This paper addresses the design, fabrication and control of Fabric Inflatable Soft Actuators (FISAs) for driving Soft Wearable Devices (SWD) for rehabilitation or assistance tasks. FISAs are integrated by a set of pneumatic chambers made of 200D TPU-nylon that create bending-extending motions using a modular assembly that allow FISAs to adapt them to any size of limb or easily replace them. Regarding FISAs fabrication, a self-hand manufacturing approach has been used for cutting, sewing, and

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... ning them. Additionally, to evaluate FISAs operation, a Soft Exo-Sleeve called MOSAR system was manufactured to achieve elbow motion. To control their inflation-deflation process in real-time, proportional and solenoid valves have been implemented along with a Proportional-Derivative (PD) control strategy that has been embedded in the NUCLEO-STM32F767ZI™ board with rapid control prototyping. Preliminary experiments about FISA performance on the MOSAR system were carried out to measure the inflation-deflation time, Range of Motion (ROM), and output force when elbow flexion-extension occurred in a dummy limb. The results have demonstrated FISAs functionality above the exosuit since they were able to lift 1 kg with flexion of 130° in 5 s using 50 psi. Therefore, FISAs represent a feasible choice for semicircular motions in other joints such as the wrist, hand, or knee, no matter age, limb, or size, only the number of FISAs must be adjusted on the MOSAR system.