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A Wearable Soft Fabric Sleeve for Upper Limb Augmentation.

Trung Thien Hoang1, Luke Sy1, Mattia Bussu2

  • 1Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales, Sydney 2052, Australia.

Sensors (Basel, Switzerland)
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Summary

This study introduces novel fiber-reinforced hydraulic soft actuators (SAs) for wearable robotic sleeves. These scalable and lightweight SAs offer significant force output, reducing muscular effort for users in assistive applications.

Keywords:
fabric sleevehysteresis modellingliquid metalsoft actuatorssoft roboticssoft sensorsupper limb augmentationwearable devices

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Area of Science:

  • Robotics
  • Materials Science
  • Wearable Technology

Background:

  • Soft actuators (SAs) are crucial for safe human-robot interaction in wearable devices.
  • Current SAs face limitations in scalability, hysteresis, and response speed.
  • Existing fabrication methods for fiber-reinforced SAs are often complex and labor-intensive.

Purpose of the Study:

  • To develop a new class of soft, scalable, high-aspect ratio fiber-reinforced hydraulic SAs.
  • To integrate these SAs into a wearable fabric sleeve for enhanced user adaptation.
  • To introduce a novel asymmetric hysteresis model for accurate SA performance prediction.

Main Methods:

  • A simplified insertion fabrication process for fiber-reinforced hydraulic SAs.
  • Integration of SAs into flexible fabrics to create a wearable sleeve.
  • Development of a liquid metal-based fabric piezoresistive sensor for elongation monitoring.
  • Experimental validation of a five-parameter asymmetric hysteresis model.

Main Results:

  • The new SAs are scalable, flexible, lightweight, and produce substantial force (23 N per muscle at 30% elongation).
  • The wearable robotic sleeve effectively augments user performance and reduces muscular effort, as confirmed by EMG signals.
  • The developed hysteresis model accurately captures the nonlinear behavior of the SAs.

Conclusions:

  • The novel SAs and integrated wearable system offer a promising solution for assistive applications.
  • The technology demonstrates effective modulation of assistance levels for wearers.
  • Potential applications include rehabilitation, defense, and industrial settings.