New Design of a Soft Robotics Wearable Elbow Exoskeleton Based on Shape Memory Alloy Wire Actuators

Figure 6

Elbow exoskeleton 3D-printed parts.

(a) Shoulder part

(b) Shoulder SMA wire guide part

(c) Bicep part

(d) Forearm part

(e) Wrist part

(f) Glove part