Saved in:
| Main Authors: | , |
|---|---|
| Format: | Preprint |
| Published: |
2024
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2410.02802 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866916422759743488 |
|---|---|
| author | Liu, Tuo Realmuto, Jonathan |
| author_facet | Liu, Tuo Realmuto, Jonathan |
| contents | Movement disorders impact muscle strength and mobility, and despite therapeutic efforts, many people with movement disorders have challenges functioning independently. Soft wearable robots, or exosuits, offer a promising solution for continuous daily support, however, commercially viable devices are not widely available. Here, we introduce a design framework for lower limb exosuits centered on a soft pneumatically driven fabric-based actuator. Our design consists of a novel multi-material textile sleeve that incorporates braided mesh and knit-elastic materials to realize hyper-bending actuators. The actuators incorporate 3D-printed self-sealing end caps that are attached to a semi-rigid human-robot interface to secure them to the body. We will demonstrate the effectiveness of our exosuit in generating enough force to assist during sit-to-stand transitions. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_02802 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Soft Robotic Exosuit For Knee Extension Using Hyper-Bending Actuators Liu, Tuo Realmuto, Jonathan Robotics Movement disorders impact muscle strength and mobility, and despite therapeutic efforts, many people with movement disorders have challenges functioning independently. Soft wearable robots, or exosuits, offer a promising solution for continuous daily support, however, commercially viable devices are not widely available. Here, we introduce a design framework for lower limb exosuits centered on a soft pneumatically driven fabric-based actuator. Our design consists of a novel multi-material textile sleeve that incorporates braided mesh and knit-elastic materials to realize hyper-bending actuators. The actuators incorporate 3D-printed self-sealing end caps that are attached to a semi-rigid human-robot interface to secure them to the body. We will demonstrate the effectiveness of our exosuit in generating enough force to assist during sit-to-stand transitions. |
| title | A Soft Robotic Exosuit For Knee Extension Using Hyper-Bending Actuators |
| topic | Robotics |
| url | https://arxiv.org/abs/2410.02802 |