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Position Sensing and Control with FMG Sensors for Exoskeleton Physical Assistance Read chapter Read first chapter

2019 | OriginalPaper | Chapter

Design of Soft Exosuit for Elbow Assistance Using Butyl Rubber Tubes and Textile

Authors : John Nassour, Sidhdharthkumar Vaghani, Fred H. Hamker

Published in: Wearable Robotics: Challenges and Trends

Publisher: Springer International Publishing

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Abstract

Soft materials show numerous advantages compared to rigid ones in exosuit devices. We present the design of a soft wearable elbow assistance device with flexion and extension actuations. Commercially available butyl rubber tubes have been used as a pneumatic actuator. Tubes are enveloped by a lightweight polyester fabric to eliminate a non-homogeneous expansion. The surrounding fabric in turn is mounted on a clothes fabric as zigzag paths. The exosuit is lightweight, shock resistant, simple to manufacture, and low cost. The subjective experiments show a reduction average of 48% in the Rectified & integrated raw electromyography signal of the brachialis muscle during a rhythmic flexion/extension sequence while lifting weights (3 and 5 [kg]). Results indicate a significant assistance with respect to the other existing soft elbow exosuits.

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previous chapter Comparison of a Soft Exosuit and a Rigid Exoskeleton in an Assistive Task
next chapter Optimizing Body Thickness of Watchband-Type Soft Pneumatic Actuator for Feedback of Prosthesis Grasping Force
Literature
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Manna, S.K., Dubey, V.N.: A mechanism for elbow exoskeleton for customised training. In: International Conference on Rehabilitation Robotics (2017)
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Chiaradia, D., Xiloyannis, M., Antuvan, C.W., Frisoli, A., Masia, L.: Design and embedded control of a soft elbow exosuit. In: IEEE International Conference on Soft Robotics (2018)
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Poliero, T., et al.: Soft wearable device for lower limb assistance: assessment of an optimized energy efficient actuation prototype. In: IEEE International Conference on Soft Robotics, pp. 559–564 (2018)
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Metadata
Title
Design of Soft Exosuit for Elbow Assistance Using Butyl Rubber Tubes and Textile
Authors
John Nassour
Sidhdharthkumar Vaghani
Fred H. Hamker
Copyright Year
2019
Book
Wearable Robotics: Challenges and Trends

Print ISBN: 978-3-030-01886-3

Electronic ISBN: 978-3-030-01887-0

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-3-030-01887-0_81