Realizing Soft High Torque Actuators for Complete Assistance Wearable Robots

  • Allan J. VealeEmail author
  • Kyrian Staman
  • Herman van der Kooij
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)


Wearable robots enhance the ability of their wearers to physically interact with the world, and can benefit rehabilitation efficiency, assistive devices’ effectiveness, and ergonomic support of workers. Wearable robots’ ergonomics and safety can be promoted by using actuators made of soft materials, but soft actuators in the literature are unable to produce the high torques required for lower limb activities of daily living (ADLs), for example, extension of the knee for sit-to-stand.

This paper presents and validates a method for realizing a soft high torque actuator, the pleated pneumatic interference actuator, for knee extension. It was shown to produce a torque of 150 Nm at 2 bar and an angle of 70°. Future work will see the development of a portable pressure source to inflate the wearable actuator.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Allan J. Veale
    • 1
    Email author
  • Kyrian Staman
    • 1
  • Herman van der Kooij
    • 1
  1. 1.Department of Biomechanical EngineeringUniversity of TwenteEnschedeThe Netherlands

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