A Soft Robotics-Based Approach to Elbow Rehabilitation: Design, Development, and Validation

This paper presents the design, development, and validation of an innovative soft robotics-based elbow rehabilitation device. Unlike conventional rigid passive rehabilitators, the proposed system prioritizes safety in human-robot interaction while introducing a novel approach to enhancing elbow mobility. Functional tests were systematically conducted on pouch motors to assess their suitability for integration into the rehabilitator. The device achieved an elbow range of motion of 0°-90° and generated an optimal force of ~98 N at 2 bar of pressure. The experimental results revealed a distinct nonlinear performance behavior, which was thoroughly analyzed to refine system operation and modeling. The study establishes a comprehensive framework encompassing actuator manufacturing, experimental testing, dynamic system identification, and open-loop control validation. Collectively, these stages culminate in the validation of the proposed dynamic model. Overall, this work represents a meaningful advancement in rehabilitation technology, providing a safer and more adaptable alternative for elbow rehabilitation, with strong potential for application across diverse healthcare settings.