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As a perhaps unintended consequence of their design, soft actuators typically store significant elastic energy as they expand under fluid pressure. Certain applications rely on a limited power budget. For example, we are interested in transmitting body power from a less impaired joint to assist in generating motions of an impaired joint. Thus stored elastic energy is not useful in our application...
In the previous study [1], an arm exoskeleton was proposed to be worn across the elbow joint of an amputee's residual limb using a pneumatic circuit. The pneumatic circuit provides not only the elastic element in a series elastic actuator (SEA), but also a flexible power transmission. The use of a customised cylinder on the off-grounded exoskeleton, however, imposes restrictions on the range of motion...
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