This study introduces a novel adjustable fastening mechanism for wearable robots, aimed at alleviating user discomfort associated with traditional fixed attachment methods. By utilizing the unique scissoring effect of braided sleeves, we demonstrated that axial manipulation can effectively translate into radial size control, allowing for precise regulation of fastening force. To address the size limitations of commercial braided sleeves, we developed a large-area fastening structure by combining multiple braided sleeve sheets. Additionally, we incorporated a wire tendon system to enable active operation in both Daily Mode (fastening-release) and Exercise Mode (fastening-tightening). Experimental results on an anthropomorphic model revealed that this adjustable fastening structure offers variable fastening forces, achieving a 4.8-fold difference between the exercise and daily modes. This research presents a new approach by leveraging the Poisson's ratio properties of braided sleeves for dynamic fastening, tackling fabrication challenges for large-area structures, and improving user comfort and compliance in wearable robot applications

Research of different types of powered exoskeleton have been conducted for various purposes. Recently, the exoskeleton has been used in rehabilitation training for patients with walking problems. For the exoskeletons to appropriately assist the user in gait rehabilitation, it is essential to understand user"s intention. The user"s walking intention includes the temporal aspect of timing of movements and the quantitative aspect of how large the movement is. This study, quantitatively identifies the relationship between arm and leg movements during walking, the user"s quantitative intention for gait, and suggests for a control strategy to assist user"s movement accordingly for a 1DoF hip exoskeleton for hemiplegic gait rehabilitation.