Purpose

The purpose of this research was to develop clothing-typed soft wearable robot embedded with textile-based actuators on ankles for elderly adults needing gait assistance.

Design/methodology/approach

Design guidelines were developed and they included function (type, targeting area, routing line and anchor points), design (size/fit, fabric/material, fastener, detail, color) and actuator (shape memory alloy type, size, deformation type, integration material, integration technique and evaluation method). Fabric-based actuator, integration methods to fabrics, routing lines and anchoring points were developed based on the guidelines and evaluated. Then, three long socks types and a pants type were designed and prototyped. Routing line position displacement measurement test was conducted with the prototypes. A survey was conducted to investigate satisfaction, likeness and use intention on the design/prototype to modify the designs.

Findings

Important design factors were identified, and design guidelines for clothing-typed soft wearable robots (SWRs) were developed. People satisfied the developed SWR designs and prototypes with mean scores over 4.60.

Originality/value

The results are expected to be helpful for designers and developers of SWRs in the development process, and they will ultimately be beneficial to members of the elderly population who have gait difficulties.

中文翻译：

---

老年人步态辅助服装式软穿戴机器人的研制

目的

这项研究的目的是为需要步态帮助的老年人开发在脚踝上嵌入基于纺织品的致动器的服装式软可穿戴机器人。

设计/方法/方法

制定了设计指南，它们包括功能（类型、目标区域、布线和锚点）、设计（尺寸/合身、织物/材料、紧固件、细节、颜色）和执行器（形状记忆合金类型、尺寸、变形类型、集成材料、集成技术和评估方法）。基于织物的执行器、织物的集成方法、布线和锚定点是根据指南开发的并进行了评估。然后，设计并制作了三种长袜类型和一种裤子类型。用样机进行布线线路位移测量试验。进行了一项调查以调查对设计/原型的满意度、相似性和使用意图以修改设计。

发现

确定了重要的设计因素，并制定了服装式软可穿戴机器人 (SWR) 的设计指南。人们对开发的 SWR 设计和原型感到满意，平均得分超过 4.60。

原创性/价值

研究结果有望在开发过程中为 SWR 的设计者和开发者提供帮助，最终将有益于步态困难的老年人群。