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Assistive Soft Exoskeletons with Pneumatic Artificial Muscles

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Haptic Interfaces for Accessibility, Health, and Enhanced Quality of Life

Abstract

Active aging improves health, life satisfaction, and sense of living. This chapter describes state-of-the-art assistive devices and introduces a variety of exoskeletons including hard and soft types. Newly developed pneumatic artificial muscles with low air pressure driven capability are presented, and their application to motion assistance for daily activity and to enhance sports experience are demonstrated. The developed pneumatic gel actuator (PGM) can be driven under very low air pressure and volume. The PGMs are applied to a walk assist suit that does not use any electric devices, named the Unplugged Powered Suit. Control of the assistance timing is attempted by adding foot sensors, electric valves, and micro-computers to the suit. The application of PGMs to assist wrist motion is explored. The developed ForceHand glove can support the user in performing basic movements with the help of pneumatic gel muscles attached to the glove. Applications described include an attempt to take advantage of lightweight and flexible characteristics of PGMs in the development of an assistive suit for sports players to enhance their physical abilities and to create a more exciting experience. Tennis and laser tag games were augmented by this soft-exoskeleton technology and its performance was evaluated in this context.

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Authors and Affiliations

  1. Graduate School of Engineering, Hiroshima University, Hiroshima, Japan

    Yuichi Kurita, Chetan Thakur & Swagata Das

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  1. Yuichi Kurita
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  2. Chetan Thakur
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  3. Swagata Das
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Correspondence to Yuichi Kurita .

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  1. The Polytechnic School, Arizona State University, Mesa, AZ, USA

    Troy McDaniel

  2. Arizona State University, Tempe, AZ, USA

    Sethuraman Panchanathan

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Kurita, Y., Thakur, C., Das, S. (2020). Assistive Soft Exoskeletons with Pneumatic Artificial Muscles. In: McDaniel, T., Panchanathan, S. (eds) Haptic Interfaces for Accessibility, Health, and Enhanced Quality of Life. Springer, Cham. https://doi.org/10.1007/978-3-030-34230-2_8

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