FAYRA: A Softer Reach

What it does

FAYRA is a robotic arm designed for wheelchair-mounted assistive use. Made entirely from flexible materials, ensuring safe interaction. Unlike traditional rigid robotic arms, FAYRA can be folded when not in use, making navigation in tight spaces easier.

Your inspiration

In Japan, over 2 million people use wheelchairs, many with limited arm mobility, making simple tasks, like pressing buttons or reaching objects, difficult without help. Even those with mobility face barriers in public spaces, often relying on caregivers and losing independence. Conventional robotic arms can assist, but they are rigid, heavy, and unsafe in crowded spaces. As a soft robotics researcher focused on safe human-robot interaction, I saw potential in soft materials to address these issues. During my master’s research, I was inspired to design a fully soft robotic arm to improve both safety and usability in assistive applications.

How it works

FAYRA is 3D printed from a soft material that can easily deform and is cheaply available. The arm has a circular cross-section divided into four radial sections, each powered by compressed air. When positive pressure fills a section, it elongates; when air is removed creating a vacuum it compresses. Different pressures control the degree of movement. An origami-inspired design allows for the structured elongation and bending of the arm. Multiple segments form the arm, which can bend 360 degrees by applying different pressures, for example, inflating two adjacent sections while vacuuming the opposite two causes the arm to bend toward the vacuumed side. The arm also has an interchangeable soft gripper for different tasks. A custom control box with a printed circuit board and an Arduino manages valve operation. Users control the arm with an intuitive joystick and soft buttons for homing, locking, closing and opening gripper and user presets.

Design process

The design process of FAYRA began with a literature review of assistive arms, revealing little research on soft alternatives. Inspired by origami, an initial concept was developed to enable compression and elongation. Early prototypes used to sew and silicone casting but proved difficult to manufacture due to structural complexity. Finite Element Analysis (FEA) helped evaluate various designs and materials under pressure, identifying weak points and optimizing performance for low-pressure operation (~ -5 to 5 kPa), essential for mobile wheelchair use. Stereolithography 3D printing was selected for its ability to produce airtight, intricate patterns. In colaboration with Sewa international, and while recording a segment for the NHK World Japan's program "Where we call home", We visited Muchu Center in Osaka, a center for independent living, to interview wheelchair users about their daily needs and preferences. Their input helped refine the design. After testing single segments, we built and simulated multi-segment arms. A tapered redesign improved control and aesthetics based on user feedback. The control box evolved from a relay-based system to a custom 10-channel transistor board. The arm can now bend, extend, compress, and grasp, with a detachable controller for easier access.

How it is different

Unlike current rigid assistive arms, FAYRA is made of inexpensive commercially available soft materials, reducing the risk of injury during operation. While soft robotic arms exist in research, they are rarely applied to assistive devices, especially for wheelchairs. Many require high pressures (~200 kPa) and numerous actuation ports (36), making them unsuitable for mobile use due to bulky control systems. FAYRA operates at low pressure (±5 kPa) with only 10 control channels, enabling a compact, portable setup. A key feature is its ability to fold into a compact form when not in use—something not found in existing devices. This makes it ideal for crowded or dynamic environments where space and safety are critical. Additionally, the control system is designed to be adaptable, enabling customized input devices to suit users with different levels of mobility. FAYRA’s modular design allows for potential expansion, such as additional joints or tool attachments.

Future plans

The next step is to optimize FAYRA’s design for large-scale, cost-effective production, making it accessible to users who need it. Usability testing will be conducted with wheelchair users with varying mobility levels to refine the interface, functionality, durability and comfort. Feedback from these trials will guide the final design toward a reliable, adaptable product that meets a wide range of user needs. We plan to integrate FAYRA with existing wheelchair platforms and smart devices. In the future, we aim to provide a safer, more user-friendly assistive arm that empowers wheelchair users with greater independence in their daily lives.

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