Soft actuators and their potential applications in rehabilitative devices

Abstract The field of robotics has led to many breakthroughs in a number of fields from manufacturing to medicine. There are systems that have been designed to perform the most intricate surgeries or assist during and after treatment. However, there is another major area which robotics has sought to improve: rehabilitation. Recovering from a physical injury can be a long and arduous process, with continued visits to medical practitioners, pain management, increased costs after the main treatment, etc. However, using robotic systems can help alleviate a large number of these problems that patients see after enduring a physical injury. Engineers and medical professionals have been working to create robotic systems, such as exoskeletons and assistive devices, which a patient can use to aid them in their recovery. Yet many of these systems are large and bulky, and the device becomes more of a hindrance to the patient than a help. However, with the advent of soft robotics (robotic systems made partially or completely of compliant materials), rehabilitative devices that do not hinder daily activity are becoming a reality. This advancement in rehabilitative technology is due to the driving mechanisms of soft robotic systems: soft actuators. There are different types of soft actuators that can be used, these include electroactive polymers (EAPs), ionic electroactive polymers (Ionic EAPs), and hybrid actuators (HAs). These actuators can be used during a patient’s daily activity and even can be worn on the body for consistent and convenient rehabilitation.