| Description |
This dissertation presents the development and evaluation of an innovative instrumented footwear, termed the Smart Shoe, which is capable of realistically rendering terrain features in an immersive Virtual Reality (VR) locomotion interface through passively created height variations under the feet. The Smart Shoe employs a novel controllable cellular bladder sole that is able to deform passively when a user steps on it to let the user perceive stepping on a variety of virtual terrain features, like soft sand, grassy slope, uneven pavement, cobbled walkway, and rocks. Design of the Smart Shoe incorporates embedded mechatronics for compact packaging while providing required sensing and actuation capabilities. Comprehensive tests evaluating functionality and durability of the Smart Shoe are performed with a robotic testbed and human subjects. Biomechanical motion capture data is evaluated to validate the shoe performance. Subject interview data is also gathered to rate the haptic experience provided by the Smart Shoe. This dissertation includes three major studies, including the fabric/rubber composite material development, the Smart Shoe development, and the Smart Shoe application in a VR environment, aiming for Parkinson's Disease (PD) gait rehabilitation. The first study focuses on the development of a series of fabric/rubber composites that could be customized to have different elastic modulus, strength, and durability, suitable for various of soft robotic applications. These materials and manufacturing techniques are then used to enhance the Smart Shoes for significantly improved durability and load capacity. Comprehensive design iterations, modeling, simulation based optimization, and experimental testing are also presented, serving as the second major milestone. The third study then applies the Smart Shoe for terrain rendering in the TreadPort VR environment, which demonstrates the potential of using the Smart Shoe for PD gait rehabilitation purposes. |
