Articles | Volume 14, issue 1
Research article
27 Mar 2023
Research article |  | 27 Mar 2023

Design of a soft bionic elbow exoskeleton based on shape memory alloy spring actuators

Qiaolian Xie, Qiaoling Meng, Wenwei Yu, Rongna Xu, Zhiyu Wu, Xiaoming Wang, and Hongliu Yu

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Cited articles

Ang, B. W. K. and Yeow, C. H.: Design and Modeling of a High Force Soft Actuator for Assisted Elbow Flexion, IEEE Robotics and Automation Letters, 5, 3731–3736,, 2020. 
Bertomeu-Motos, A., Blanco, A., Badesa, F. J., Barios, J. A., Zollo, L., and Garcia-Aracil, N.: Human arm joints reconstruction algorithm in rehabilitation therapies assisted by end-effector robotic devices, J. Neuroeng. Rehabil., 15, 1–11,, 2018. 
Copaci, D., Blanco, D., and Moreno, L. E.: Flexible shape-memory alloy-based actuator: Mechanical design optimization according to application, Actuators, 8, 63,, 2019. 
Copaci, D.-S., Blanco, D., Martin-Clemente, A., and Moreno, L.: Flexible shape memory alloy actuators for soft robotics: Modelling and control, Int. J. Adv. Robot. Syst., 17, 1729881419886747,, 2020. 
Dinh, B. K., Xiloyannis, M., Cappello, L., Antuvan, C. W., Yen, S.-C., and Masia, L.: Adaptive backlash compensation in upper limb soft wearable exoskeletons, Robot. Auton. Syst., 92, 173–186,, 2017. 
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.