This work demonstrates the first 3D printed wearable motor-sensory module prototype designed for facial rehabilitation, focusing on facial paralysis. The novelty of the work lies in the fast fabrication of the first fully soft working prototype, including feedback control, with a focus on the methodology for individual customization. Facial paralysis results from a variety of conditions, and more wearable and modular technologies are needed to address the complexity of facial movement rehabilitation. Smiling muscles are especially important for both expression and eating, and so this work focuses on this motion as an example of how the module can be applied to mimic and support needed muscle movement. A generalized actuator-sensor pair with a feedback control system is created to translate signals from smiling on the healthy side of the face (notably temporal and zygomatic branch) to actuation on the paralyzed side of the face for augmented physiotherapy. Fabric and a sensor fluid are integrated during the silicone printing process to create a multicomponent wearable that is ready to use with minimal postprocessing. The actuators' force and vertical contraction results under a 0.98 and 1.96 N load meet the 1–7 N requirements needed for smiling. It is a challenge to measure soft surface-based force and contraction ratio consistently; therefore, a novel modular surface is designed to simulate the interaction of skin and bone using 3D printed hard plastic (bone) and a silicone sheet (skin). The actuator is tested on top of four different repeatable and standardized surface morphologies, and results reveal that the actuator force application will vary based on topography and hardness of the facial surface. Demonstration of the complete system on the face while collecting sensor and pressure data serves as a proof-of-concept and motivates potential applications in rapid customization of highly specialized soft wearable orthotics, prosthetics, and rehabilitation devices. This unique actuator-sensor combination can have additional applications for wearables due to the (1) customizability, (2) closed-loop control, and (3) unique “grounding” test platform.

中文翻译：

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用于面部康复的 3D 打印运动感觉模块原型

这项工作展示了第一个专为面部康复设计的 3D 打印可穿戴运动感觉模块原型，重点是面部麻痹。这项工作的新颖之处在于快速制造了第一个完全软的工作原型，包括反馈控制，重点是个性化定制的方法。面部麻痹是由多种情况引起的，需要更多的可穿戴和模块化技术来解决面部运动康复的复杂性。微笑的肌肉对于表达和进食都特别重要，因此这项工作将重点放在这个动作上，作为如何应用该模块来模拟和支持所需肌肉运动的一个例子。创建了具有反馈控制系统的通用致动器-传感器对，以将信号从面部健康侧（特别是颞部和颧骨分支）的微笑转换为面部瘫痪侧的致动，以进行增强物理治疗。织物和传感器流体在硅胶打印过程中集成，以创建一种多组件可穿戴设备，只需最少的后处理即可使用。致动器在 0.98 和 1.96 N 负载下的力和垂直收缩结果满足微笑所需的 1-7 N 要求。始终如一地测量基于软表面的力和收缩率是一项挑战；因此，设计了一种新颖的模块化表面，以使用 3D 打印硬塑料（骨骼）和硅胶片（皮肤）模拟皮肤和骨骼的相互作用。致动器在四种不同的可重复和标准化表面形态之上进行了测试，结果表明致动器施加的力将根据面部表面的地形和硬度而变化。在收集传感器和压力数据的同时，在面部展示完整系统作为概念验证，并激发了在高度专业化的软可穿戴矫形器、假肢和康复设备的快速定制方面的潜在应用。由于 (1) 可定制性、(2) 闭环控制和 (3) 独特的“接地”测试平台，这种独特的执行器-传感器组合可以为可穿戴设备提供更多应用。在收集传感器和压力数据的同时，在面部展示完整系统作为概念验证，并激发了在高度专业化的软可穿戴矫形器、假肢和康复设备的快速定制方面的潜在应用。由于 (1) 可定制性、(2) 闭环控制和 (3) 独特的“接地”测试平台，这种独特的执行器-传感器组合可以为可穿戴设备提供更多应用。在收集传感器和压力数据的同时，在面部展示完整系统作为概念验证，并激发了在高度专业化的软可穿戴矫形器、假肢和康复设备的快速定制方面的潜在应用。由于 (1) 可定制性、(2) 闭环控制和 (3) 独特的“接地”测试平台，这种独特的执行器-传感器组合可以为可穿戴设备提供更多应用。