SOFT ROBOTIC ACTUATORS TOWARDS A BIAXIAL SHOULDER EXOSKELETON

NATIVIDAD RAINIER FLORENTIN

Publication

SOFT ROBOTIC ACTUATORS TOWARDS A BIAXIAL SHOULDER EXOSKELETON

NATIVIDAD RAINIER FLORENTIN

Abstract

Humans are reliant on the function of their upper limb. Disorders that impair the function of the shoulder consequently reduce quality of life. Robotic rehabilitation serves as an attractive treatment due to its promising results and its ability to alleviate the demands on therapists. This thesis explores a new soft robotic paradigm as a method to create naturally compliant, robotic exoskeletons for the shoulder. A plastic-fabric, modular, pneumatic bending actuator was conceptualized and characterized. The actuator features independent, removable, fabric inflation modules that are attached to a flexible but non-inflating plastic spine. . This actuator was modified for exoskeleton installation. A full fabric composition was utilized in order to maximize wearability. This new actuator design enables it to perform 3-D bending with insignificant resistance and are installed in a parallel fashion along the circumference of the upper arm. This exoskeleton was tested on healthy subjects. Subjects were instructed to perform shoulder movements with and without exoskeleton assistance. On average, muscle activation was reduced by 65%, 34% and 45% for abduction, horizontal flexion, and forward flexion respectively. Ultimately, this thesis highlights the ability of the new actuator design to create, 2-DOF shoulder exoskeleton that can provide support in a natural fashion.