Soft, Self-Sensing Actuators (via inductance)

Learn More at the RAMlab website

By using an electrical circuit of flexible wires to reinforce a soft actuator, the length of the actuator can be measured through the inductance of the circuit.

My “Smart Braid” inductance sensing techniques for McKibben muscles were awarded the 2015 Prize for the Contributions in Soft Robotics Research (Soft Robotics Toolkit). See the paper here.

I developed inductance sensing techniques for the continuum joints of this bellows-driven robot built by Pneubotics.

This technique was extended to bellows actuators (in collaboration with Pneubotics) and was a finalist for the Best Systems Paper in Memory of Seth Teller at the 2017 Robotics: Science & Systems conference.

 

My PhD dissertation, “Sensing Methods for Soft Robotics,” explores this topic more thoroughly.


From: Felt, W., Chin, K.Y., and Remy, C.D., 2017, “Smart Braid Feedback for the Closed-Loop Control of Soft Robotic Systems”, Soft Robotics, 4(3):261-273 https://doi.org/10.1089/soro.2016.0056

 

 

Body-in-the-Loop Optimization

In thismetop_preview work, I pioneered the use of real-time measurements of metabolic cost to drive the online optimization of human assistance devices.

Learn More at PLOS ONE

 

Papers

  • Felt, W., Selinger, J., Donelan, J.M., and Remy, C.D., 2015, “”Body-In-The-Loop”: Optimizing Device Parameters Using Measures of Instantaneous Energetic Cost”, PLOS ONE, 10(8):e0135342 [URL]

Conference Presentations and Posters

  • Felt, W., Gardinier, E.S., Wensman, J., Gates, D.H., and Remy, C.D., 2015, “Body-in-the-Loop Optimization for the Selection of Prosthetic Control Parameters–A Pilot Study”, American Society of Biomechanics Annual Meeting [preprint]
  • Felt, W., Selinger, J., Donelan, J.M., and Remy, C.D., 2014, ” Body-in-the-Loop — Optimizing Actual Human Walking”, Dynamic Walking [preprint]

  • Gardinier, E.S., Felt, W., Wensman, J., Remy, C.D., and Gates, D.H., 2015, “Compensations Exist in Persons with Transtibial Ampuatation using Powered Ankle Prosthesis”, American Society of Biomechanics Annual Meeting [preprint]

  • Davidson, A., Gardinier, E.S., Felt, W., Wensman, J., Remy, C.D., and Gates, D.H., 2015, “Changes in Metabolic Cost with Varying Power Settings of a Powered Ankle Prosthesis”, American Society of Biomechanics Annual Meeting [preprint]

 

Owlet Baby Monitors

bbfonphone

Over the course of my senior year at BYU, I worked as Head of Product Development for Owlet Baby Monitors, a company I helped found. There, I led a team of engineers and designers working to help prevent SIDS through the empowerment of parents.

Our small team won numerous awards including 1st place in the BYU Student Innovator of the Year competition and 1st place in the International Business Model Competition

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1211-20 3741211-20 ACET ConferenceStudent Innovator of the Year CompetitionAdvancement Council for Engineering and TechnologyNovember 8,2012Jaren Wilkey/BYU© BYU PHOTO 2012All Rights Reservedphoto@byu.edu (801)422-7322

Pachyonychia Congenita (PC) Shoe

pcshoe

2012-13 Academic Year

I took the unusual step of proposing my own senior design project for my BS degree. The idea we had was to design a device to relieve pressure from the soles of patients with Pachyonychia Congenita (PC), a rare skin condition. Thanks to the support of PC Project and BYU, our team was able to identify a commercially available brace that we adapted for PC.

Learn more about the project at BYU Capstone.

Learn more about our solution at Instructables.com.