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This work focuses on closed-loop control based on proprioceptive feedback fora pneumatically-actuated soft wearable device aimed at future support of infantreaching tasks. The device comprises two soft pneumatic actuators (onetextile-based and one silicone-casted) actively controlling twodegrees-of-freedom per arm (shoulder adduction/abduction and elbowflexion/extension, respectively). Inertial measurement units (IMUs) attached tothe wearable device provide real-time joint angle feedback. Device kinematicsanalysis is informed by anthropometric data from infants (arm lengths) reportedin the literature. Range of motion and muscle co-activation patterns in infantreaching are considered to derive desired trajectories for the device'send-effector. Then, a proportional-derivative controller is developed toregulate the pressure inside the actuators and in turn move the arm alongdesired setpoints within the reachable workspace. Experimental results ontracking desired arm trajectories using an engineered mannequin are presented,demonstrating that the proposed controller can help guide the mannequin's wristto the desired setpoints.

Closed-loop Position Control of a Pediatric Soft Robotic Wearable Device for Upper Extremity Assistance