Air Efficient Soft Wearable Robot for High-Torque Elbow Flexion Assistance

Area of Science:

• Robotics
• Biomedical Engineering
• Rehabilitation Technology

Background:

• Soft wearable robots offer potential for assistive and rehabilitative applications.
• Developing portable inflatable soft robots faces challenges in balancing portability, performance, and usability.

Purpose of the Study:

• To present a textile-based robotic sleeve for elbow flexion assistance compatible with a portable actuation unit (PAU).
• To evaluate the impact of internal pneumatic supports (IPS) on actuator performance and user outcomes.

Main Methods:

• A curved textile actuator with internal pneumatic supports (IPS) was developed for elbow flexion.
• The robotic sleeve was tested on five healthy individuals and two individuals with Amyotrophic Lateral Sclerosis (ALS).
• Measurements included torque generation, battery-powered actuations, muscle activity, range of motion (ROM), and perceived exertion.

Main Results:

• Internal pneumatic supports (IPS) improved torque generation and increased battery-powered actuations by 60%.
• The device generated 13.5 Nm of torque at 90° and provided an assisted ROM of 134°±13° in healthy subjects.
• Healthy subjects showed reduced bicep muscle activity (49.1±13.3% static/dynamic, 43.6±11.1% ADLs); ALS participants reported reduced exertion and had an average ROM of 115°±8°.

Conclusions:

• The textile-based robotic sleeve with IPS offers effective elbow flexion assistance, enhancing portability and usability.
• The device demonstrates potential for daily life assistance, reducing muscle load in healthy individuals and improving function in ALS patients.
• Future research will explore broader applications of IPS and multi-joint assistance.