Articles | Volume 14, issue 1
https://doi.org/10.5194/ms-14-159-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-14-159-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
Research article
| 
27 Mar 2023
Research article |
| 27 Mar 2023
| 27 Mar 2023
Design of a soft bionic elbow exoskeleton based on shape memory alloy spring actuators
Qiaolian Xie
Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China
Department of Medical Engineering, Graduate School of Science and Engineering, Chiba University, Chiba, Japan
Qiaoling Meng
Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai, China
Wenwei Yu
Department of Medical Engineering, Graduate School of Science and Engineering, Chiba University, Chiba, Japan
Center for Frontier Medical Engineering, Chiba University, Chiba, Japan
Rongna Xu
Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China
Zhiyu Wu
Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China
Xiaoming Wang
Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China
Hongliu Yu
CORRESPONDING AUTHOR
Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai, China
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Cited
22 citations as recorded by crossref.
- Multi-sensor thermo–electro–mechanical characterization of an SMA wire for wearable actuation design Q. Hamid et al. https://doi.org/10.1016/j.jer.2026.07.013
- Hand exoskeletons in stroke recovery: A systematic review of trends and technologies E. Martey et al. https://doi.org/10.1016/j.sciaf.2025.e03133
- Synergistic Advancement of Physical and Information Interaction in Exoskeleton Rehabilitation Robotics: A Review C. Fei et al. https://doi.org/10.3390/robotics15010025
- Industrial exoskeletons for secure human–robot interaction: a review D. Cheng et al. https://doi.org/10.1007/s41315-024-00403-5
- Modeling and control of an SMA-based upper limb exoskeleton rehabilitation robot: a pilot study S. Zhu et al. https://doi.org/10.1088/2631-8695/ae8951
- Shape-Adaptive Robotics: Programmable Morphing through SMA and SMP Integration Q. Chen et al. https://doi.org/10.1177/21695172261437932
- Development of shape-recovering modular textile actuators using SMAs and PDMS Y. Han et al. https://doi.org/10.1016/j.sna.2025.116524
- Soft Upper‐Limb Wearable Robotic Devices: Technology and Applications B. Sharma et al. https://doi.org/10.1002/aisy.202400266
- A Neural Network‐Based Self‐Sensing Embedded Position Control System for Shape Memory Alloy Wire Actuators K. Koshiya et al. https://doi.org/10.1002/aisy.202501204
- Wearable exoskeleton upper limb device based on soft actuators: design, characterization, and preliminary testing D. Rusu et al. https://doi.org/10.1088/1748-3190/ae8fc2
- Shape memory alloy actuators for haptic wearables: A review Q. Liu et al. https://doi.org/10.1016/j.matdes.2023.112264
- Shape Memory Alloy Actuators in Robotics J. Romančík et al. https://doi.org/10.3390/act15030162
- Rehabilitation Hand Exoskeleton Robot based on Soft Actuator and Adaptive Control Z. Al-Faeq & H. Al-Fahaam https://doi.org/10.54732/jeecs.v11i1.8
- Mapping Smart Materials’ Literature: An Insight between 1990 and 2022 R. Petrașcu et al. https://doi.org/10.3390/su152015143
- Passive and Active Exoskeleton Solutions: Sensors, Actuators, Applications, and Recent Trends D. Preethichandra et al. https://doi.org/10.3390/s24217095
- Temperature Estimation of Thin Shape Memory Alloy Springs in a Small-Scale Hip Exoskeleton with System Identification and Adaptive Control H. Ali et al. https://doi.org/10.3390/act15010026
- W-DFAS rehabilitation Glove: Design and experimental Validation Q. Hamid et al. https://doi.org/10.1016/j.jestch.2026.102397
- Clutchable Fabric Actuator for Energy‐Efficient Wearable Robots H. Zhang & H. Shea https://doi.org/10.1002/adfm.202415099
- A Systematic Literature Review on Intelligent Soft Hand Exoskeleton Robots: Artificial Intelligence-Enabled Personalisation, Adaptation, and Design Considerations S. Joseph et al. https://doi.org/10.3390/robotics15050099
- A Lightweight Soft Exosuit for Elbow Rehabilitation Powered by a Multi-Bundle SMA Actuator J. Arias Guadalupe et al. https://doi.org/10.3390/act14070337
- Numerical Study on the Heating Effect of a Spring-Loaded Actuator—Part Ⅰ: Temperature and Humidity Distribution Characteristics L. Xi et al. https://doi.org/10.3390/act12060234
- Soft Artificial Muscle Based on Pre-Detwinned Shape Memory Alloy Spring Actuator Achieving High Passive Assistive Torque for Wearable Robot J. Jeong et al. https://doi.org/10.1089/soro.2023.0154
Latest update: 04 Sep 2026
Short summary
This paper presents a novel soft bionic elbow exoskeleton based on shape metal alloy (SMA) actuators (Sobee-SMA). The exoskeleton adopts a bionic design, combining active deformation material SMA and high elastic material rubber band to simulate the contraction and relaxation of the elbow skeletal muscle. According to the static analysis of the human–exoskeleton coupling model and experiments, the exoskeleton provides elbow-assisted motion and ensures the safety of the thermal heating process.
This paper presents a novel soft bionic elbow exoskeleton based on shape metal alloy (SMA)...
