Design and characterization of a novel fabric-based robotic arm for future wearable robot application

Wearable robots are playing a more and more important role in our daily lives with their direct physical support to human body. However, there are limitation and risks of using conventional robotic technology in wearable robot. Alternatively, soft robot technology has been applied to make wearable devices for various purposes. In this paper, we propose a novel soft inflatable robotic arm made entirely from TPU-coated fabric. A new bending mechanism, arm design and fabrication method are elaborated in detail. The preliminary characterization experiments were implemented and the results show that the arm can achieve 150° bidirectional bending, and the gripper can lift object as heavy as 1.6kg. The current prototype with its decent motion performance, force output, and remarkable portability can be integrated into wearable robotics in the future to provide supports to human in many tasks.