Paper on "High-Performance Perpendicularly-Enfolded-Textile Actuators for Soft Wearable Robots: Design and Realization" online


The paper "High-Performance Perpendicularly-Enfolded-Textile Actuators for Soft Wearable Robots: Design and Realization" has been published in the IEEE Transactions on Medical Robotics and Bionics (Early Access).

Textile materials have recently been used in wearable robotics to provide more compact, lightweight, and low-cost solutions. Designing the textile-based actuator remains challenging in terms of providing a spectrum of forces that support the human body motion. We propose a new design for a textile-based actuator, which is made of an inflatable tube folded inside a housing fabric. The direction of the folds is perpendicular to the actuation plane allowing the actuator to exhibit high performance in dealing with heavy weights; it also demonstrates coherent behaviors with a broad set of its geometric parameters. We built a wearable glove that exhibits high performance in holding 9 kg weights. The article is available here: https://ieeexplore.ieee.org/document/9149938

J. Nassour, F. H. Hamker and G. Cheng, "High-Performance Perpendicularly-Enfolded-Textile Actuators for Soft Wearable Robots: Design and Realization," in IEEE Transactions on Medical Robotics and Bionics, 2020, doi: 10.1109/TMRB.2020.3012131.