The Exosleeve: A Soft Robotic Exoskeleton for Assisting in Activities of Daily Living

Natividad, Rainier F.; Hong, Sin Wai; Miller-Jackson, Tiana; Yeow, Chen-Hua

doi:10.1007/978-3-030-01887-0_78

Cited by 14 publications

(18 citation statements)

References 4 publications

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“…Rehabilitation exoskeletons have improved the quality of life of patients with neuromuscular diseases such as stroke or spinal cord injury. Also, in the case of using exoskeletons, this system will delay the onset of fatigue by reducing muscle activation in healthy users when doing physical work with the upper limb, while users with mobility impairments will be able to move their upper arm through the exoskeleton [67]. As mentioned in the second part, 48 out of the 60 existing designs included exoskeletons, in which 73% of them are provided as stationary, 17% portable and 10% as a wheelchair mounted system.…”

Section: Exoskeletonmentioning

confidence: 99%

See 1 more Smart Citation

A review: A Comprehensive Review of Soft and Rigid Wearable Rehabilitation and Assistive Devices with a Focus on the Shoulder Joint

Vatan

Nefti‐Meziani

Davis

et al. 2021

J Intell Robot Syst

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The importance of the human upper limb role in performing daily life and personal activities is significant. Improper functioning of this organ due to neurological disorders or surgeries can greatly affect the daily activities performed by patients. This paper aims to comprehensively review soft and rigid wearable robotic devices provided for rehabilitation and assistance focusing on the shoulder joint. In the last two decades, many devices have been proposed in this regard, however, there have been a few groups whose devices have had effective therapeutic capability with acceptable clinical evidence. Also, there were not many portable, lightweight and user-friendly devices. Therefore, this comprehensive study could pave the way for achieving optimal future devices, given the growing need for these devices. According to the results, the most commonly used plan was Exoskeleton, the most commonly used actuators were electrical, and most devices were considered to be stationary and rigid. By doing these studies, the advantages and disadvantages of each method are also presented. The presented devices each have a new idea and attitude in a specific field to solve the problems of movement disorders and rehabilitation, which were in the form of prototypes, initial clinical studies and sometimes comprehensive clinical and commercial studies. These plans need more comprehensive clinical trials to become a complete and efficient plan. This article could be used by researchers to identify and evaluate the important features and strengths and weaknesses of the plans to lead to the presentation of more optimal plans in the future.

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Section: Exoskeletonmentioning

confidence: 99%

“…Exoskeletons can have different DOFs depending on the design and expected performance [77]. In the proposed designs, the exoskeleton with one DOF [67,70] to designs with 12 DOFs are provided [58]. In general, the human arm movement in exoskeletons is usually designed with 7 DOF [31].…”

Section: Exoskeletonmentioning

confidence: 99%

A review: A Comprehensive Review of Soft and Rigid Wearable Rehabilitation and Assistive Devices with a Focus on the Shoulder Joint

Vatan

Nefti‐Meziani

Davis

et al. 2021

J Intell Robot Syst

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“…al. and assists shoulder abduction and adduction motions [60]. The device has a pneumatic actuation and allows to fit people with different anthropomorphic parameters.…”

Section: A Actuationmentioning

confidence: 99%

State-of-the-Art Assistive Powered Upper Limb Exoskeletons for Elderly

2020

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The number of older people is growing rapidly around the world. Ageing process results in reduced or restricted mobility which is essential to perform activities of daily living. Currently, there are numerous powered assistive exoskeletons commercially available as well as are being developed to support and rehabilitate lower limbs. Significant attention is also been given to develop upper limb rehabilitation devices, however the question of what kind of assistive devices can be used by elderly group of people for their upper limbs and what technical characteristics they should incorporate is not properly researched. This paper presents the state of the art of currently available assistive exoskeletons which can be exploited to support the motions of upper limbs of elderly to perform activities of daily living. Mechanism type, degrees of freedom, type actuators and materials selected for the fabrication of these porotypes are presented in detail. Also, the type of control systems utilized for these upper limb exoskeletons are discussed in detail with the insight on the feedback signal methods. A detailed discussion on the challenges in the fields of mechanism development, actuation and control for these upper limb powered exoskeletons is presented with the opportunities for future technological developments.

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“…Textiles enable inflatable soft robots to be strong yet lightweight and compliant. Textile-based fluidic actuators which bend and rotate have been used in a number of wearable robots, [40][41][42][43][44] particularly in glove applications 45,46 where the low weight of the actuators minimizes the mass of the device on the hand.…”

Section: Introductionmentioning

confidence: 99%

Unfolding Textile-Based Pneumatic Actuators for Wearable Applications

et al. 2022

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Textile based pneumatic actuators have recently seen increased development for use in wearable applications thanks to their high strength to weight ratio and range of achievable actuation modalities. However, the design of these textile-based actuators is typically an iterative process due to the complexity of predicting the soft and compliant behavior of the textiles. In this work we investigate the actuation mechanics of a range of physical prototypes of unfolding textile-based actuators to understand and develop an intuition for how the geometric parameters of the actuator affect the moment it generates, enabling more deterministic designs in the future. Under benchtop conditions the actuators were characterized at a range of actuator angles and pressures (0-136 kPa), and three distinct performance regimes were observed, which we define as Shearing, Creasing, and Flattening. During Flattening, the effects of both the length and radius of the actuator dominate with maximum moments in excess of 80 Nm being generated, while during Creasing the radius dominates with generated moments scaling with the cube of the radius. Low stiffness spring like behavior is observed in the Shearing regime, which occurs as the actuator approaches its unfolded angle. A piecewise analytical model was also developed and compared to the experimental results within each regime. Finally, a prototype actuator was also integrated into a shoulder assisting wearable robot, and on-body characterization of this robot was performed on five healthy individuals to observe the behavior of the actuators in a wearable application. Results from this characterization highlight that these actuators can generate useful on-body moments (10.74 Nm at 90°a ctuator angle) but that there are significant reductions compared to bench-top performance, in particular when mostly folded and at higher pressures.

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The Exosleeve: A Soft Robotic Exoskeleton for Assisting in Activities of Daily Living

Cited by 14 publications

References 4 publications

A review: A Comprehensive Review of Soft and Rigid Wearable Rehabilitation and Assistive Devices with a Focus on the Shoulder Joint

A review: A Comprehensive Review of Soft and Rigid Wearable Rehabilitation and Assistive Devices with a Focus on the Shoulder Joint

State-of-the-Art Assistive Powered Upper Limb Exoskeletons for Elderly

Unfolding Textile-Based Pneumatic Actuators for Wearable Applications

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