7 accepted papers
A gait entrainment study was conducted using a lightweight soft robotic hip exosuit (SR-HExo) that can apply perturbations at the hip joint during treadmill walking. Periodic mechanical perturbations were applied by flat fabric Pneumatic Artificial Muscle (ff-PAM) actuators starting at a subject’s p
This paper presents the design, fabrication, and preliminary results of a soft hip exosuit to assist hip flexion and extension during walking. The exosuit uses soft and compliant materials to create a wearable robot that has a low profile, low mass, and is highly flexible to freely move with the use…
An entrainment study was conducted with a novel soft robotic ankle-foot orthosis (SR-AFO) consisting of a pair of flat fabric pneumatic artificial muscles (ff-PAM). Entrainment capabilities of a lighter soft robotic orthosis were compared with heavy rigid robotic counterparts reported previously. To
This paper presents a soft robotic ankle-foot orthosis (SR-AFO) exosuit designed to provide support to the human ankle in the frontal plane without restricting natural motion in the sagittal plane. The SR-AFO exosuit incorporates inflatable fabric-based actuators with a hollow cylinder design which…
This paper presents the design of the Multi-material Actuator for Variable Stiffness (MAVS), which consists of an inflatable soft fabric actuator fixed between two layers of rigid retainer pieces. The MAVS is designed to be integrated with a soft robotic ankle-foot orthosis (SR-AFO) exosuit to aid i…
This paper presents the design of a soft ankle-foot orthosis (AFO) exosuit to aid natural gait restoration for individuals suffering from foot drop. The sock-like AFO is comprised of soft actuators made from fabric-based, thermally-bonded nylon and designed to be worn over the users shoes. The syste…
This paper investigates the design of a soft elbow exosuit capable of providing supplemental lifting assistance by reducing muscle activity of the bicep muscle. The aim is to improve the efficiency and endurance of workers who are tasked with repetitive lifting. The design consists of an array of pn…