#hydraulicartificialmuscle, #highforcedensity, #elbowexosuit, #softrobot
Abstract-The use of hydraulic artificial muscles in soft compliant systems has been increasing in recent years. Hydraulic artificial muscles have high power and force density, hence can reduce the weight of actuators while providing relatively large assistance to joints. Their high compliance characteristics allow to overcome the limitation of joint misalignment between human and robotic joints suffered by rigid actuation. Here we present the design and a prototype of a portable elbow exosuit with hydraulic artificial muscle which can generate at least 373 N assistance force during forearm flexion with the overall weight of 1200 g.
