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Thermal physiology and psychophysics are complex and nuanced, with significant variability between individuals. Wearable devices have the potential to offer customizable microclimate control. However, individual experiences with different supplemental heating strategies are likely to vary considerably in unconstrained environments. The physiological responses, psychophysical effects, and qualitative experiences of participants using five readily available heating strategies were collected in a quasi-field study environment ( n=17). Although all devices maintained or increased fingertip temperature, effects observed from controlled studies of thermal physiology are not clearly seen. Physiological, perceptual, and experiential data are presented, exploring heating technologies and thermal comfort in typical indoor environments. 

Heating devices offer particular benefits in cold climates and to those with thermoregulatory or vasospastic disorders, like Reynaud’s syndrome. Heating devices can be used to moderate a wearer’s microclimate to alleviate thermal discomfort and pain, especially in the distal extremities where thermal sensitivity is the highest. Applying insulation on top of wearables with heating components can reduce both heat lost to the environment, as well as power needs for maintaining thermal comfort. Here, we evaluated one stitched, heated textile garment with eight textile insulation materials to assess heat propagation (measured by five thermistors on a mannequin hand and one in the surrounding, enclosed environment) and wearability (measured from tests of fabric weight, thickness, flexural rigidity, and permeance). Results find energy conserved by all materials, but wearability drawbacks for some strong insulators. Thicker materials generally had higher insulative properties, and reduced heat propagation to the indirect heating regions, specifically the finger and thumb. Additionally, heat propagation through to the environment was stronger than to the finger and thumb.

 

This paper investigates the tradeoffs between design variables important for the development of a mobility support soft exoskeleton for horizontal shoulder adduction. The soft exoskeleton utilizes discreet shape memory alloy (SMA) spring actuators to generate the required torque to move the arm segment, while preserving the qualities of a soft, wearable garment solution. A pilot benchtop test involving varying power input, actuator anchor position, actuator orientation, and added weight, was investigated to evaluate their effects against the degree of motion the soft exoskeleton allows. The results show that the power input, actuator anchor position, and simulated limb weight each affect the ultimate horizontal adduction angle the exoskeleton is able to induce. Further, the project highlights a crucial point in regard to the tradeoffs between functionality and wearability: when actuator orientation was investigated, we found a decrement in functionality (as measured by maximum achievable horizontal adduction angle) when the actuators were constrained close to the body. This shows that when aiming to improve the hypothetical system’s wearability/usability, the effective torque that can be generated is reduced. Together these findings demonstrate important design considerations while developing a wearable, soft exoskeleton system that is capable of effectively supporting movement of the body while maintaining the comfort and discreetness of a regular garment.

 

In the world of soft-robotic medical devices, there is a growing need for low profile, non-rigid, and lower power actuators for soft exoskeletons and dynamic compression garments. Advanced compression garments with integrated shape memory materials have been developed recently to alleviate the functional and usability limitations associated with traditional compression garments. These advanced garments use contractile shape memory alloy (SMA) coil actuators to produce dynamic compression on the body through selective heating of the SMA material. While these garments can create spatially- and temporally-controllable compression, typical SMA materials (e.g., 70°C Flexinol) consume considerable power and require considerable thermal insulation to protect the wearer during the heating phase of the SMA actuation. Alternative SMA materials (e.g., NiTi #8 by Fort Wayne Metals, Inc.) transform below room temperature and do so using no applied electrical power and generate no waste heat. However, these materials are challenging to dynamically control and require active refrigeration to reset to material. In theory, low-temperature SMA actuators made from materials like NiTi #8 may maintain additional dynamic actuation capacity once equilibrated to room temperature (i.e., the material may not fully transform), as the SMA phase transformation temperature window expands when the material experiences applied stress. This paper investigates this possibility: we manufactured and tested low-temperature NiTi coil actuators to determine the magnitude of the additional force that can be generated via Joule heating once the material has equilibrated to room temperature. SMA spring actuators made from NiTi #8 consumed 84% less power and stabilized at significantly lower temperatures (26.0°C vs. 41.2°C) than SMA springs made from 70°C Flexinol, when actuated at identically fixed displacements (100% nominal strain) and when driven to produce equal forces (∼3.35N). This demonstration of low-power, minimal-heat exposure SMA actuation holds promise for many future wearable actuation applications, including dynamic compression garments.

 

This work encompasses the design and development of garment based shape memory alloy (SMA) compression technology that is dynamic, low-mass, and remotely controllable. Three garment design iterations are presented, consolidated from past user studies. The designed garment system has potential to serve as a research tool for understanding parameters necessary to create a desired compression haptic experience; for broadening the scope of medical/clinical interventions; as well as for enabling new modes of interaction between users separated by distance, especially in areas such as tele-rehabilitation and social mediated touch.