Design and Development of a Cable-Driven Shoulder Exosuit (CDSE) for Upper Limb Assistance

Vatan, Hamed

Abstract

This thesis presents the development and evaluation of a novel Cable-Driven Shoulder Exosuit (CDSE), designed for enhancing upper limb rehabilitation. The motivation for this research stems from the critical need for advanced rehabilitation solutions that are both effective and user-friendly, particularly for populations experiencing upper limb disabilities. Utilizing soft robotics, the CDSE novelty offers a lightweight (around 2kg), wearable with three Degree Of Freedom (DOF) solution that aligns closely with human biomechanics, thus promising greater comfort and efficiency compared to more rigid systems.
The methodology encompasses a comprehensive design and simulation phase, followed by iterative prototyping and rigorous testing (payload 500g to 4000g). Key innovations include the integration of bio-inspired design principles and advanced materials (carbon fiber), which facilitate naturalistic movement patterns and adaptability to various user needs. The CDSE's effectiveness was systematically evaluated through biomechanical analyses and user trials, focusing on its capacity to support and enhance shoulder joint mobility.
Results from testing indicate that the CDSE significantly aids in performing everyday tasks by improving range of motion and reducing user effort. Furthermore, the exosuit's design allows for significant reductions in weight and bulk, enhancing its portability and wearability. This research contributes to the fields of rehabilitation robotics and soft robotics by demonstrating the practical benefits of cable-driven systems in medical devices and laying groundwork for future innovations.
Overall, the CDSE represents a significant step forward in the development of assistive technologies that are both functionally and ergonomically optimized for users, potentially improving quality of life and assistive outcomes for individuals with upper limb impairments for Motor Neurone Disease (MND).

• Thesis Type: Thesis
• Online Publication Date: Mar 27, 2025
• Deposit Date: Mar 10, 2025
• Publicly Available Date: Apr 28, 2025
• Keywords: cable-driven Exosuit, shoulder assistance, three degrees of freedom robot, lightweight robot, portable robot, wearable robot
• Award Date: Mar 27, 2025