Design and validation of a modular one-to-many actuator for a soft wearable exosuit

• Main Authors: Xiloyannis, Michele, Annese, Eugenio, Canesi, Marco, Kodiyan, Anil, Bicchi, Antonio, Micera, Silvestro, Ajoudani, Arash, Masia, Lorenzo
• Other Authors: Interdisciplinary Graduate School (IGS)
• Format: Article
• Language: English
• Published: 2019
• Subjects: Engineering::Mechanical engineering::Robots; Underactuation; Soft Exosuit
• Online Access: https://hdl.handle.net/10356/83518; http://hdl.handle.net/10220/49757
• Institution: Nanyang Technological University

The size, weight, and power consumption of soft wearable robots rapidly scale with their number of active degrees of freedom. While various underactuation strategies have been proposed, most of them impose hard constrains on the kinetics and kinematics of the device. Here we propose a paradigm to in...