A SOFT PNEUMATIC ROTARY ACTUATOR DRIVEN HIP EXOSKELETON FOR LOWER LIMB MOTION ASSISTANCE

Abstract

Lower limb immobility can arise from hip flexor weakness. Exoskeletons, devices worn on the body to aid in joint motion, were developed to mitigate this. While effective, they are often constrained to rehabilitation facilities due to size, cost, and operation procedures. Traditionally they are made from motors and rigid links. Soft robotics is a field where actuators are made from flexible materials instead, and are generally lighter, lower in cost, and safer to operate. This work employs soft robotics with the goal of making lower limb exoskeletons more accessible. Tubular Jamming is presented, a variable stiffening method which allows soft pneumatic beams to achieve sufficient stiffness to transmit large loads. An assembly of pneumatic rotary actuators is presented, which is capable of exerting the large torque required for hip flexion assistance. Finally, a soft-pneumatic-rotary-actuator-driven exoskeleton for hip flexion is presented.