Search Results (72)

Stroke is one of the leading causes of long-term disability worldwide, often resulting in motor impairments that limit the ability to perform daily activities independently. Conventional rehabilitation exoskeletons, while effective, are typically rigid, bulky, and expensive, limiting their usability outside of clinical settings. In response to these challenges, this work presents the development and validation of a novel soft exosuit designed for elbow flexion rehabilitation, incorporating a multi-wire Shape Memory Alloy (SMA) actuator capable of both position and force control. The proposed system features a lightweight and ergonomic textile-based design, optimized for user comfort, ease of use, and low manufacturing cost. A sequential activation strategy was implemented to improve the dynamic response of the actuator, particularly during the cooling phase, which is typically a major limitation in SMA-based systems. The performance of the multi-bundle actuator was compared with a single-bundle configuration, demonstrating superior trajectory tracking and reduced thermal accumulation. Surface electromyography tests confirmed a decrease in muscular effort during assisted flexion, validating the device’s assistive capabilities. With a total weight of 0.6 kg and a fabrication cost under EUR 500, the proposed exosuit offers a promising solution for accessible and effective home-based rehabilitation. Full article

Creating meaningful interactions using smart textiles involves both a comprehensive understanding of relevant materials and technologies (M&T) and how users engage with this type of interface. Despite its relevance to design research, user experience (UX) evaluation remains limited within the smart textile field. This research aims to systematize information regarding the main M&T used in recent smart textile design research and the evaluation methods (EMs) employed to assess the UX. For this purpose, a systematic literature review was conducted in the Scopus database. The search covered the period from 2018 to 2025 and yielded a total of 232 results. Of these, 56 full papers in English, available on the internet, and focusing on experimental research on smart textile interaction and experience evaluation were included. This review identifies the prevalent use of electronic components and conductive materials, emphasizing the importance of selecting materials that enable sensing, actuation, communication, and processing capabilities. UX evaluation focused on the pragmatic dimension, whereas the combination with the hedonic dimension was generally regarded as future work. The study led to the proposal of four key topics to support the creation of meaningful interactions and highlights the need for further research on evaluating users’ emotional experiences with smart textiles. Full article

Advancements in thermoregulating textiles have been propelled by innovations in nanotechnology, composite materials, and smart fiber engineering. This article reviews recent scholarly papers on experimental passive and active thermoregulating textiles to present the latest advancements in these fabrics, their mechanisms of thermoregulation, and their feasibility for use. The review underscores that phase-change materials enhanced with graphene, boron nitride, and carbon nanofibers offer superior thermal conductivity, phase stability, and flexibility, making them ideal for wearable applications. Shape-stabilized phase-change materials and aerogel-infused fibers have shown promising results in outdoor, industrial, and emergency settings due to their durability and high insulation efficiency. Radiative cooling textiles, engineered with hierarchical nanostructures and Janus wettability, demonstrate passive temperature regulation through selective solar reflection and infrared emission, achieving substantial cooling effects without external energy input. Thermo-responsive, shape-memory materials, and moisture-sensitive polymers enable dynamic insulation and actuation. Liquid-cooling garments and thermoelectric hybrids deliver precise temperature control but face challenges in portability and power consumption. While thermoregulating textiles show promise, the main challenges include achieving scalable manufacturing, ensuring material flexibility, and integrating multiple functions without sacrificing comfort. Future research should focus on hybrid systems combining passive and active mechanisms, user-centric wearability studies, and cost-effective fabrication methods. These innovations hold significant potential for applications in extreme environments, athletic wear, military uniforms, and smart clothing, contributing to energy efficiency, health, and comfort in a warming climate. Full article

Knitting, a cornerstone of textile manufacturing, is uniquely challenging to automate, particularly in terms of converting fabric designs into precise, machine-readable instructions. This research bridges the gap between textile production and robotic automation by proposing a novel deep learning-based pipeline for reverse knitting to integrate vision-based robotic systems into textile manufacturing. The pipeline employs a two-stage architecture, enabling robots to first identify front labels before inferring complete labels, ensuring accurate, scalable pattern generation. By incorporating diverse yarn structures, including single-yarn (sj) and multi-yarn (mj) patterns, this study demonstrates how our system can adapt to varying material complexities. Critical challenges in robotic textile manipulation, such as label imbalance, underrepresented stitch types, and the need for fine-grained control, are addressed by leveraging specialized deep-learning architectures. This work establishes a foundation for fully automated robotic knitting systems, enabling customizable, flexible production processes that integrate perception, planning, and actuation, thereby advancing textile manufacturing through intelligent robotic automation. Full article

