Textile and Apparel Science

Development of Robotic Pants with SMA Wire Tunnels for User Safety and Comfort 

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Abstract

This study developed wearable robotic pants integrating shape-memory alloy (SMA) actuators using a thermally safe split cylindrical tunnel to improve comfort and gait assistance. The tunnel combines a heat-insulating inner layer with a breathable outer mesh, preventing direct skin contact with high-temperature SMA wires while allowing ventilation. Eleven adults completed treadmill walking trials under actuator “On” and “Off” conditions, during which electromyography (EMG), gait parameters, and user satisfaction were measured. Actuator activation reduced calf EMG by 37.54%, indicating reduced muscular effort and physical fatigue, and significantly decreased step length, suggesting enhanced gait stability. User satisfaction remained high across both conditions (5.66 ≤ M ≤ 6.54), with safety and pleasantness rated the highest. These results demonstrate that the tunnel-integrated design ensures thermal safety without compromising wearability, offering practical guidance for human-centered development of SMA-based wearable robotic clothing.

Keywords: Wearable Robotic Pants, Shape-Memory Alloy Actuator, Tunnel Design, Gait Assistance, EMG Analysis, User Comfort and Safety

How to Cite:

Oh, J., Lee, G., Park, S., Cho, Y., Jung, Y. & Koo, S., (2025) “Development of Robotic Pants with SMA Wire Tunnels for User Safety and Comfort ”, International Textile and Apparel Association Annual Conference Proceedings 82(1). doi: https://doi.org/10.31274/itaa.21601