Soft Robotics for Medical and Healthcare Applications

Dr. Shaik Himam Saheb is currently working as an Senior Assistant Professor in the Department of Mechanical and Robotics Engineering, Vignan’s Foundation for Science, Technology and Research(Deemed to be University), Hyderabad, Telangana, INDIA. His research interests are Robotics, Parallel Mechanisms, Data Science, and Machine Learning. He has published 48 Research papers in National and International journals and international conferences. He has published 4 books. The team guided by him has received a National level Go-Kart Championship with 1 lakh cash prize the event organized by Indian Society of New Era Engineers. His professional affiliations are MISTE, LMIAENG and MSMAE.Dr Appala Tharakeshwar is currently a Professor in the Mechanical Engineering department and Vice principal at Sri Venkateswara College of Engineering, Tirupati. His research interests are Robotics, Mechanisms, and multibody Dynamics. He completed his doctorate from the Indian Institute of Science (IISc) in Bangalore and has over 20 years of teaching and research experience. He has published 10 national and international journals and conferences.Dr. Mohammad S. Khan (SM’ 19) is currently an Associate Professor of Computing at East Tennessee State University and the director of Network Science and Analysis Lab (NSAL). He received his M.Sc. and Ph.D. in Computer Science and Computer Engineering from the University of Louisville, Kentucky, USA, in 2011 and 2013, respectively. His primary area of research is in ad-hoc networks, wireless sensor networks, network tomography, connected vehicles, and vehicular social networks. He currently serves as an associate editor of IEEE Access, IET ITS, IET WSS, Springer’s Telecommunication Systems and Neural Computing and Applications. He has been on technical program committees of various international conferences and technical reviewer of various international journals in his field. He is a senior member of IEEE.

• Table of ContentsPrefaceAcknowledgements Editor BiographiesList of ContributorsChapter-1Introduction to Soft robotics: Opportunities and challenges1.1 Introduction1.2 Digital Twin and Soft Robotics1.3 Applications of the soft robotics1.3.1 Medical and Healthcare1.3.2 Agriculture and Food Industry1.4 Soft robotics and 3D printing1.5 Fabrication of Soft Robots1.6 ConclusionsChapter -2.Recent Developments and Emerging Trends in Soft Robotics2.1 Introduction2.1.1. Literature Review2.2 What is a Soft robot2.3 Actuation of a Soft Robot2.3.2 Photosensitive actuators2.3.3 Dielectric elastomers actuators2.3.4 Combustion-driven actuators2.4 Advances in smart robotic material technologies2.5 Advanced Manufacturing Techniques2.6 Trends in design and analysis of soft robots2.7 Future Directions and Challenges2.8 ConclusionsChapter-3Soft Robotic Treatment for Club Foot3.1 Introduction3.2 Club Foot3.2.1 Reasons for Clubfoot3.2.2 Symptoms of club foot3.3 There are two main types of clubfoot3.3.1 Idiopathic Clubfoot3.3.2 Non idiopathic clubfoot3.4 Soft Robots in Clubfoot treatment3.4.1 Soft robotic Materials used in club foot treatment3.4.2Chemical Structure and Resistance3.4.3 Fungus Resistance3.5 Proposed Treatment Methods3.6 ConclusionsChapter-4Medical Applications of Bio-Inspired Soft Robotics4.1Introduction 4.2. Design and Mechanisms of Bio-Inspired Soft Robots4.2.1. Actuation Mechanisms4.2.2. Sensing and Control4.3 Minimally Invasive Surgery4. 3.1. Endoscopic Soft Robots4. 3.2Surgical Instruments4. 