Abstract: An insertable catheter device includes a shaft including a proximal end and a distal end, an expandable balloon, and an actuator configured to expand and retract the expandable balloon. The actuator includes a fluid conduit that extends through the shaft and is coupled with the expandable balloon to enable inflation and retraction of the expandable balloon via injection or withdrawal of a fluid to or from the expandable balloon via the fluid conduit. The expandable balloon is displaceably retractable into the shaft and extendable from the shaft. A fluid pump is coupled with the fluid conduit to pump the fluid through the fluid conduit. A patch is positioned to be displaced by the expandable balloon when the expandable balloon is inflated, and the expandable balloon is displaceably retractable into the shaft and displaceably extendable from the shaft.

Abstract: Systems and methods for sorting utilizing an inflatable actuator are disclosed. A sorting system utilizing an inflatable actuator includes an inflatable actuator. The inflatable actuator is disposed in a cantilever beam orientation atop a support surface. The system includes an inflation component coupled to the inflatable actuator to provide an inflation force. Additionally, the system includes a control component configured to send an activation signal to the inflation component responsive to a detection of an object to be sorted. Responsive to the activation signal, the inflation component inflates the inflatable actuator to cause the inflatable actuator to make contact with the object to be sorted. The contact of the inflatable actuator with the object to be sorted causes the object to change from a first trajectory to a second trajectory.

Abstract: An insertable light-dispensing catheter device, comprising a shaft including a proximal and distal end, a light guide extending through the shaft, and a mirror displaceably extendable from the catheter into a position where the mirror receives and reflects light emitted from the light guide. The mirror can be in the form of a coating on an inflatable balloon; and the balloon, when inflated, can press a patch against a defect (e.g., a ventricular septical defect), while the light cures an adhesive that binds the patch to the structure with the defect, thereby remedying the defect.

Abstract: A soft robotic ankle-foot orthosis exosuit includes a brace configured to be worn on a user's foot, a first soft actuator, a second soft actuator, and a pneumatic system. The first soft actuator is coupled to the brace so that it is configured to be positioned proximate a top of the user's foot. The second soft actuator is also coupled to the brace and is configured to be positioned proximate a side of the user's foot. The pneumatic system is configured to change an internal pressure of the first soft actuator and the second soft actuator.

Abstract: A device for traversing a conduit includes a body having a first member that is receivable within a second member. The first member is slidable relative to the second member. A first actuator is coupled to a first end of the body. A second actuator is coupled to a second end of the body. A third actuator is coupled to the body between the first actuator and the second actuator. The third actuator is also spaced apart from the first actuator and the second actuator. The device also includes a pneumatic system that is configured to change the pressure of the actuators.

Abstract: The present disclosure provides a soft poly-limb system, comprising a first actuator segment, a second actuator segment, and a third actuator segment forming the soft poly-limb. Each of the first actuator segment, the second actuator segment, and the third actuator segment may comprise a plurality of ring reinforced actuators. The soft poly-limb system may further comprise a control system whereby a user may control the soft poly-limb.

Abstract: A soft robotic spinal orthosis includes a control system having at least one processor, a plurality of adjustable pressure fluid bladders to provide at least one variable supporting force to a torso of a user, a plurality of supports to secure the fluid bladders to the torso, at least one sensor to detect a position of the torso, and at least one pressure device to increase and decrease a fluid pressure of the fluid bladders.

Abstract: A pneumatically-actuated soft robotics-based variable stiffness haptic interface device for rehabilitation of a hand includes a body having a flexible outer wall and a cavity defined by the outer wall, the outer wall including a plurality of grooves configured to receive a fiber wound around the outer wall. The device further includes a pneumatic actuator in communication with the cavity and configured to provide pressure to the cavity.

Abstract: A multi-segment reinforced actuator includes (a) a soft actuator body that defines a chamber and (b) a plurality of distinct reinforcement structures on or in respective segments of the soft actuator body. First and second reinforcement structures are respectively configured to produce a first and second actuation motions, respectively, in first and second segments of the soft actuator body when fluid flows into or out of the chamber. The actuation motions are selected bending, extending, expansion, contraction, twisting, and combinations thereof; and the first actuation motion differs from the second actuation motion. The actuator can be used, e.g., to facilitate bending of the thumb with corresponding bending, extending, expansion, contraction, and twisting actuation motions.

