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This paper describes the design and preliminary testing of a soft exoskeleton for the shoulder which supports the adbuction/adduction movements. The soft exoskeleton is based on a single soft bellow actuator, a pneumatically actuated system which is composed by multiple consecutive chambers that expands when compressed air is inflated till providing a desired motion. In this work we present the design, analysis, prototyping and testing of the soft bellow actuator as well as its preliminary integration into a first version of bellow-based soft exoskeleton for the shoulder.

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Design and Preliminary Testing of a Shoulder Exoskeleton Based on a Soft Bellow Actuator

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  • 出版模式：

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  • 发表日期：

    2026年

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  • Stanislao Grazioso,
  • Teodorico Caporaso,
  • Benedetta M. V. Ostuni,
  • Antonio Lanzotti

摘要

This paper describes the design and preliminary testing of a soft exoskeleton for the shoulder which supports the adbuction/adduction movements. The soft exoskeleton is based on a single soft bellow actuator, a pneumatically actuated system which is composed by multiple consecutive chambers that expands when compressed air is inflated till providing a desired motion. In this work we present the design, analysis, prototyping and testing of the soft bellow actuator as well as its preliminary integration into a first version of bellow-based soft exoskeleton for the shoulder.