Thoraco-abdominal biomechanical model and dual-layer control method for soft robotic system with application to respiratory assistance
IntroductionRespiratory dysfunction remains a critical challenge for patients transitioning from intensive care. However, existing assistive devices often fail to address both human-robot dynamic synchronization and patient safety due to the lack of interaction force control. Therefore, this study p...
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Frontiers Media S.A.
2025-04-01
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| Series: | Frontiers in Bioengineering and Biotechnology |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/fbioe.2025.1581402/full |
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| author | Wenzhuo Zhi Wenzhuo Zhi Wei Zhao Wei Zhao Yan Zhang Enming Shi Enming Shi Yangfan Zhou Yangfan Zhou Bi Zhang |
| author_facet | Wenzhuo Zhi Wenzhuo Zhi Wei Zhao Wei Zhao Yan Zhang Enming Shi Enming Shi Yangfan Zhou Yangfan Zhou Bi Zhang |
| author_sort | Wenzhuo Zhi |
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| description | IntroductionRespiratory dysfunction remains a critical challenge for patients transitioning from intensive care. However, existing assistive devices often fail to address both human-robot dynamic synchronization and patient safety due to the lack of interaction force control. Therefore, this study proposes a human-robot force interaction control strategy by integrating a flexible force sensor, aimed at achieving precise alignment between assistive forces and natural respiratory rhythms.MethodsIn this study, a wearable respiratory assistive robotic system was developed to provide respiratory assistance by applying compressive force to the user’s abdomen through soft origami actuators. A thoracoabdominal biomechanical transmission analysis was conducted to reveal the cross-domain force transfer mechanisms. To improve the human-robot adaptability, a dual-layer control architecture for force-pressure coordinated control was designed. Besides, through hardware integration and system building, along with the implementation of interaction force control, the respiratory assistive robot achieves effective respiratory assistance control.ResultsWithin the 12–40 breaths/min effective respiratory rate range, PEF, MTV, and MV improved significantly. PEF had a 20.12% average increase, MTV a 19.69% average boost, and MV a 15.5% average rise. Statistically, PEF and MV improvements were highly significant across this range, while MTV was highly significant at 20 breaths/min. Respiratory MV measurements segmented by phase showed that the robot enhanced expiratory function and improved inspiratory function at certain rates within 12–40 breaths/min.DiscussionThe proposed human-robot interaction control system integrates hardware and control systems. Tests on healthy subjects in the effective operating range show that the robotic system can enhance subjects' overall respiratory function and ventilation function, offering a technical reference for future respiratory-assist robot development. |
| format | Article |
| id | doaj-art-ebce84090e96464f89ff20179cb1df5f |
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| issn | 2296-4185 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | Frontiers Media S.A. |
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| series | Frontiers in Bioengineering and Biotechnology |
| spelling | doaj-art-ebce84090e96464f89ff20179cb1df5f2025-08-20T02:17:20ZengFrontiers Media S.A.Frontiers in Bioengineering and Biotechnology2296-41852025-04-011310.3389/fbioe.2025.15814021581402Thoraco-abdominal biomechanical model and dual-layer control method for soft robotic system with application to respiratory assistanceWenzhuo Zhi0Wenzhuo Zhi1Wei Zhao2Wei Zhao3Yan Zhang4Enming Shi5Enming Shi6Yangfan Zhou7Yangfan Zhou8Bi Zhang9State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, ChinaUniversity of Chinese Academy of Sciences, Beijing, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, ChinaNortheastern University, Shenyang, ChinaBeihang University, Beijing, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, ChinaUniversity of Chinese Academy of Sciences, Beijing, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, ChinaUniversity of Chinese Academy of Sciences, Beijing, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, ChinaIntroductionRespiratory dysfunction remains a critical challenge for patients transitioning from intensive care. However, existing assistive devices often fail to address both human-robot dynamic synchronization and patient safety due to the lack of interaction force control. Therefore, this study proposes a human-robot force interaction control strategy by integrating a flexible force sensor, aimed at achieving precise alignment between assistive forces and natural respiratory rhythms.MethodsIn this study, a wearable respiratory assistive robotic system was developed to provide respiratory assistance by applying compressive force to the user’s abdomen through soft origami actuators. A thoracoabdominal biomechanical transmission analysis was conducted to reveal the cross-domain force transfer mechanisms. To improve the human-robot adaptability, a dual-layer control architecture for force-pressure coordinated control was designed. Besides, through hardware integration and system building, along with the implementation of interaction force control, the respiratory assistive robot achieves effective respiratory assistance control.ResultsWithin the 12–40 breaths/min effective respiratory rate range, PEF, MTV, and MV improved significantly. PEF had a 20.12% average increase, MTV a 19.69% average boost, and MV a 15.5% average rise. Statistically, PEF and MV improvements were highly significant across this range, while MTV was highly significant at 20 breaths/min. Respiratory MV measurements segmented by phase showed that the robot enhanced expiratory function and improved inspiratory function at certain rates within 12–40 breaths/min.DiscussionThe proposed human-robot interaction control system integrates hardware and control systems. Tests on healthy subjects in the effective operating range show that the robotic system can enhance subjects' overall respiratory function and ventilation function, offering a technical reference for future respiratory-assist robot development.https://www.frontiersin.org/articles/10.3389/fbioe.2025.1581402/fullhuman-robot interaction controlcross-domain biomechanicswearable robotsduallayer control architecturerespiratory function enhancement |
| spellingShingle | Wenzhuo Zhi Wenzhuo Zhi Wei Zhao Wei Zhao Yan Zhang Enming Shi Enming Shi Yangfan Zhou Yangfan Zhou Bi Zhang Thoraco-abdominal biomechanical model and dual-layer control method for soft robotic system with application to respiratory assistance Frontiers in Bioengineering and Biotechnology human-robot interaction control cross-domain biomechanics wearable robots duallayer control architecture respiratory function enhancement |
| title | Thoraco-abdominal biomechanical model and dual-layer control method for soft robotic system with application to respiratory assistance |
| title_full | Thoraco-abdominal biomechanical model and dual-layer control method for soft robotic system with application to respiratory assistance |
| title_fullStr | Thoraco-abdominal biomechanical model and dual-layer control method for soft robotic system with application to respiratory assistance |
| title_full_unstemmed | Thoraco-abdominal biomechanical model and dual-layer control method for soft robotic system with application to respiratory assistance |
| title_short | Thoraco-abdominal biomechanical model and dual-layer control method for soft robotic system with application to respiratory assistance |
| title_sort | thoraco abdominal biomechanical model and dual layer control method for soft robotic system with application to respiratory assistance |
| topic | human-robot interaction control cross-domain biomechanics wearable robots duallayer control architecture respiratory function enhancement |
| url | https://www.frontiersin.org/articles/10.3389/fbioe.2025.1581402/full |
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