Abstract: A soft-inflatable exosuit for knee rehabilitation is fabricated in two different beam-like structures (I and O cross-section actuators) and mechanically characterized for their torque performance in knee-extension assistance. The fabrication procedure of both types of actuators is presented as well as their integration into a light-weight, low-cost and body-conforming interface. To detect the activation duration of the device during the gait cycle, a soft-silicone insole with embedded force-sensitive resistors (FSRs) is used. In evaluation studies, the soft inflatable exosuit device is tested for its ability to reduce muscle activity during the swing phase of the knee. Using sEMG (surface electromyography) sensors, the rectus femoris muscle group of a healthy individual is recorded while walking on a treadmill at a constant speed, with and without the soft device.

Abstract: A multi-segment reinforced actuator includes (a) a soft actuator body that defines a chamber and (b) a plurality of distinct reinforcement structures on or in respective segments of the soft actuator body. First and second reinforcement structures are respectively configured to produce a first and second actuation motions, respectively, in first and second segments of the soft actuator or body when fluid flows into or out of the chamber. The actuation motions are selected bending, extending, expansion, contraction, twisting, and combinations thereof; and the first actuation motion differs from the second actuation motion. The actuator can be used, e.g., to facilitate bending of the thumb with corresponding bending, extending, expansion, contraction, and twisting actuation motions.

Abstract: Methods and systems for detecting overstride in runners include measuring, using an inertial measurement unit affixed to a shank of a person, an acceleration and an angle of the shank during a stride, monitoring, using a microprocessor, the shank acceleration measurements to detect an acceleration profile indicative of the corresponding foot making initial contact with the ground during the stride, determining, using the microprocessor, the corresponding shank angle at initial contact from the shank angle measurements, comparing, using the microprocessor, the shank angle at initial contact to a threshold shank angle, and identifying, using the microprocessor, an overstride of the corresponding leg if the shank angle at initial contact exceeds the threshold shank angle.

Abstract: The present disclosure describes soft-robotic wearable devices to treat and/or relieve Carpal Tunnel Syndrome, for example during typing assist applications. Soft actuators within the device adjust the angle of the wearer's wrist angle dynamically to achieve a neutral angle, alleviating the pressure on the median nerve and relieving Carpal Tunnel Syndrome strain.

Abstract: An insertable light-dispensing catheter device, comprising a shaft including a proximal and distal end, a light guide extending through the shaft, and a mirror displaceably extendable from the catheter into a position where the mirror receives and reflects light emitted from the light guide. The mirror can be in the form of a coating on an inflatable balloon; and the balloon, when inflated, can press a patch against a defect (e.g., a ventricular septical defect), while the light cures an adhesive that binds the patch to the structure with the defect, thereby remedying the defect.

Abstract: Methods and systems for detecting overstride in runners include measuring, using an inertial measurement unit affixed to a shank of a person, an acceleration and an angle of the shank during a stride, monitoring, using a microprocessor, the shank acceleration measurements to detect an acceleration profile indicative of the corresponding foot making initial contact with the ground during the stride, determining, using the microprocessor, the corresponding shank angle at initial contact from the shank angle measurements, comparing, using the microprocessor, the shank angle at initial contact to a threshold shank angle, and identifying, using the microprocessor, an overstride of the corresponding leg if the shank angle at initial contact exceeds the threshold shank angle.

Abstract: A multi-segment reinforced actuator includes (a) a soft actuator body that defines a chamber and (b) a plurality of distinct reinforcement structures on or in respective segments of the soft actuator body. First and second reinforcement structures are respectively configured to produce a first and second actuation motions, respectively, in first and second segments of the soft actuator body when fluid flows into or out of the chamber. The actuation motions are selected bending, extending, expansion, contraction, twisting, and combinations thereof; and the first actuation motion differs from the second actuation motion. The actuator can be used, e.g., to facilitate bending of the thumb with corresponding bending, extending, expansion, contraction, and twisting actuation motions.

Abstract: A sensor is described for detecting the force applied to or by soft material, and that is thus able to measure the stiffness of a soft material. The sensor comprises a sensor body into which is supplied a fluid under pressure. At least one sensor members are provided that are arranged to project from the sensor body under the pressure exerted thereon by the fluid. A sensor member displacement detection system is also provided, that is preferably optically based using optical fibres to illuminate the sensor member and that measures the modulation of the light reflected from the sensor member as the member is displaced against the pressure of the fluid to detect and measure the displacement. From the measured displacement an estimate of the force being applied to the sensor member can be obtained. The sensor is of a small size suitable for use during MIS or catheterisation procedures. Preferably the sensor is constructed of non-metallic material such that it is MRI compatible.