Design and Characterization of AWARD: an Active Wearable Assistive and Resistive Device

Physical assistive robotic devices have demonstrated many desirable advantages in rehabilitation and augmentation, allowing for efficient and effective performance of activities of daily living (ADLs). However, active wearable devices that provide resistive capabilities to enable strength training have been difficult to develop. This is partially due to the required high force outputs during strength training. Developing soft, compact, compliant and lightweight robotic devices that exhibit both assistive and resistive capabilities is an even tougher challenge. This paper presents an Active Wearable Assistive and Resistive Device (AWARD) that is capable of providing assistance and resistance to the motion of fingers, the first of its kind. The device was actuated by six twisted string actuators (TSAs) with four TSAs using both stiff strings and conductive supercoiled polymer (SCP) strings and a further two TSAs using only stiff strings. Force sensitive resistors were used on the fingertips in assistive and resistive modes. The AWARD showed a maximum peak force of 13.55 N in finger extension and a maximum peak force of 8.66 N in finger flexion.