The integration of textile-based sensing and actuation elements has become increasingly important across various fields, driven by the growing demand for smart textiles in healthcare, sports, and wearable electronics. This paper presents the development of a small, smart dielectric elastomer (DE)-based sensing array designed for user control input in applications such as human–machine interaction, virtual object manipulation, and robotics. DE-based sensors are ideal for textile integration due to their flexibility, lightweight nature, and ability to seamlessly conform to surfaces without compromising comfort. By embedding these sensors into textiles, continuous user interaction can be achieved, providing a more intuitive and unobtrusive user experience. The design of this DE array draws inspiration from a flexible and wearable version of a touchpad, which can be incorporated into clothing or accessories. Integrated advanced machine learning algorithms enhance the sensing system by improving resolution and enabling pattern recognition, reaching a prediction performance of at least 80. Additionally, the array’s electrodes are fabricated using a novel sputtering technique for low resistance as well as high geometric flexibility and size reducibility. A new crimping method is also introduced to ensure a reliable connection between the sensing array and the custom electronics. The advantages of the presented design, data evaluation, and manufacturing process comprise a reduced structure size, the flexible adaptability of the system to the respective application, reliable pattern recognition, reduced sensor and line resistance, the adaptability of mechanical force sensitivity, and the integration of electronics. This research highlights the potential for innovative, highly integrated textile-based sensors in various practical applications. Full article

As a new development direction in exoskeleton research, wearable flexible exoskeleton systems are highly favored for their freedom of movement, flexibility, lightweight design, and comfortable wearability. These systems are gradually becoming the preferred choice for rehabilitation therapy, and enhancing physical performance. In this thesis, based on existing research in wearable flexible exoskeletons, we aim to design a lightweight wearable upper limb rehabilitation exoskeleton that meets the needs of stroke patients with a high likelihood of upper limb impairment. The system should provide sufficient flexibility for comfortable and convenient use while minimizing the weight to reduce the user’s burden during wear. Our proposed lightweight wearable flexible exoskeleton assists users in achieving rehabilitation exercises for both the shoulder (external/internal rotation) and forearm (flexion/extension) movements. The system consists of a flexible fabric section connecting the torso–shoulder–upper arm, a flexible fabric section for the forearm, and a back-mounted actuation device. The fabric sections primarily consist of elastic textile materials with a few rigid components. Emphasizing lightweight design, we strive to minimize the exoskeleton’s weight, ensuring optimal user comfort. The actuation device connects to the fabric sections via tensioned wires, driven by a motor to induce arm movement during rehabilitation exercises. To enhance safety and prevent secondary upper limb injuries due to exoskeleton malfunction, we incorporate a physical limiter retricting the exoskeleton’s range of motion. Additionally, we include tension-adjustment mechanisms and cushioning springs to improve the feasibility of this wearable flexible exoskeleton. After completing the structural design, this paper conducted a basic static and kinematic analysis of the exoskeleton system to provide theoretical support. Additionally, the feasibility and effectiveness of the exoskeleton system design were verified through dynamic simulations. Full article

Due to their advantageous characteristics, shape memory alloys (SMAs) are prominent representatives in smart materials. They can be used in application fields such as soft robotics, biomimetics, and medicine. Within this work, a fiber–elastomer composite with integrated SMA wire is developed and investigated. Bending and torsion occur when the SMA is activated because of the anisotropic structure of the textile. The metrological challenge in characterizing actuators that perform both bending and torsion lies in the large active deformation of the composite and the associated difficulties in fully imaging and analyzing this with optical measurement methods. In this work, a multi-sensor camera system with up to four pairs of cameras connected in parallel is used. The structure to be characterized is recorded from all sides to evaluate the movement in three-dimensional space. The energy input and the time required for an even deflection of the actuator are investigated experimentally. Here, the activation parameters for the practical energy input required for long life with good deflection, i.e., good efficiency, were analyzed. Different parameters and times are considered to minimize the energy input and, thus, to prevent possible overheating and damage to the wire. Thermography is used to evaluate the heating of the SMA wire at different actuation times over a defined time. Full article

