A cable-driven exosuit for upper limbs: design, control, and evaluation

Abstract

In the field of rehabilitation engineering, wearable robots for upper limbs tend to help powerless arms of patients smoothly complete daily activities. Compared with traditional rigid exoskeleton, soft exosuit takes the advantage of high movement flexibility and relatively compact structure so that it could be a more adaptive and compliant alternative for the elder and the disabled. In this study, a novel dual-arm exosuit is proposed to provide active assistance for multiple joints through bidirectional cable-driven modules. Several Bowden cables achieve power transmission from actuators mounted on the back to shoulders and elbows. The actuator is designed with reference to the principle of differential mechanism, in order to automatically preload both cables wrapped around it, generate assistive torque in two opposite rotation directions of a joint, and keep the human-robot interaction as safe as possible. This study adopts the constant torque control to assist in the pre-tightening process, and develop a model-based control strategy for bidirectional joint motion enhancement according to mathematical models of the human-robot system. The experimental results demonstrate that the prototype can impose pretension on each cable, and offer enough support on the joint according to the wearers’ demands.