Preliminary Evaluation of a Soft Wearable Robot for Shoulder Movement Assistance

Spinal cord injuries (SCI) often lead to upper limb impairment, necessitating innovative solutions for daily assistance beyond traditional rigid robotics due to their impractical weight and size. Despite still preliminary, soft wearables are arising as a possible solution to fill this gap. Here, we demonstrated an enhanced version of a soft inflatable robot that assists the shoulder against gravity, previously tested with different neuro- logical conditions. Noteworthy improvements include a single- layer actuator, simplifying manufacturing, a built-in bending angle and a nylon hammock, for better armpit conformity. We characterized the actuator (approximately 8Nm at 90◦ at 70kPa) and demonstrated its good transparency, both from a kinematic and a muscular standpoint. Then, on 11 healthy individuals, we showed reductions in shoulder muscle activity (both at the anterior and middle deltoid) while performing a lift and hold task, ranging from 16% to almost 60% of the maximum voluntary contraction. More importantly, we confirmed these effects on two SCI individuals SCI, at two different stages of recovery. While preliminary, considering the limited exploration of soft wearable robots for the shoulder in SCI cases, this is a significant advancement playing an important role in the development of future soft technology for SCI assistance.