Currently, the textile industry is a poorly automated sector, due in part to problems in the handling of deformable leather and textile parts during production operations. In this work, several problems in the handling process of leather and textile parts are addressed, introducing methods to increase the automation of the process. A pneumatic actuator designed to pick up textile or leather parts avoiding their deformation during transport has been developed. This actuator maximizes the number of gripping points to improve handling, making it more stable and efficient. Additionally, a vision system has been implemented in the part-picking task which, in conjunction with the CAD information of the part, sends the modified gripping position of the part to the robot. This allows customized handling of each textile or leather part. Finally, validation tests have been carried out on this development, both in simulations and in laboratory conditions, demonstrating its viability and direct applicability in the production line. Full article

Shape memory and self-healing polymer nanocomposites have attracted considerable attention due to their modifiable properties and promising applications. The incorporation of nanomaterials (polypyrrole, carboxyl methyl cellulose, carbon nanotubes, titania nanotubes, graphene, graphene oxide, mesoporous silica) into these polymers has significantly enhanced their performance, opening up new avenues for diverse applications. The self-healing capability in polymer nanocomposites depends on several factors, including heat, quadruple hydrogen bonding, π–π stacking, Diels–Alder reactions, and metal–ligand coordination, which collectively govern the interactions within the composite materials. Among possible interactions, only quadruple hydrogen bonding between composite constituents has been shown to be effective in facilitating self-healing at approximately room temperature. Conversely, thermo-responsive self-healing and shape memory polymer nanocomposites require elevated temperatures to initiate the healing and recovery processes. Thermo-responsive (TRSMPs), light-actuated, magnetically actuated, and Electrically actuated Shape Memory Polymer Nanocomposite are discussed. This paper provides a comprehensive overview of the different types of interactions involved in SMP and SHP nanocomposites and examines their behavior at both room temperature and elevated temperature conditions, along with their biomedical applications. Among many applications of SMPs, special attention has been given to biomedical (drug delivery, orthodontics, tissue engineering, orthopedics, endovascular surgery), aerospace (hinges, space deployable structures, morphing aircrafts), textile (breathable fabrics, reinforced fabrics, self-healing electromagnetic interference shielding fabrics), sensor, electrical (triboelectric nanogenerators, information energy storage devices), electronic, paint and self-healing coating, and construction material (polymer cement composites) applications. Full article

Technological advances and the development of new and advanced materials allow the transition from three-dimensional (3D) printing to the innovation of four-dimensional (4D) printing. 3D printing is the process of precisely creating objects with complex shapes by depositing superimposed layers of material. Current 3D printing technology allows two or more filaments of different polymeric materials to be placed, which, together with the development of intelligent materials that change shape over time or under the action of an external stimulus, allow us to innovate and move toward an emerging area of research, innovative 4D printing technology. 4D printing makes it possible to manufacture actuators and sensors for various technological applications. Its most significant development is currently in the manufacture of intelligent textiles. The potential of 4D printing lies in modular manufacturing, where fabric-printed material interaction enables the creation of bio-inspired and biomimetic devices. The central part of this review summarizes the effect of the primary external stimuli on 4D textile materials, followed by the leading applications. Shape memory polymers attract current and potential opportunities in the textile industry to develop smart clothing for protection against extreme environments, auxiliary prostheses, smart splints or orthoses to assist the muscles in their medical recovery, and comfort devices. In the future, intelligent textiles will perform much more demanding roles, thus envisioning the application fields of 4D printing in the next decade. Full article

This paper presents the design, development, and testing of a robot that combines soft-body grasping and crawling locomotion to navigate tubular objects. Inspired by the natural snakes’ climbing locomotion of tubular objects, the soft robot includes proximal and distal modules with radial expansion/contraction for grasping around the objects and a longitudinal contractile–expandable driving module in-between for providing a bi-directional crawling movement along the length of the object. The robot’s grasping modules are made of fabrics, and the crawling module is made of an extensible pneumatic soft actuator (ePSA). Conceptual designs and CAD models of the robot parts, textile-based inflatable structures, and pneumatic driving mechanisms were developed. The mechanical parts were fabricated using advanced and conventional manufacturing techniques. An Arduino-based electro-pneumatic control board was developed for generating cyclic patterns of grasping and locomotion. Different reinforcing patterns and materials characterize the locomotor actuators’ dynamical responses to the varying input pressures. The robot was tested in a laboratory setting to navigate a cable, and the collected data were used to modify the designs and control software and hardware. The capability of the soft robot for navigating cables in vertical, horizontal, and curved path scenarios was successfully demonstrated. Compared to the initial design, the forward speed is improved three-fold. Full article

