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research-article

A Fabric-Based Wearable Soft Robotic Limb

[+] Author and Article Information
Xinquan Liang

5 Engineering Drive 1 E6-07-03 Singapore, 117608 Singapore bielxin@nus.edu.sg

Haris Cheong

5 Engineering Drive 1 E6-07-03 Singapore, 117608 Singapore haris.cheong@u.nus.edu

Chee Kong Chui

Department of Mechanical Engineering 9 Engineering Drive 1 Singapore, Singapore 117576 Singapore mpecck@nus.edu.sg

Chen-Hua Yeow

9 Engineering Drive 1 Block EA, #03-12 Singapore, Singapore 117575 Singapore bieych@nus.edu.sg

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received May 7, 2018; final manuscript received February 13, 2019; published online xx xx, xxxx. Assoc. Editor: Robert J. Wood.

ASME doi:10.1115/1.4043024 History: Received May 07, 2018; Accepted February 19, 2019

Abstract

In this paper, a soft wearable fabric-based supernumerary robotic limb (SRL) is presented. It can be worn on user's body to assist the users in daily life. This SRL can perform a bidirectional bending motion due to the pneumatic bending actuators. The end effector is a gripper, which can pick up objects of certain weights in daily life. The arm is actuated via pneumatic power, and all the actuation and control systems are integrated in a portable control box. Voice controlled system was developed using android-based voice recognition app. After the SRL is fabricated, we characterized the bending motion and payload output through several experiments. We believe that the SRL is suitable to be used in user's daily life and assist them to conduct some simple works.

Copyright © 2019 by ASME
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