Design, Modeling, and Control of a Soft Robotic Diaphragm‐Assist Device in a Respiratory Simulator

Abstract

The diaphragm is a critical muscle for respiration, responsible for up to 70% ofthe inspiratory effort. Standard treatment for patients with severe diaphragmdysfunction is permanently tethering the airway to a mechanical ventilator, whichgreatly impacts patient autonomy and quality of life. Soft robots are ideal to assistin complex biological functions, such as diaphragm contraction. This articleintroduces a soft robotic diaphragm-assist device designed as a therapeutictreatment for diaphragm dysfunction, moreover a clinically relevant respiratorysimulator is designed and proposed as a validation and testing tool for thistreatment. The device uses fabric-based pneumatic actuators to provide targetedmechanical assistance during inhalation. A two-step control system is imple-mented to optimize synchronization and support: 1) detecting breath intentionfrom the pleural pressure signal to trigger the device and 2) regulating thedevice’s input pressure to assist in inhalation. Using the respiratory simulator,the device demonstrated the ability to restore pleural and abdominal pressuresand significantly increased transdiaphragmatic pressure during simulated con-ditions of diaphragm dysfunction. This research advances the field of softrobotics in respiratory care, providing a foundational platform for the develop-ment of next-generation therapeutic devices aimed at improving the quality of lifefor patients with diaphragm dysfunction.