Low-resistance, high-force, and large-ROM fabric-based soft elbow exosuits with adaptive mechanism and composite bellows  

作　　者：HUANG WeiCheng FENG Miao YANG DeZhi GU GuoYing 

机构地区：[1]Robotics Institute,School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China [2]State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 200240,China [3]Meta Robotics Institute,Shanghai Jiao TongUniversity,Shanghai 200240,China

出　　处：《Science China(Technological Sciences)》2023年第1期24-32,共9页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China (Grant Nos. 52025057 and 91948302);the Science and Technology Commission of Shanghai Municipality (Grant No. 20550712100)。

摘　　要：Due to the lightweight and compliance, fabric-based pneumatic exosuits are promising in the assistance and rehabilitation of elbow impairments. However, existing elbow exosuits generally suffer from remarkable mechanical resistance on the flexion of the elbow, thus limiting the output force, range of motion(ROM), and comfortability. To address these challenges, we develop a fabric-based soft elbow exosuit with an adaptive mechanism and composite bellows in this work. With the elbow kinesiology considered, the adaptive mechanism is fabricated by sewing the interface of the exosuit into spring-like triangle pleats, following the profile of the elbow to elongate or contract when the elbow flexes or extends. The composite bellows are implemented by further sealing a single blade of bellows into two branches to enhance the output force. Based on these structural features, we characterize the mechanical performance of different soft elbow exosuits: exosuit with normal bellows-NB, exosuit with adaptive mechanism and normal bellows-AMNB, exosuit with adaptive mechanism and composite bellows-AMCB. Experimental results demonstrate that by comparing with NB, the mechanical resistance of AMNB and AMCB decreases by 80.6% and 78.6%, respectively;on the other hand, the output torque of AMNB and AMCB increases to 120.3% and 207.0%, respectively, at50 k Pa when the joint angle is 120°. By wearing these exosuits on a wooden arm model(1.25 kg), we further verify that AMCB can cover a full ROM of 0°–130° at the elbow with 500 g weight. Finally, the application on a health volunteer with AMCB shows that when the volunteer flexes the elbow to lift a weight of 500 g, the s EMG activity of the biceps and triceps is markedly reduced.

关 键 词：wearable robots rehabilitation robots soft robot applications soft actuators design 

分 类 号：TB333[一般工业技术—材料科学与工程]