Characterisation of Pressure Distribution at the Interface of a Soft Exosuit: Towards a More Comfortable Wear

  • Michele XiloyannisEmail author
  • Domenico Chiaradia
  • Antonio Frisoli
  • Lorenzo Masia
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)


The rapid growth of wearable robots in the last decade requires tackling practical issues that arise from their daily use, among which comfort is of great importance. In this work we quantify the level of comfort of a soft exosuit for the elbow by measuring the distribution of pressures at its interface with the human body. We do so with five different cushioning materials, commonly used in sport equipment and orthoses, and identify the ones exhibiting lower peaks of pressure. Polyethylene sponge and neoprene result in the best padding.


  1. 1.
    Herr, H.: The new bionics that let us run, climb and dance. TED, Lect. (2014)Google Scholar
  2. 2.
    Mak, F., Zhang, M., Boone, D.: State-of-the-art research in lower-limb prosthetic biomechanics-socket interface: a review. J. Rehabil. Res. Dev. 38(2), 161–174 (2001)Google Scholar
  3. 3.
    de Rossi, S.M.M., Vitiello, N., Lenzi, T., Ronsse, R., Koopman, B., Persichetti, A., Vecchi, F., Ijspeert, A.J., van der Kooij, H., Carrozza, M.C.: Sensing pressure distribution on a lower-limb exoskeleton physical human-machine interface. Sensors 11(1), 207–227 (2011)CrossRefGoogle Scholar
  4. 4.
    Levesque, L., Pardoel, S., Lovrenovic, Z., Doumit, M.: Experimental comfort assessment of an active exoskeleton interface. In: IEEE 5th International Symposium on Robotic Intelligence Sensors, Ottawa, October 2017Google Scholar
  5. 5.
    Quinlivan, B., Asbeck, A.T., Wagner, D., Ranzani, T., Russo, S., Walsh, C.J.: Force transfer characterization of a soft exosuit for gait assistance. In: A 39th Mechanical Robotic Conference, vol. 5, pp. 1327–1334 (2015)Google Scholar
  6. 6.
    Chiaradia, D., Xiloyannis, M., Antuvan, C.W., Frisoli, A., Masia, L.: Design and embedded control of a soft elbow exosuit. In: Proceedings of IEEE International Conference on Soft Robotic, Livorno, Italy (2018, in press)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Michele Xiloyannis
    • 1
    Email author
  • Domenico Chiaradia
    • 2
  • Antonio Frisoli
    • 2
  • Lorenzo Masia
    • 3
  1. 1.School of Mechanical and Aerospace EngineeringNanyang Technological UniversitySingaporeSingapore
  2. 2.Scuola Superiore Sant’Anna, TeCIP Institute, PERCRO LaboratoryPisaItaly
  3. 3.Department of Biomechanical EngineeringUniversity of TwenteEnschedeNetherlands

Personalised recommendations