Design, development, and evaluation of a pneumatically actuated soft wearable robotic elbow exoskeleton for reducing muscle activity and perceived workload

Abstract

To reduce muscle strain and enhance user comfort, a Pneumatically Actuated Soft Wearable Robotic Elbow Exoskeleton was developed. The design integrates human joint mechanics with a single-piece pneumatic structure for optimal assistance and reduced complexity. Nineteen participants performed tasks under "Support On" and "Support Off" conditions to evaluate their effectiveness and feasibility. Muscle activity was measured using Surface Electromyography, while torque output and inflation times were assessed to gauge mechanical performance. The Soft Wearable Robotic Elbow Exoskeleton reduced muscle activity in the biceps by 22.36% and in the triceps by 18.19% at 18 PSI (Pounds per Square Inch). Torque tests revealed a maximum output of 4.39 Nm at 21 PSI. Inflation time tests showed that the exoskeleton could reach total inflation in as little as 0.22 seconds in high mode at 25 PSI, demonstrating the ability to achieve rapid actuation speed and efficiency. These results indicate that the Soft Wearable Robotic Elbow Exoskeleton significantly reduces muscle activation, which may help mitigate the risk of work-related musculoskeletal disorders. By providing effective assistance during repetitive tasks, the exoskeleton enhances both mechanical performance and user comfort.