We present the design of a soft wearable robotic
device composed of elastomeric artificial muscle actuators and
soft fabric sleeves, for active assistance of knee motions. A
key feature of the device is the two-dimensional design of
the elastomer muscles that not only allows the compactness
of the device, but also significantly simplifies the manufacturing
process. In addition, the fabric sleeves make the device
lightweight and easily wearable. The elastomer muscles were
characterized and demonstrated an initial contraction force
of 38N and maximum contraction of 18mm with 104kPa
input pressure, approximately.