Assessment of a textile portable exoskeleton for the upper limbs’ flexion

Flexible exoskeletons are lightweight robots that surround the user’s anatomy to assist or oppose motion. Their structure is made of light and flexible materials, like fabrics, so the forces created by the robot are directly transferred to the user’s musculoskeletal system. Exosuits are thus sensitive to the sliding of the actuation, textile perturbations and improper fitting to the user. LUXBIT is a cable-driven flexible exoskeleton that combines fabrics and sewing patterns to promote its anatomical adaption. The exoskeleton is intended for bimanual assistance of daily tasks and long-term usage. To this end, the system reduces the pressures applied to the user and the misalignment of the actuation by stacking textile patches. The patches enhance the functioning of the base garment and promote the transference of the assistance forces. Additionally, LUXBIT has a compact actuation with deformable components to prevent the user movements from being restricted. The exoskeleton is portable by using an enhanced textile backpack. This paper shows the exoskeleton’s benefits for trajectory and muscle activity during the flexion of the shoulder and the elbow.