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The shoulder is responsible for the movement of the entire upper limb. It iscapable of articulating in three degrees-of-freedom (DOF), enabling the arm toperform manipulation actions with incomparable dexterity. Exoskeletonstargeting the shoulder must be able to emulate its complex kinematics. Whiletypical architectures have proven to be useful, they employ complex and usuallyinadequate techniques to match the mobility of the shoulder. A new 2-DOF softrobotic shoulder exoskeleton is presented. Modular soft robotic actuators withseparated inflation modules on the exoskeleton are able to emulate the humerus'natural movement. These actuators were organized into two antagonistic pairsand operate in a parallel configuration. We present the design andfunctionality of the actuators powering the exoskeleton. The actuator designenables it to perform 3-D bending with insignificant resistance. We measuredits performance through a series of static and dynamic tests. Depending on theconfiguration, the actuator can generate up to a maximum torque of 15.54 N-mand can respond with a minimum rise time of ~2s when excited by a step input.We demonstrated its ability to perform assistance of shoulder movements. It iscapable of reaching any point on the humerus' workspace from any startingposition.

Parallel, Modular Fabric Actuators for a 2-DOF Pneumatic Sleeve