4. Rehabilitation and Prosthetics4.4.1. Wearable Soft Exoskeletons4.4.2. Soft Prosthetic Limbs4.5. Drug Delivery Systems4.5.1. Micro scale Soft Robots4.5.2. Implantable Drug Delivery Devices4.6. Diagnostic Tools4.6.1. Soft Robotic Biopsy Devices4.6.2. Flexible Endoscopic Tools4.7 Case Studies 4.7. Challenges and Future Prospects4.8. ConclusionsChapter-5Motion Control of Soft Robotic Arm through Servo Motors5.0 Introduction5.1 Literature Survey5.2 Stepper Motors5.2.1 Operation5.2.2 Advantages of Stepper Motors5.2.3Applications of Stepper Motors5.2.4 Limitations of Stepper Motors5.3 Servo Motors5.3.3 Advantages of Servo Motors over Stepper Motors 5.4 Motion control in soft robotics5.4.1 Actuation Mechanisms5.4.2 Control Strategies5.5 Hardware Configurations5.5.1Dynamic Model of High-Speed Precision Positional Servo System5.5.2 Motion Control5.6 ConclusionChapter-6Soft Robotic Applications to Care Elderly People6.0 Introduction6.1Literature review6.1.1 Soft Robotics: Definition and Characteristics6.1.2Mobility Assistance for Elderly Individuals6.2 Soft Robotic Exoskeletons6.2.1 Lower-Limb Exoskeletons for Walking Assistance6.2.2 Challenges in Lower-Limb Exoskeletons6.3 Soft Wearable Devices6.3.1 Soft Robotic Belts for Balance and Postural Control6.3.2 Challenges in Wearable Devices6.3.3 Fall Prevention and Stability Support6.3.4Smart Footwear and Balance Sensors6.3.5Wearable Sensors for Real-Time Monitoring6.3.6Challenges in Fall Prevention Systems6.4 Human-Robot Interaction and User Acceptance6.4.1 User-Centered Design6.4.2 Perceived Trust and Safety6.5 Rehabilitation and Therapy6.5.1 Soft Robotic Exoskeletons for Physical Rehabilitation6.5.2 Gait Training and Mobility Improvement6.5.3. Post-Stroke Rehabilitation6.5.4. Therapeutic Robotics for Joint Mobility6.5.5 cognitive and Physical Rehabilitation Integration6.5.6. Challenges and Future Prospects6.6. Activities of Daily Living (ADLs) Support6.6.1. Dressing Assistance6.6.2 Feeding Assistance6.6.3 Hygiene and Bathing6.6.4 Grooming and Personal Care6.6.5 Challenges and Future Directions6.7. Emotional Support and Companionship6.7.1. Therapeutic Robotic Companions6.7.2. Socially Assistive Robots (SARs)6.7.3 Combating Loneliness and Social Isolation6.7.4 Ethical Considerations: Authenticity of Relationships6.8. Challenges and Limitations6.9. Future Directions6.9.1. Ethical Considerations and Challenges6.9.2 Autonomy and Dependency6.9.2. Privacy and Data Security6.9.3. Informed Consent and Decision-Making6.9.4. Human-Robot Relationships and Social Isolation6.9.5. Cost and Accessibility6.9.6. Dignity and Emotional Well-Being6.10. ConclusionChapter-7Innovative Soft Robotics: Transforming Care and Quality of Life for elderly persons 7.1Introduction7.2Soft robotics7.3 Elderly person problems7.4 Healthcare Access and Management7.5 Case Studies7.6 ConclusionsChapter - 8Comprehensive Study on Materials Used in Soft Robotics for Medical and Healthcare Industries8.1 Types of Soft Robotic Materials8.0 Introduction8.1.1. Elastomers8.1.2. Hydrogels8.2.3. Optically Responsive Actuators8.2 TRA8.2.4 Magnetically Responsive Hydrogel8.2.5 Hydraulically Responsive Hydrogel8.3.Shape Memory Polymers (SMPs)8.3.1 PLA8.4 ConclusionsChapter-9Data Driven Soft Robotics9.1 Introduction to Soft Robotics9.2. Fundamentals of Soft Robotics9.2.1 Materials Used in Soft Robotics9.2.2. Design and Fabrication Techniques9.2.3 3D Printing9.3. The Role of Data in Soft Robotics9.3.1. Data Collection and Sensors9.3.2 Data-Driven Modeling and