Design Feasibility of an Energy-efficient Wrist Flexion-Extension Exoskeleton using Compliant Beams and Soft Actuators

Ali Amoozandeh Nobaveh, Brandon Caasenbrood

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

3 Citations (Scopus)
23 Downloads (Pure)

Abstract

Passive and active exoskeletons have been used over recent decades. However, regarding many physiological systems, we see that the majority explore both active and passive elements to minimize energy consumption while retaining proper motion control. In light of this, we propose a design that combines compliant mechanisms as passive support for gravity balancing of the hand's weight and soft actuators as active support for wrist flexion-extension. Our approach offers a safe, lightweight solution that intrinsically complements and supports the wrist's degrees of freedom. We hypothesize that the proposed soft wearable device is able to increase the range of motion and reduce muscle fatigue while being energy-conservative by balancing of the passive and active subsystems. In this work, we perform a design feasibility study for such soft wrist exoskeletons, particularly focused on wrist flexion-extension rehabilitation. Through optimization, geometries for the required functionality of the compliant beam and soft actuator are obtained, and their performance as separate subsystems is evaluated by simulations and experiments. Under the appropriate inputs, we show that the system can introduce a controllable bifurcation. Through experiments, we investigate such bi-stability and explore its usefulness for rehabilitative support of wrist flexion-extension. In short, the proposed wearable can offer a viable, energy-efficient alternative to traditional rehabilitation technologies.

Original languageEnglish
Title of host publicationProceedings of the International Conference on Rehabilitation Robotics, ICORR 2022
PublisherIEEE
Number of pages6
ISBN (Electronic)978-1-6654-8829-7
DOIs
Publication statusPublished - 2022
Event2022 International Conference on Rehabilitation Robotics, ICORR 2022 - Rotterdam, Netherlands
Duration: 25 Jul 202229 Jul 2022

Conference

Conference2022 International Conference on Rehabilitation Robotics, ICORR 2022
Country/TerritoryNetherlands
CityRotterdam
Period25/07/2229/07/22

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

  • Wrist
  • Performance evaluation
  • Actuators
  • Energy consumption
  • Manufacturing processes
  • Wearable computers
  • Exoskeletons

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