Abstract
This paper proposes a novel method of soft actuation called series inflatable actuator, in order to realize a whole-body wearable soft robot for assisting postural transitions between lying and sitting postures. The developed series inflatable actuator realizes the fixed inflation sequence of cascaded inflatable actuators in series, by only connecting a single air supply without any control components. The inflation sequence is determined based on the pressure differences. The amount of pressure drop is varied by changing the number of orifice plates inside the tube and connecting the different number of orifice plates can modulate the sequence. The series inflatable actuator helps to make the wearable soft robot compact and light-weight.
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