Simulation9.4. Soft Robotics Control Systems9.4.1. Traditional Control Methods9.4.2. Data-Based Control Techniques9.5. Architectures Representing Data-Driven Soft Robotics9.6. Applications of Data-Driven Soft Robotics9.6.1. Medical Applications9.6.2. Industrial Applications9.6.3. Environmental and Exploration Applications9.7 Challenges and Future Directions9.7.1. Technical Challenges9.7.2. Ethical and Societal Implications9.7.3. Future Research Directions9.8. ConclusionChapter-10Machine Learning in Soft Robotics: Techniques and Applications10.1 Introduction10.2 Machine Learning10.3 Necessity of Machine Learning10.4 Soft robotics10.5 Collaboration of soft robotics with Machine Learning10.6 Notable examples of soft robotics10.7 ConclusionsChapter 113D and 4D Printing: Revolutionizing Soft Robotics11.0 Introduction11.1 Historical Development11.2 3D Printing in Soft Robotics11.3 Advancements Expanding Capabilities11.4 4D Printing in Soft Robotics11.5 Challenges and Constraints11.6 Recent Progress and Future Prospects11.7 Fabrication Improvements11.8 ConclusionChapter-12Designing Bio-Inspired Soft Robotics for Medical Applications12.0 Top of FormBottom of FormIntroduction12.1 Soft robotics12.2 Classification of soft robots12.3 Manufacturing (3D printing) technology for robotic soft actuator12.3.1. Material Selection12.3.2. Design and Modeling12.3.3 Manufacturing Techniques12. 3.4Post-Processing12.3.5. Integration and Testing12.3.6 Applications and Customization12.4 Fundamentals of Bio-Inspired Soft Robotics Design12.4.1Material Selection 12.4.2 Actuation Mechanisms12.5Major applications of Soft Robotics12.5.1Medical Applications12.5.2Drug Delivery Systems12.5.3 Types of Soft Robotic Drug Delivery Systems12.5.4Rehabilitation and Assistive Devices12.5.5Tissue Engineering12.6Challenges and Future Directions12.6.1 Bio inspired soft robotics: challenges12.6.2 Future Directions of Bio-inspired Soft Robotics12.7 Future studies ought to concentrate on12.8OutlookChapter-13Advances in Design and Manufacturing of soft robotic applications13.1 Introduction13.2 Importance of Soft Robotics design13.2.1 Enhanced Design Accuracy13.2.2 Complex Geometries and Topologies13.2.3 Simulation and Testing13.2.4 Material Optimization13.2.5 Collaboration and Prototyping13.3 Manufacturing of soft robots13.3.1 Manufacturing intelligence13.4 Mechanisms used in soft robotics13.5 ConclusionsChapter 14Soft Robotics: Current Opportunities and Encountered Challenges14.1 Introduction14.2 Literature Review14.3 Current Opportunities14.3.1 Soft Robotics Compatible Technologies Development14.3.2 Complete Conversion from Hard Robots to Soft Robots14.3.3 Soft Actuator Development14.3.4 Soft Robots Control14.3.5 μ-Organism-like Soft Robots Development14.3.6 Wearable Soft Robots Development14.3.7 Untethered Soft Robots Development14.4. Encountered Challenges14.4.1 Wearable Soft Robots Challenges14.4.2μ-Organism-like Soft Robots Development Challenges14.4.3Soft Actuator Development Challenges14.4.4 Soft Materials Development Challenges14.4.5Untethered Soft Robots Challenges14.4.6 Soft Robots Control Challenges14.5 Softness Characteristics14.6 ConclusionChapter-15Current and Future Market Trends in Soft Robotics: A Management Perspective15.1 Introduction15.2 Current Market Overview15.3 Economic Implications and Value Creation15.3.1 Case Studies of Economic Impact15.4 Competitive Landscape and Market Entry Challenges15.5 Anticipated Market Growth and Opportunities15.6 Strategic Management Approaches15.7 Conclusions