Automatic enclosure system with tunable strapping pressure for active physical interface using soft actuated straps: a proof of concept

Abstract

Autonomous donning/doffing of physical attachments is critical for independent, efficient usage and acceptance of wearable robots. However, existing physical attachments consist of passive sleeves and straps that require user dexterity for donning, which limits independent usage by impaired populations. Thus, we introduce the first automatic limb attachment system consisting of soft actuated straps that wrap around the limb and lock using a magnet-and-hook latch. Our novel system achieves an average donning time of s reliably over ten consecutive cycles, accommodates different range of arm circumferences (220–294 mm), maintains closure for clinical-level mechanical loads (up to 80 N normal and 32 N shear), and precisely controls strapping pressure within the 15 kPa human comfort threshold over time. The system secures the limb while consistently regulating attachment. This work provides proof-of-concept for a practical, versatile solution towards universally applicable self-securing attachments limb for rehabilitation, occupational, and home-based robotic exoskeletons.