This paper proposes a methodology from the conception to the manufacture of soft wearable devices (SWD). This methodology seeks to unify medical, therapeutic and engineering guidelines for research, development and innovation. The aforementioned methodology is divided into two stages (A and B) and four phases. Stage A only includes phase 1 to identify the main necessity for a patient that will define the target of its associated device. Stage B encompasses phases 2, 3 and 4. The development of three models (virtual, mathematical and experimental physical) of the required device is addressed in phase 2. Phase 3 concerns the control and manufacture of the experimental physical model (EPM). Phase 4 focuses on the EPM experimental validation. As a result of this methodology, 13 mobility, 11 usability and 3 control iterative design criteria for SWD are reported. Moreover, more than 50 products are provided on a technological platform with modular architectures that facilitate SWD diversification. A case study related to a soft mobilizer for upper limb rehabilitation is reported. Nevertheless, this methodology can be implemented in different areas and accelerates the transition from development to innovation.

This paper establishes design criteria for soft exogloves (SEG) to be used as rehabilitation or assistance devices. This research consists in identifying, selecting, and grouping SEG features based on the analysis of 91 systems that have been proposed during the last decade. Thus, function, mobility, and usability criteria are defined and explicitly discussed to highlight SEG design guidelines. Additionally, this study provides a detailed description of each system that was analysed including application, functional task, palm design, actuation type, assistance mode, degrees of freedom (DOF), target fingers, motions, material, weight, force, pressure (only for fluids), control strategy, and assessment. Such characteristics have been reported according to specific design methodologies and operating principles. Technological trends are contemplated in this contribution with emphasis on SEG design opportunity areas. In this review, suggestions, limitations, and implications are also discussed in order to enhance future SEG developments aimed at stroke survivors or people with hand disabilities.

This paper addresses the design, fabrication and control of Fabric Inflatable Soft Actuators (FISAs) for driving Soft Wearable Devices (SWD) for rehabilitation or assistance tasks. FISAs are integrated by a set of pneumatic chambers made of 200D TPU-nylon that create bending-extending motions using a modular assembly that allow FISAs to adapt them to any size of limb or easily replace them. Regarding FISAs fabrication, a self-hand manufacturing approach has been used for cutting, sewing, and joining them. Additionally, to evaluate FISAs operation, a Soft Exo-Sleeve called MOSAR system was manufactured to achieve elbow motion. To control their inflation-deflation process in real-time, proportional and solenoid valves have been implemented along with a Proportional-Derivative (PD) control strategy that has been embedded in the NUCLEO-STM32F767ZI™ board with rapid control prototyping. Preliminary experiments about FISA performance on the MOSAR system were carried out to measure the inflation-deflation time, Range of Motion (ROM), and output force when elbow flexion-extension occurred in a dummy limb. The results have demonstrated FISAs functionality above the exosuit since they were able to lift 1 kg with flexion of 130° in 5 s using 50 psi. Therefore, FISAs represent a feasible choice for semicircular motions in other joints such as the wrist, hand, or knee, no matter age, limb, or size, only the number of FISAs must be adjusted on the MOSAR system.