  The shoulder is responsible for the movement of the entire upper limb. It is
capable of articulating in three degrees-of-freedom (DOF), enabling the arm to
perform manipulation actions with incomparable dexterity. Exoskeletons
targeting the shoulder must be able to emulate its complex kinematics. While
typical architectures have proven to be useful, they employ complex and usually
inadequate techniques to match the mobility of the shoulder. A new 2-DOF soft
robotic shoulder exoskeleton is presented. Modular soft robotic actuators with
separated inflation modules on the exoskeleton are able to emulate the humerus'
natural movement. These actuators were organized into two antagonistic pairs
and operate in a parallel configuration. We present the design and
functionality of the actuators powering the exoskeleton. The actuator design
enables it to perform 3-D bending with insignificant resistance. We measured
its performance through a series of static and dynamic tests. Depending on the
configuration, the actuator can generate up to a maximum torque of 15.54 N-m
and can respond with a minimum rise time of ~2s when excited by a step input.
We demonstrated its ability to perform assistance of shoulder movements. It is
capable of reaching any point on the humerus' workspace from any starting
position.
