Soft Robotic Actuators in Corporeal Assistive Devices

Abstract

The following paper discusses various applications of soft robotic actuators mainly in the form of corporeal assistive devices i.e., devices for assisting various parts of the human body. Being inexpensive, light weight, soft, non-restrictive and easy to use they are replacing the conventional rigid actuators in every application. Soft actuators are pneumatically powered and consist of compliant elastomeric materials. This paper reviews the use of soft robotic actuators in assistive devices such as soft robotic glove for activities of daily living (ADL), soft robotic orthosis for wrist rehabilitation, cardiac simulator, soft robotic ventricular assistive device and wearable soft robot for shoulder. These assistive devices have the potential for assisting individuals suffering from cardiac issues to neuromuscular conditions.

Keywords:Soft Actuator; Assistive Devices; Compliant; Wrist Rehabilitation; Simulator; Activities of Daily Living