Figure 1 | Scientific Reports

Figure 1

From: Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance

Figure 1

(a) Human spinal column representation comprising of the lumbar unit consisting of the vertebrae, intervertebral discs, spinal cord and other components. (b) Representation of the spinal column unit with a vacuum driven soft pneumatic actuator (V-SPA) module. (c) Numerical simulation results for a single V-SPA module. (d) Simulation results for a pressurized V-SPA module assembly with fixed ends. (e) V-SPA assembly undergoing free bending displacement. (f) Schematic representation of replication and assistance of spinal column motion with the help of the robotic assembly.

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