Modeling multi-contact point physical interaction between the anthropomorphic finger and soft robotic exo-digit for wearable rehabilitation robotics applications.

Introduction: Effective control of rehabilitation robots requires considering the distributed and multi-contact point physical human-robot interaction and users' biomechanical variation. This paper presents a quasi-static model for the motion of a soft robotic exo-digit while physically interacting with an anthropomorphic finger model for physical therapy. Methods: Quasi-static analytical models were developed for modeling the motion of the soft robot, the anthropomorphic finger, and their coupled physical interaction. An intertwining of kinematics and quasi-static motion was studied to model the distributed (multiple contact points) interaction between the robot and a human finger model. The anthropomorphic finger was modeled as an articulated multi-rigid body structure with multi-contact point interaction. The soft robot was modeled as an articulated hybrid soft-and-rigid model with a constant bending curvature and a constant length for each soft segment. A hyperelastic constitute model based on Yeoh's 3rdorder material model was used for modeling the soft elastomer. The developed models were experimentally evaluated for 1) free motion of individual soft actuators and 2) constrained motion of the soft robotic exo-digit and anthropomorphic finger model. Results and Discussion: Simulation and experimental results were compared for performance evaluations. The theoretical and experimental results were in agreement for free motion, and the deviation from the constrained motion was in the range of the experimental errors. The outcomes also provided an insight into the importance of considering lengthening for the soft actuators.

Chile Pepper (Capsicum) Breeding and Improvement in the "Multi-Omics" Era.

Chile pepper (Capsicum spp.) is a major culinary, medicinal, and economic crop in most areas of the world. For more than hundreds of years, chile peppers have "defined" the state of New Mexico, USA. The official state question, "Red or Green?" refers to the preference for either red or the green stage of chile pepper, respectively, reflects the value of these important commodities. The presence of major diseases, low yields, decreased acreages, and costs associated with manual labor limit production in all growing regions of the world. The New Mexico State University (NMSU) Chile Pepper Breeding Program continues to serve as a key player in the development of improved chile pepper varieties for growers and in discoveries that assist plant breeders worldwide. Among the traits of interest for genetic improvement include yield, disease resistance, flavor, and mechanical harvestability. While progress has been made, the use of conventional breeding approaches has yet to fully address producer and consumer demand for these traits in available cultivars. Recent developments in "multi-omics," that is, the simultaneous application of multiple omics approaches to study biological systems, have allowed the genetic dissection of important phenotypes. Given the current needs and production constraints, and the availability of multi-omics tools, it would be relevant to examine the application of these approaches in chile pepper breeding and improvement. In this review, we summarize the major developments in chile pepper breeding and present novel tools that can be implemented to facilitate genetic improvement. In the future, chile pepper improvement is anticipated to be more data and multi-omics driven as more advanced genetics, breeding, and phenotyping tools are developed.

A pilot study on the design and validation of a hybrid exoskeleton robotic device for hand rehabilitation.

STUDY DESIGN: An iterative design process was used to obtain design parameters that satisfy both kinematic and dynamic requirements for the hand exoskeleton. This design was validated through experimental studies. INTRODUCTION: The success of hand rehabilitation after impairments depends on the timing, intensity, repetition, and frequency, as well as task-specific training. Considering the continuing constraints placed on therapist-led rehabilitation and need for better outcomes, robot-assisted rehabilitation has been explored. Soft robotic approaches have been implemented for a hand rehabilitation exoskeleton as they have more tolerance for alignment with biological joints than those of hard exoskeletons. PURPOSE OF THE STUDY: The purpose of the study was to design, develop, and validate a soft robotic exoskeleton for hand rehabilitation. METHODS: A motion capture system validated the kinematics of the soft robotic digit attached on top of a human index finger. A pneumatic control system and algorithms were developed to operate the exoskeleton based on three therapeutic modes: continuous passive, active assistive, and active resistive motion. Pilot studies were carried out on one healthy and one poststroke participant using continuous passive motion and bilateral/bimanual therapy modes. RESULTS: The soft robotic digits were able to produce required range of motion and accommodate for dorsal lengthening, with trajectories of the center of rotation of the soft robotic joints in close agreement with the center of rotation of the human finger joints. DISCUSSION: The exoskeleton showed the robust performance of the robot in applying continuous passive motion and bilateral/bimanual therapy. CONCLUSIONS: This soft robotic exoskeleton is promising for assisting in the rehabilitation of the hand.

Soft Robotic Bilateral Hand Rehabilitation System for Fine Motor Learning.

This paper presents the development of a pneumatically actuated soft robotic based bilateral therapy system for hand rehabilitation in post-stroke patients. The goal is to use a healthy hand to guide the motion of the paretic hand using a sensorized glove and a robotic exoskeleton, respectively. The sensorized glove tracks the motion of the healthy hand and provides inputs for the soft robotic hand exoskeleton to apply mimicking motion to the paretic hand. Two control algorithms, PD flow-based and adaptive PD pressure-based position controls, were developed and tested. Initial tests confirmed the ability of the systems to apply bilateral therapy. Furthermore, the adaptive pressure-based controller showed better performance with overall error reduced by 25.8% with respect to the flow-based controller. Future studies will include feasibility and performance of the system for applying therapy to post-stroke patients.