In context
In late 2024, the field of wearable robotics was shifting from rigid exoskeletons toward soft, fabric-based systems that can be worn comfortably for daily assistance. Existing devices were often bulky and costly, limiting their use outside clinical settings. This study addressed the need for portable, multi-joint assistance for the upper limb.
What was reported
Researchers at the State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, designed a fabric-based soft wearable system to assist shoulder abduction and elbow flexion. The system integrates two types of pneumatic actuators into a garment: a symmetrical pneumatic interference actuator for the shoulder and an array multi-cavity actuator for the elbow.
The elbow actuator features corrugated folds inspired by skin redundancy at joints, reducing mechanical resistance, and a curvature-limiting layer to match joint curvature. Theoretical models predicted torque output, validated by experiments with a maximum RMSE of 3.2 N·m.
In load tests, muscle activation decreased by 52.2% in the middle deltoid and 54.0% in the biceps brachii. Simulations of daily tasks showed significant reductions in muscle activation across muscles, while the system maintained good mechanical transparency and a motion range suitable for daily needs.
Why it mattered
This work demonstrated that soft, fabric-based actuators can provide effective multi-joint assistance for daily use, offering a lightweight and comfortable alternative to rigid exoskeletons. It highlighted the potential for personalized, garment-integrated assistive systems to improve independence for individuals with upper-limb impairments.
“The system exhibits good flexibility and portability, and can achieve mechanical transparency while providing the necessary motion assistance for daily life.”
Source: 《机器人》期刊 (robot.sia.cn) · Published 2024-11-15 · “基于织物的柔性可穿戴上肢运动辅助系统设计”