Abstract
In this article, various investigations on soft exoskeletons are presented and their functional and structural characteristics are analyzed. The present work is oriented to the studies of the last decade and covers the upper and lower joints, specifically the shoulder, elbow, wrist, hand, hip, knee, and ankle. Its functionality, applicability, and main characteristics are exposed, such as degrees of freedom, force, actuators, power transmission methods, control systems, and sensors. The purpose of this work is to show the current trend in the development of soft exoskeletons, in addition to specifying the essential characteristics that must be considered in its design and the challenges that its construction implies.
Highlights
Exoskeletons have been extensively researched and developed to aid the movement of various joints in the body. These devices can involve a single degree of freedom (DOF), for example, flexion and extension of the forearm, or multiple DOF, like hand movements
The development of soft robotic devices is a trend that has been increasing, and various research groups are working on their construction and innovation [1,2]
Some studies have shown that patients who use soft robotic devices in rehabilitation therapy improve the recovery of motor skills, both in the short and long term [30,31,32,33]
Summary
Exoskeletons have been extensively researched and developed to aid the movement of various joints in the body. Motor-driven metallic devices offer several advantages, including rigid and robust structures, as well as precise transmission of forces These devices have certain disadvantages, such as being heavy and uncomfortable for the user. Due to their weight and complexity, most are not portable, and their installation requires trained personnel For this reason, the development of soft robotic devices is a trend that has been increasing, and various research groups are working on their construction and innovation [1,2]. Some components that must remain rigid, such as batteries and controllers, are often placed in a backpack or separately to reduce weight These devices are lighter, more flexible, and offer greater user comfort.
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