All-Fabric Bi-directional Actuators for Multi-joint Assistance of Upper Limb

作     者：Junlin Ma Diansheng Chen Zhe Liu Jie Wei Xianglin Zhang Zihan Zeng Yongkang Jiang Junlin Ma;Diansheng Chen;Zhe Liu;Jie Wei;Xianglin Zhang;Zihan Zeng;Yongkang Jiang

作者机构：Institute of RoboticsBeihang UniversityBeijing100191China Department of Control Science and EngineeringTongji UniversityShanghai201804China Frontiers Science Center for Intelligent Autonomous SystemsShanghai201210China 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2023年第20卷第6期

页      面：2661-2669页

核心收录：

学科分类：0710[理学-生物学] 0831[工学-生物医学工程（可授工学、理学、医学学位）] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0811[工学-控制科学与工程] 

基　　金：The research is supported by the National Natural Science Foundation of China(52275002) the Open Laboratory Concept Verification Project of Zhongguancun National Demonstration Zone(Grant No.202005226) 

主　　题：Soft robotic suits Fabric-based actuators Multi-DOF motion Upper limb rehabilitation 

摘      要：According to clinical studies,upper limb robotic suits are vital to reduce therapist fatigue and accelerate patient *** pneumatic actuators have drawn increasing attention for the development of wearable robots due to their low weight,flexibility,and high power-to-weight ***,most of current actuators were designed for the flexion assistance of a specific joint,and that for joint extension requires further ***,designing an actuator for diverse working scenarios remains a *** this paper,we propose an all-fabric bi-directional actuator to assist the flexion and extension of the elbow,wrist,and fingers.A mathematical model is presented that predicts the deformation and guides the design of the proposed bi-directional *** further validate the applicability and adaptability of the proposed actuator for different joints,we developed a 3-DOF soft robotic *** results show that the robotic suit can assist the motion of the elbow,wrist,and finger of the subject.