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Design of Soft Exosuit for Elbow Assistance Using Butyl Rubber Tubes and Textile

  • John Nassour
  • Sidhdharthkumar Vaghani
  • Fred H. Hamker
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)

Abstract

Soft materials show numerous advantages compared to rigid ones in exosuit devices. We present the design of a soft wearable elbow assistance device with flexion and extension actuations. Commercially available butyl rubber tubes have been used as a pneumatic actuator. Tubes are enveloped by a lightweight polyester fabric to eliminate a non-homogeneous expansion. The surrounding fabric in turn is mounted on a clothes fabric as zigzag paths. The exosuit is lightweight, shock resistant, simple to manufacture, and low cost. The subjective experiments show a reduction average of 48% in the Rectified & integrated raw electromyography signal of the brachialis muscle during a rhythmic flexion/extension sequence while lifting weights (3 and 5 [kg]). Results indicate a significant assistance with respect to the other existing soft elbow exosuits.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • John Nassour
    • 1
  • Sidhdharthkumar Vaghani
    • 1
  • Fred H. Hamker
    • 1
  1. 1.Artificial Intelligence Lab, Computer ScienceChemnitz University of TechnologyChemnitzGermany

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