Comparison of a Soft Exosuit and a Rigid Exoskeleton in an Assistive Task

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


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.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Domenico Chiaradia
    • 1
    Email author
  • Michele Xiloyannis
    • 2
  • Massimiliano Solazzi
    • 1
  • Lorenzo Masia
    • 3
  • Antonio Frisoli
    • 1
  1. 1.PERCRO Lab, Tecip InstituteSant’Anna School of Advanced StudiesPisaItaly
  2. 2.School of Mechanical and Aerospace EngineeringNanyang Technological UniversitySingaporeSingapore
  3. 3.Department of Biomechanical EngineeringUniversity of TwenteEnschedeNetherlands

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