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 can move the wrist in flexion/extension and ulnar/radial deviation. We derive a model representing the torque exerted by the exosuit and introduce a model-based optimization methodology for the selection of placement parameters of the exosuit muscles. We evaluate the accuracy of the model by measuring the exosuit torques throughout the full range of wrist flexion/extension. When accounting for the displacement of the mounting points, the model predicts the exosuit torque with a mean absolute error of 0.279 Nm, which is 26.1% of the average measured torque. To explore the capabilities of the exosuit to move the human body, we measure its range of motion on a passive human wrist; the exosuit is able to achieve 55.0% of the active biological range in flexion, 69.1% in extension, 68.6% in ulnar deviation, and 68.4% in radial deviation. Finally, we demonstrate the device controlling the passive human wrist to move to a desired orientation in the flexion/extension plane and along a two-degree-of-freedom trajectory.

翻译：近年来，基于软体执行器的外衣因具有高功率重量比、固有安全性和低成本等优势而备受关注。本文提出一种由织物气动人工肌肉驱动的新型腕部外衣，可实现腕关节的屈伸运动与尺偏/桡偏运动。我们推导了该外衣施加扭矩的数学模型，并引入基于模型优化的方法选择外衣肌肉的布局参数。通过测量外衣在腕关节全范围屈伸运动中的扭矩，评估了模型的准确性。在考虑安装点位移的情况下，模型预测外衣扭矩的平均绝对误差为0.279牛米，占平均测量扭矩的26.1%。为探究外衣驱动人体运动的能力，我们在被动人体腕关节上测量其运动范围：该外衣在屈曲方向达到主动生理运动范围的55.0%，伸展方向69.1%，尺偏方向68.6%，桡偏方向68.4%。最后，我们展示了该装置控制被动人体腕关节在屈伸平面内达到目标方位，并沿两自由度轨迹运动的性能。