Suit-type Wearable Robot Powered by Shape-memory-alloy-based Fabric Muscle.

Area of Science:

• Robotics
• Materials Science
• Biomechanics

Background:

• Conventional robots often suffer from bulkiness and inconvenience.
• Soft wearable robots (SWRs) offer a more comfortable and accessible alternative.
• There is a need for wearable assistive devices that integrate seamlessly into daily wear.

Purpose of the Study:

• To propose and evaluate a novel suit-type wearable robot (STWR) utilizing shape-memory-alloy-based fabric muscles (SFM).
• To develop and test a position controller for SFMs integrated into an STWR.
• To assess the performance of the STWR in assisting with lifting tasks.

Main Methods:

• Fabrication of an STWR prototype weighing less than 1kg, incorporating SFMs, wire encoders, and BOA.
• Development of a position controller for SFM actuation using wire encoder feedback.
• Experimental validation using a mannequin to lift 2kg and 4kg barbells to a target position.

Main Results:

• The STWR demonstrated a response time of under 1 second for lifting a 2kg barbell (excluding initial heating).
• Lifting a 4kg barbell resulted in a response time of approximately 3 seconds (excluding initial heating).
• The SFM-applied STWR showed significant potential in overcoming conventional robot limitations.

Conclusions:

• The developed STWR, using SFMs, offers a lightweight and convenient solution for muscular strength assistance.
• The system exhibits promising performance in assistive tasks, with potential for further optimization.
• This research highlights the application potential of STWRs in various fields requiring physical augmentation.