An Assistive Soft Wrist Exosuit for Flexion Movements With an Ergonomic Reinforced Glove.
admittance control
assistive robot
cable-driven exosuit
electromyography
ergonomics
flexible exoskeleton
soft wrist exosuit
wearable robotics
Journal
Frontiers in robotics and AI
ISSN: 2296-9144
Titre abrégé: Front Robot AI
Pays: Switzerland
ID NLM: 101749350
Informations de publication
Date de publication:
2020
2020
Historique:
received:
17
08
2020
accepted:
02
11
2020
entrez:
4
2
2021
pubmed:
5
2
2021
medline:
5
2
2021
Statut:
epublish
Résumé
Soft exosuits are a promising solution for the assistance and augmentation of human motor abilities in the industrial field, where the use of more symbiotic wearable robots can avoid excessive worker fatigue and improve the quality of the work. One of the challenges in the design of soft exosuits is the choice of the right amount of softness to balance load transfer, ergonomics, and weight. This article presents a cable-driven based soft wrist exosuit for flexion assistance with the use of an ergonomic reinforced glove. The flexible and highly compliant three-dimensional (3D)-printed plastic structure that is sewn on the glove allows an optimal force transfer from the remotely located motor to the wrist articulation and to preserve a high level of comfort for the user during assistance. The device is shown to reduce fatigue and the muscular effort required for holding and lifting loads in healthy subjects for weights up to 3 kg.
Identifiants
pubmed: 33537345
doi: 10.3389/frobt.2020.595862
pmc: PMC7848217
doi:
Types de publication
Journal Article
Langues
eng
Pagination
595862Informations de copyright
Copyright © 2021 Chiaradia, Tiseni, Xiloyannis, Solazzi, Masia and Frisoli.
Déclaration de conflit d'intérêts
The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest.
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