org/10.1002/aisy.202400807 |
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