A soft wearable sleeve for joint stiffness modulation

Xiaotian Zhang; Gaurav Singh; Girish Krishnan

doi:10.1109/AIM.2016.7576777

A soft wearable sleeve for joint stiffness modulation

Xiaotian Zhang, Gaurav Singh, Girish Krishnan

Industrial and Enterprise Systems Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, we present the design and analysis of a soft wearable sleeve capable of modulating the stiffness of a joint. The sleeve uses a novel fabric-like architecture of miniaturized soft fluidic actuators known as Fiber Reinforced Elastomeric Enclosures (FREEs). By selective actuation of FREEs in this architecture, we demonstrate joint stiffening in either one or both directions. The paper presents an analytical formulation to capture this stiffness modulation by (a) predicting stroke and forces generated by individual FREEs, and (b) applying them in the context of the architecture geometry to predict joint stiffness. We further verify the stiffness model with experimental bench top testing. The sleeve is soft, lightweight and discreet - worn under standard clothing - and can be configured for any joint and size.

Original language	English (US)
Title of host publication	2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	264-269
Number of pages	6
ISBN (Electronic)	9781509020652
DOIs	https://doi.org/10.1109/AIM.2016.7576777
State	Published - Sep 26 2016
Event	2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada Duration: Jul 12 2016 → Jul 15 2016

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume	2016-September

Other

Other	2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Country	Canada
City	Banff
Period	7/12/16 → 7/15/16

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering
Computer Science Applications
Software

Access to Document

10.1109/AIM.2016.7576777

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Zhang, X., Singh, G., & Krishnan, G. (2016). A soft wearable sleeve for joint stiffness modulation. In 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 (pp. 264-269). [7576777] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2016-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2016.7576777

A soft wearable sleeve for joint stiffness modulation. / Zhang, Xiaotian; Singh, Gaurav; Krishnan, Girish.

2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 264-269 7576777 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2016-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Zhang, X, Singh, G & Krishnan, G 2016, A soft wearable sleeve for joint stiffness modulation. in 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016., 7576777, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2016-September, Institute of Electrical and Electronics Engineers Inc., pp. 264-269, 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016, Banff, Canada, 7/12/16. https://doi.org/10.1109/AIM.2016.7576777

Zhang X, Singh G, Krishnan G. A soft wearable sleeve for joint stiffness modulation. In 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 264-269. 7576777. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2016.7576777

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