In-Situ Measurement of Multi-Axis Torques Applied by Wearable Soft Robots for Shoulder Assistance

• Published in: IEEE transactions on medical robotics and bionics Vol. 5; no. 2; p. 1
• Main Authors: McCann, Connor M., Hohimer, Cameron J., O'Neill, Ciaran T., Young, Harrison T., Bertoldi, Katia, Walsh, Conor J.
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.05.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuator design; Actuators; Boundary conditions; Mannequins; Performance evaluation; Robot control; Shoulder; shoulder assistive device; soft pneumatic actuator; soft robot characterization; Soft robotics; textile soft robot; Torque; Torque measurement; Wearable robot; Wearable technology

While a number of wearable soft robotic devices have been proposed to assist the shoulder, limited efforts have been made to quantify the amount of torque they apply to the body. Most work to-date has assessed soft actuator performance with simple benchtop experiments that may not be representative...