The Exosleeve: A Soft Robotic Exoskeleton for Assisting in Activities of Daily Living

摘要: The shoulder is one of the most complex joints in human body due to its extensive range motion. Exoskeletons must accommodate shoulder’s capabilities order be effective. Soft robotic actuators have found their way into upper limb exoskeletons; however, current designs do not provide a mechanism for adjusting structure exoskeleton tailor-fit it onto user. We created modular, pneumatic, soft that capable mechanical and structural reconfiguration: Exosleeve. Reconfiguration provides potential ensure device correctly matches user’s requirements. ability Exosleeve assistance performing motion was preliminarily assessed through pilot test three healthy subjects. Subjects were instructed perform abduction exercises while surface electromyography measured muscle activation under various conditions. showed utilization reduces activation.