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Design and validation of a high DOF origami inspired soft actuated assistive exoskeleton arm and spine

George, D., Kawamura, S., Zheng, Y. ORCID: and Hayashi, Y. (2023) Design and validation of a high DOF origami inspired soft actuated assistive exoskeleton arm and spine. IEEE Transactions on Medical Robotics and Bionics, 5 (4). pp. 1045-1056. ISSN 2576-3202

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To link to this item DOI: 10.1109/tmrb.2023.3320718


This research presents the design, development, and validation of a high degree of freedom (DOF) exoskeleton actuated by origami-inspired soft inflatable modules. The objective was to create reliable soft actuators to provide safe and compliant movement assistance. Utilising lightweight 3D printing materials and origami-inspired soft flexible modules, the developed exoskeleton offers seven DOF to assist reaching motion of the upper limb. A passive rubber joint was incorporated for gravity compensation of the upper limb with elastic stability. The integrated exoskeleton consists of collapsible soft actuators made from polyethylene tubing, an ultra-lightweight structure with seven DOF, and real-time feedback through electronic goniometers. The validation included comprehensive testing of the soft actuators, and evaluating speed and accuracy. Torque measurements of the single module reached up to 4.46 Nm. A participant experiment in reaching motion demonstrated relatively slow but accurate movement, showcasing the effectiveness in assisting passive motion. This research successfully integrates soft actuators with a high DOF exoskeleton, highlighting its potential for providing movement assistance in various applications in future.

Item Type:Article
Divisions:Life Sciences > School of Biological Sciences > Biomedical Sciences
ID Code:113593
Uncontrolled Keywords:Artificial Intelligence, Control and Optimization, Computer Science Applications, Human-Computer Interaction, Biomedical Engineering
Publisher:Institute of Electrical and Electronics Engineers (IEEE)


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