This paper presents a cable-driven actuation module design that can be easily integrated into soft wearable robots to enhance their functional versatility. The actuation module is easily mountable to various wearable systems through a simple locking mechanism and customized electronics. Furthermore, the symmetrical design of the actuation module allows for multiple orientation options, significantly expanding its range of applications. Through the use of finite element analysis (FEA), we reduce the weight of the actuation module by selecting lightweight materials, without compromising its reliability and durability. The modular and lightweight characteristics of this actuator make it suited for integration into various wearable usages. We applied the modular actuator to the soft wearable lower-limb device and showed the effectiveness through metabolic cost and electromyography(EMG) signal measurements.

Hip assistance with cable-driven devices has been proven to help decrease the metabolic cost of gait. However, most existing devices use heavy actuating modules or provide assistance in only one direction, limiting the effectiveness. Cable-driven devices are also difficult to accurately estimate the hip position using only motor encoders, therefore utilizing various auxiliary sensors. This paper introduces a 1.5 kg cable-driven soft wearable hip assist device that can provide assistance in both flexion and extension, using a velocity-dependent delayed output feedback controller (v-DOFC). The device is designed with the consideration of ergonomics and pressure distribution of wearable parts, to increase the anchoring performance and comfort. The controller uses time-delayed feedback proportional to the velocity output state, allowing control without requiring accurate position estimation. Additionally, directional weighting is used to provide different assistance forces for extension and flexion to match different optimal assistance values. Experimental results show that the device can reduce metabolic cost by 13.8 % compared to walking without the device. The soft wearable hip assist device can be applied to help the elderly with weaker muscles to walk longer distances.

To provide an alternative to conventional large-scale fitness equipment, we previously developed a soft passive wearable device for upper limb resistance exercises that utilized elastic exercise bands. However, the user was required to manually adjust the level of strength. In this paper, we introduce a novel wearable fitness device for upper limb exercise that constitutes cable-driven actuation to control the resistance profiles. Our proposed device allows for the generation of isotonic force trajectories, similar to those produced during dumbbell lifting, utilizing custom cable-driven actuators. The cable path of the device was determined based on the results of user testing aimed at optimizing muscle stimulation levels. In addition, linear resonant actuators were installed at customized haptic handles and upper arm modules to enhance proprioceptive sensitivity and exercise efficacy. The immersive “exer-tainment” user display interface was also redesigned to increase user motivation. The efficacy of our device was assessed by comparing the surface electromyography (sEMG) activities of upper limb muscles during chest press and triceps extension exercises performed with our device versus those using traditional weight training machines and rubber bands. It was found that our device could effectively strengthen during arm exercise, such as triceps extension.

The process of cardiopulmonary resuscitation (CPR) involves various components that must be followed to deliver high quality of CPR. While the components commonly apply to CPR for all ages from infant to adult, there are several different suggestions for infant CPR such as two-thumb CPR and two-finger CPR. However, the comprehensive evaluation based on all these components has been difficult in the absence of proper evaluation tool. Here, we developed a new manikin-integrated, digital measuring system that objectively estimates overall performance of infant CPR by evaluating individual CPR components one by one including different hand placements. The system collects and analyzes data to present estimations in digital scores according to a new evaluation index constructed based on the previously verified one. The feasibility of the system was validated through simulations with beginners and experts in first aid, resulting in statistically significant differences between the two groups with the indication of specific weaknesses for each group which may provide a basis for creating customized CPR training strategy in compliance with the personal level. We believe that the system would become a valuable assessment tool not only for infant CPR but also for the CPR technique, in general, by reflecting every component in the evaluation.