ExoFlex: An Upper-Limb Cable-Driven Exosuit

  • David PontEmail author
  • Aldo Francisco Contreras
  • José Luis Samper
  • Francisco Javier Sáez
  • Manuel Ferre
  • Miguel Ángel Sánchez
  • Ricardo Ruiz
  • Ángel García
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1093)


This paper presents ExoFlex, an upper-limb flexible exoskeleton (exosuit) intended for assistance in elbow and shoulder rehabilitation therapies. The soft nature of the device allows it to easily adapt to human biomechanics. The presented exosuit is equipped with a cable-driven transmission in which torque is generated by two direct current (DC) motors. A super-twisting sliding mode controller (SMC) has been simulated and implemented for elbow and shoulder flexion and extension movements. ExoFlex has proven to effectively assist its wearer in experimental tests.


Exosuit Soft-robot Sliding-mode control Cable-driven Rehabilitation 



This work has been supported by the Spanish Ministry of Economy, Industry and Competitiveness, under the grant ExoFlex (DPI 2015-68842-R) and the I\(+\)D\(+\)I Own Program of the Universidad Politécnica de Madrid.


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Centre for Automation and Robotics (CAR) UPM-CSICUniversidad Politécnica de MadridMadridSpain
  2. 2.Escuela Técnica Superior de Ingenieros Industriales ETSII UPMUniversidad Politécnica de MadridMadridSpain

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