Recently, soft actuator-based exosuits have gained interest, due to their high strength-to-weight ratio, inherent safety, and low cost. We present a novel wrist exosuit actuated by fabric pneumatic artificial muscles that has lightweight wearable components (160 g) and can move the wrist in flexion/extension and ulnar/radial deviation. We derive a model representing the torque exerted by the exosuit and demonstrate the use of the model to choose an optimal design for an example user. We evaluate the accuracy of the model by measuring the exosuit torques throughout the full range of wrist flexion/extension. We show the importance of accounting for the displacement of the mounting points, as this helps to achieve the smallest mean absolute error (0.283 Nm) compared to other models. Furthermore, we present the measurement of the exosuit-actuated range of motion on a passive human wrist. Finally, we demonstrate the device controlling the passive human wrist to move to a desired orientation along a one and a two-degree-of-freedom trajectory. The evaluation results show that, compared to other pneumatically actuated wrist exosuits, the presented exosuit is lightweight and strong (with peak torque of 3.3 Nm) but has a limited range of motion.

翻译：近年来，基于软体驱动器的外衣因其高强度重量比、固有安全性和低成本而受到关注。我们提出一种由织物气动人工肌肉驱动的新型腕部外衣，其可穿戴部件重量轻（160克），能够实现腕部的屈曲/伸展以及尺偏/桡偏运动。我们推导了外衣施加力矩的模型，并展示了利用该模型为示例用户选择最优设计的方法。通过测量整个腕部屈曲/伸展范围内的外衣力矩，评估了模型的准确性。结果表明，考虑安装点位移至关重要，与其他模型相比，这有助于实现最小的平均绝对误差（0.283 Nm）。此外，我们测量了在被动人类手腕上外衣驱动的运动范围。最后，我们展示了该装置控制被动人类手腕沿一自由度和二自由度轨迹运动至期望方向的能力。评估结果显示，与其他气动驱动腕部外衣相比，本文提出的外衣轻巧且力大（峰值扭矩3.3 Nm），但运动范围有限。