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Soft robotics hold promise in the development of safe yet powered assistivewearable devices for infants. Key to this is the development of closed-loopcontrollers that can help regulate pneumatic pressure in the device's actuatorsin an effort to induce controlled motion at the user's limbs and be able totrack different types of trajectories. This work develops a controller for softpneumatic actuators aimed to power a pediatric soft wearable robotic deviceprototype for upper extremity motion assistance. The controller tracks desiredtrajectories for a system of soft pneumatic actuators supportingtwo-degree-of-freedom shoulder joint motion on an infant-sized engineeredmannequin. The degrees of freedom assisted by the actuators are equivalent toshoulder motion (abduction/adduction and flexion/extension). Embedded inertialmeasurement unit sensors provide real-time joint feedback. Experimental datafrom performing reaching tasks using the engineered mannequin are obtained andcompared against ground truth to evaluate the performance of the developedcontroller. Results reveal the proposed controller leads to accurate trajectorytracking performance across a variety of shoulder joint motions.

Robust Generalized Proportional Integral Control for Trajectory Tracking of Soft Actuators in a Pediatric Wearable Assistive Device