Soft Continuum Robotic Airbag Integrated with Passive Walker for Fall Mitigation

Abstract

This thesis describes the prototype and development of a soft continuum robotic airbag system that is attached to a passive mobility walker. The system can deploy in multiple configurations: to the front, left, or right of the walker depending on the direction of a detected fall. The continuum component of the project is made of nylon fabric with thin cables, allowing it to be compactly stored before deploying. The airbag is inflated in real time during a fall using a novel compression system. Results of experiments with the prototype in each configuration are presented. The system deploys consistently across falls, significantly reducing the g-force of impact