相关论文: Analysis of Forces Exerted by Shoulder and Elbow F…
This paper presents a comprehensive analysis of the contact force profile of a single-cell bidirectional soft pneumatic actuator, specifically designed to aid in the abduction and adduction of the shoulder for pediatric exosuits. The…
This paper presents the design and assessment of a fabric-based soft pneumatic actuator with low pressurization requirements for actuation making it suitable for upper extremity assistive devices for infants. The goal is to support shoulder…
This paper focuses on the design and systematic evaluation of fabric-based, bellow-type soft pneumatic actuators to assist with flexion and extension of the elbow, intended for use in infant wearable devices. Initially, the performance of a…
Wearable exosuits assist human movement in tasks ranging from rehabilitation to daily activities; specifically, head-neck support is necessary for patients with certain neurological disorders. Rigid-link exoskeletons have shown to enable…
Recently, soft actuator-based exosuits have gained interest, due to their high strength-to-weight ratio, inherent safety, and low cost. We present a novel wrist exosuit actuated by fabric pneumatic artificial muscles that has lightweight…
Soft robots have been increasingly utilized as sophisticated tools in physical rehabilitation, particularly for assisting patients with neuromotor impairments. However, many soft robotics for rehabilitation applications are characterized by…
Reduced shoulder mobility limits upper-limb function and the performance of activities of daily living across a wide range of conditions. Wearable exosuits have shown promise in assisting arm elevation, reducing muscle effort, and…
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…
Portable pneumatic systems for 2 degree-of-freedom (DOF) soft shoulder exosuits remain underexplored, and face fundamental trade-offs between torque output and dynamic response that are further compounded by the need for multiple actuators…
Pediatric exoskeletons offer great promise to increase mobility for children with crouch gait caused by cerebral palsy. A lightweight, compliant and user-specific actuator is critical for maximizing the benefits of an exoskeleton to users.…
The shoulder is responsible for the movement of the entire upper limb. It is capable of articulating in three degrees-of-freedom (DOF), enabling the arm to perform manipulation actions with incomparable dexterity. Exoskeletons targeting the…
This work focuses on closed-loop control based on proprioceptive feedback for a pneumatically-actuated soft wearable device aimed at future support of infant reaching tasks. The device comprises two soft pneumatic actuators (one…
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an…
Soft pneumatic actuators are widely used in soft robotics because they can produce large motions while remaining compliant enough to interact safely with objects, environments, and the human body. However, their performance is not solely…
Textile pneumatic actuators can provide useful wearable haptic feedback when embedded in gloves, armbands, and other smart garments. Here we investigate actuators fabricated from thermoplastic coated textiles. We measure the effects of…
Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with…
Hand impairment following neurological disorders substantially limits independence in activities of daily living, motivating the development of effective assistive and rehabilitation strategies. Soft robotic gloves have attracted growing…
Successful soft robot modeling approaches appearing in recent literature have been based on a variety of distinct theories, including traditional robotic theory, continuum mechanics, and machine learning. Though specific modeling techniques…
Despite recent advances in wearable technology, interfacing movement assistance devices with the human body remains challenging. We present a stretchable pneumatic sleeve that can anchor an exosuit actuator to the human arm with a low…
Anchor point placement is a crucial yet often overlooked aspect of exosuit design since it determines how forces interact with the human body. This work analyzes the impact of different anchor point positions on gait kinematics, muscular…