A soft wearable sleeve for joint stiffness modulation

Xiaotian Zhang, Gaurav Singh, Girish Krishnan

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publication2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages264-269
Number of pages6
ISBN (Electronic)9781509020652
DOIs
StatePublished - Sep 26 2016
Event2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada
Duration: Jul 12 2016Jul 15 2016

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2016-September

Other

Other2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
CountryCanada
CityBanff
Period7/12/167/15/16

ASJC Scopus subject areas

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

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  • Cite this

    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