Design of a Hybrid SMA-Pneumatic based Wearable Upper Limb Exoskeleton

Abstract

Upper limb mobility impairments affect individuals at all life stages. Exoskeletons can assist in rehabilitation as well as performing Activities of Daily Living (ADL). Most commercial assistive devices still rely on rigid robotics with constrained biomechanical degrees of freedom that may even increase user exertion. Therefore, this paper discusses the iterative design and development of a novel hybrid pneumatic actuation and Shape Memory Alloy (SMA) based wearable soft exoskeleton to assist in shoulder abduction and horizontal flexion/extension movements, with integrated soft strain sensing to track shoulder joint motion. The garment development was done in two stages which involved creating (1) SMA actuators integrated with soft sensing, and (2) integrating pneumatic actuation. The final soft exoskeleton design was developed based on the insights gained from two prior prototypes in terms of wearability, usability, comfort, and functional specifications (i.e., placement and number) of the sensors and actuators. The final exoskeleton is a modular, multilayer garment which uses a hybrid and customizable actuation strategy (SMA and inflatable pneumatic bladder).