Structure Design and Manufacturing Method of the Silicon-Based Elbow Exoskeleton

This paper presents a silicone-based soft elbow exoskeleton designed for rehabilitation, particularly targeting individuals with weakened physical capabilities. The study delves into the working principle and the design process using CAD and CAE. During the preparation process, a 3D printer was used to manufacture the casting mold, and PVA material and carbon fiber weaving were employed to enhance the performance of the air chambers. The experimental setups and performance tests of the proposed exoskeleton are also discussed. The results indicate that the proposed device can assist a passive prosthetic arm weighing up to 1.5 kg in achieving a maximum bending angle of <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$\mathbf{6 3. 0 9}$</tex> degrees. These results also align well with the range of motion required for daily activities of the human elbow joint and demonstrate promising potential for rehabilitation applications.