Abstract
Rigid and soft wearable robots have promising complementary properties that could be exploited to cover a broad range of applications and needs. While the former are ideal when high forces, accurate position and high dynamics are required, soft devices are more practical when portability and comfort are demanded. In this preliminary study, we quantify this duality by comparing the technical characteristics of a soft exosuit and a rigid exoskeleton and measuring their biomechanical and physiological effect on the elbow movements of healthy subjects.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Guizzo, E., Goldstein, H.: The rise of the body bots. IEEE Spectr. 42(10), 42–48 (2005)
Asbeck, A.T., De Rossi, S.M., Galiana, I., Ding, Y., Walsh, C.J.: Stronger, smarter, softer: next-generation wearable robots. IEEE Robot. Autom. Mag. 21(4), 22–33 (2014)
Walsh, C.: Human-in-the-loop development of soft wearable robots. Nat. Rev. Mater. 3, 78 (2018)
Vertechy, R., Frisoli, A., Dettori, A., Solazzi, M., Bergamasco, M.: Development of a new exoskeleton for upper limb rehabilitation. In: IEEE International Conference on Rehabilitation Robotics, pp. 188–193 (2009)
Solazzi, M., Abbrescia, M., Vertechy, R., Loconsole, C., Bevilacqua, V., Frisoli, A.: An interaction torque control improving human force estimation of the rehab-exos exoskeleton. In: IEEE Haptics Symposium, HAPTICS, pp. 187–193 (2014)
Chiaradia, D., Xiloyannis, M., Antuvan, C.W., Frisoli, A., Masia, L.: Design and embedded control of a soft elbow exosuit. In: Proceedings of the IEEE International Conference on Soft Robotics (RoboSoft), pp. 565–571. IEEE (2018)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Chiaradia, D., Xiloyannis, M., Solazzi, M., Masia, L., Frisoli, A. (2019). Comparison of a Soft Exosuit and a Rigid Exoskeleton in an Assistive Task. In: Carrozza, M., Micera, S., Pons, J. (eds) Wearable Robotics: Challenges and Trends. WeRob 2018. Biosystems & Biorobotics, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-030-01887-0_80
Download citation
DOI: https://doi.org/10.1007/978-3-030-01887-0_80
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-01886-3
Online ISBN: 978-3-030-01887-0
eBook Packages: EngineeringEngineering (R0)