Transparent and flexible vibrotactile actuators play an essential role in human–machine interaction applications by providing mechanical stimulations that can effectively convey haptic sensations. In the present study, we fabricated an electroactive, flexible, and transparent vibrotactile actuator with a dielectric layer including a dielectric elastomer and dielectric fluid mixture. The dielectric fluid mixture of propylene carbonate (PC) and acetyl tributyl citrate (ATBC) was injected to obtain a transparent dielectric layer. To further improve the haptic performance, different weight ratios of dielectric fluid (PC: ATBC) were injected. The fabricated vibrotactile actuators based on a transparent dielectric layer were investigated for their electrical and electromechanical behavior. The proposed actuators generate a large vibrational intensity (~2.5 g) in the range of 200–250 Hz. Hence, the proposed actuators open up a new class of vibrotactile actuators for possible use in various domains, including robotics, smart textiles, teleoperation, and the metaverse. Full article

Structural fiber-reinforced polymer (FRP) composite materials consisting of a polymer matrix reinforced with layers of high-strength fibers are used in numerous applications, including but not limited to spacecraft, vehicles, buildings, and bridges. Researchers in the past few decades have suggested the necessary integration of sensors (e.g., fiber optic sensors) in polymer composites to enable health monitoring of composites’ performance over their service lives. This work introduces an innovative cognizant composite that can self-sense, compute, and implement decisions based on sensed values. It is a critical step towards smart, resilient infrastructure. We describe a method to fabricate textile sensors with flexible circuitry and a microcontroller within the polymer composite, enabling computational operations to take place in the composite without impacting its integrity. A microstructural investigation of the sensors showed that the amount of oxidative agent and soaking time of the fabric play a major role in the adsorption of polypyrrole (PPy) on fiberglass (FG). XPS results showed that the 10 g ferric chloride solution with 6 h of soaking time had the highest degree of protonation (28%) and, therefore, higher adsorption of PPy on FG. A strain range of 30% was achieved by examining different circuitry and sensor designs for their resistance and strain resolution under mechanical loading. A microcontroller was added to the circuit and then embedded within a composite material. This composite system was tested under flexural loading to demonstrate its self-sensing, computing, and actuation capabilities. The resulting cognizant composite demonstrated the ability to read resistance values and measure strain using the embedded microcontroller and autonomously actuate an LED light when the strain exceeds a predefined limit of 2000 µε. The application of the proposed FRP system would provide in situ monitoring of structural composite components with autonomous response capabilities, as well as reduce manufacturing, production, and maintenance costs. Full article

For signal transmission and sensing in stretchable structures for human motion monitoring or proprioception of soft robots, textiles with electronically conductive yarns are a promising option. Many recent publications employ silver-plated yarns in knits, braids, wovens for strain or pressure sensing purposes as well as heating fabrics or twisted string actuators. Silver-plated yarns are available in a wide range of base materials, yarn counts and twists. These structural properties significantly influence the electrical and electromechanical behavior of such yarns. However, until now little research has been carried out on the yarns themselves. To close this research gap, several variations of a single yarn type are electromechanically characterized. Additionally, tensile tests with synchronous resistance measurements are performed. From these measurements, sensor metrics are derived and calculated to compare the different variants quantitatively. Full article

Work-related musculoskeletal disorders (WMSDs) are often caused by repetitive lifting, making them a significant concern in occupational health. Although wearable assist devices have become the norm for mitigating the risk of back pain, most spinal assist devices still possess a partially rigid structure that impacts the user’s comfort and flexibility. This paper addresses this issue by presenting a smart textile-actuated spine assistance robotic exosuit (SARE), which can conform to the back seamlessly without impeding the user’s movement and is incredibly lightweight. To detect strain on the spine and to control the smart textile automatically, a soft knitting sensor that utilizes fluid pressure as a sensing element is used. Based on the soft knitting hydraulic sensor, the robotic exosuit can also feature the ability of monitoring and rectifying human posture. The SARE is validated experimentally with human subjects (N = 4). Through wearing the SARE in stoop lifting, the peak electromyography (EMG) signals of the lumbar erector spinae are reduced by 22.8% ± 12 for lifting 5 kg weights and 27.1% ± 14 in empty-handed conditions. Moreover, the integrated EMG decreased by 34.7% ± 11.8 for lifting 5 kg weights and 36% ± 13.3 in empty-handed conditions. In summary, the artificial muscle wearable device represents an anatomical solution to reduce the risk of muscle strain, metabolic energy cost and back pain associated with repetitive lifting tasks. Full article