Mechanical design and analysis of cable-driven wearable flexible exoskeleton system

As a new development direction in the field of exoskeleton research, wearable flexible exoskeleton systems are highly favored for their freedom of movement, flexibility, lightweight design, and comfortable wearability. These systems are gradually becoming the preferred choice for military operations, rehabilitation therapy, and enhancing physical performance. In this thesis, based on existing research in wearable flexible exoskeletons, we aim to design a lightweight wearable upper limb rehabilitation exoskeleton that meets the needs of stroke patients with a high likelihood of upper limb impairment. The system should provide sufficient flexibility for comfortable and convenient use while minimizing the weight to reduce the user’s burden during wear. Our proposed lightweight wearable flexible exoskeleton focuses on assisting users in achieving rehabilitation exercises for both the shoulder (external/internal rotation) and forearm (flexion/extension) movements. The system consists of a flexible fabric section connecting the torso-shoulderupper arm, a flexible fabric section for the forearm, and a back-mounted actuation device. The fabric sections primarily consist of elastic textile materials with a few rigid components. Emphasizing lightweight design, we strive to minimize the exoskeleton’s weight, ensuring optimal user comfort. The actuation device connects to the fabric sections via tensioned wires, driven by a motor to induce arm movement during rehabilitation exercises. To enhance safety and prevent secondary upper limb injuries due to exoskeleton malfunction, we incorporate a physical limiter that restricts the exoskeleton’s range of motion. Additionally, we include tension-adjustment mechanisms and cushioning springs to improve the feasibility of this wearable flexible exoskeleton.