Un exoesqueleto flexible y textil para asistir la flexión del codo

Exoskeletons are robots that surround the human anatomy to assist locomotion. Flexible exoskeletons, so-called exosuits, use soft materials and actuation methods to deliver a lightweight and unobstrusive construction. Their lack of a rigid self-supportive structure requires them to support their functioning on the users’ anatomy. This paper covers the mechanism to flex the elbow used by the flexible exoskeleton LUXBIT. The LUXBIT project aims to attain a flexible portable exoskeleton to assist the arms in bimanual tasks. The exoskeleton has a textile coupling that combines fabrics’ stacking and sewing patterns to transfer mobilising forces to the user. The actuation’s compactness has been achieved by applying tailoring methods. The resulting design is versatile, easy to maintain, and does not apply pressure to the skin constantly. The last sections evaluate the exoskeleton in four healthy subjects.