Emerging soft exoskeletons pose urgent needs for high-performance strain sensors with tunable linear working windows to achieve a high-precision control loop. Still, the state-of-the-art require further advances simultaneously satisfy multiple sensing parameters, including high sensitivity, reliable linearity, and ranges. Besides, wireless system is highly desired enable facile monitoring of exoskeleton in real time, but rarely investigated. Herein, Ti3C2Tx MXene systems were fabricated by...

This paper presents a hybrid tele-manipulation system, comprising of sensorized 3-D-printed soft robotic gripper and fabric-based haptic glove that aim at improving grasping manipulation providing sensing feedback to the operators. The flexible broadens what can do, especially for tasks where delicate objects, such as glassware, are involved. It consists four pneumatic finger actuators, casings with through hole housing adjustable base. length width be configured easily suit variety objects....

The compliant nature of soft fingers allows for safe and dexterous manipulation objects by humans in an unstructured environment. A prosthetic finger design with tactile sensing capabilities texture discrimination subsequent sensory stimulation has the potential to create a more natural experience amputee. In this work, pneumatically actuated biomimetic is integrated textile neuromorphic sensor array task. outputs were converted into spike trains, which emulate firing pattern biological...

This article presents a versatile soft robotic gripper system whereby its fingers can be reconfigured into different poses such as scoop, pinch, and claw. allows the to efficiently safely handle food samples of shapes, sizes stiffness uncooked tofu broccoli floret. The 3D-printed were tested last up 25 000 cycles without significant changes in curvature profile force output profile. A benchmark experiment was conducted evaluate performance state-of-the-art gripping solutions. Capability...

Soft robots have received much attention due to their impressive capabilities including high flexibility and inherent safety features for humans or unstructured environments compared with hard-bodied robots. actuators are the crucial components of soft robotic systems. require dexterous provide desired deformation different applications. Most existing only one two modes. In this article, a new pneumatic actuator (SPA) is proposed taking inspiration from Kirigami. Kirigami-inspired cuts...

Traditional actuators are usually heavy, expensive and require a complex multi-component mechanical structure to generate human-like movement. Therefore, we proposed lightweight soft finger actuator (25g) that is powered by pneumatic means perform the grasping tasks. The were fabricated using 3D-printing lithography techniques. 5 healthy subjects (3 males 2 females; age: 25±2.5 years) recruited they asked wear hand orthosis with attached on index evaluate performance of actuators. flexion...

In digital nerve repair surgery, handling the nerves using traditional forceps requires surgeons to be extremely cautious in order minimize unintended iatrogenic trauma. These injuries are mainly caused by excessively forceful manipulation with metallic rigid forceps. Soft pneumatic actuators have been increasingly adopted broaden biomedical applications of conventional structures due their inherent excellent compliance and compressibility. Existing soft grippers, however, face barriers use...

Traditional hard tissue grippers are limited in handling delicate soft tissues during surgery, particularly due to the high stress points that generated on gripping. In this study, customizable pneumatic chamber–gripper devices were designed provide compliant gripping, so as replace conventional such laparoscopic grasper or forceps manipulation. The device involves very simple design and control generate actuation. It is fabricated from an elastomeric material using a modified lithography...

THIS paper presents the development of a bidirectional fabric-based soft pneumatic actuator requiring low fluid pressurization for actuation, which is incorporated into robotic gripper to demonstrate its utility. The able provide both flexion and extension. Fabrication fabric actuators simple as compared steps involved in traditional silicone-based approach. In addition, are generate comparably larger vertical grip resistive force at lower operating pressure than elastomeric 3D-printed...

In the soft gripper design work, most of designs such as gripping width and finger actuator are purely based on experience, repeated trial-and-error. scenarios, designed actuators cannot achieve best/optimized grasping performance with a specific type. This optimized is important especially for food application, minor improvement capability will be helpful to increase success ratio, during high-speed pick place tasks. That motivates us develop optimization framework, focusing how an...

Soft robotics has garnered great research interest from community due to their compliant control as compared normal hard rigid robots. Particularly, these soft actuators only involve simple design of pneumatic channels generate required actuation and are usually powered by pneumatics or hydraulics. These lightweight, inexpensive easily fabricated with lithography technique. In this paper, we present a different application in shoe insole that involves control. To our knowledge, is the first...

Soft compliant gripping is a promising way to protect soft tissues from the grip damage caused by high stress points in delicate surgical manipulation. In this paper, new robotic gripper designed minimize risk of due over-gripping force generated conventional forceps. This consists 3D-printed hook retractor shell, inflatable actuator and two small rods. The ability achieved inflated pneumatic actuator. Two rods are used separate into three-fingers-like bloats which can firmly multi-contacts...

This paper presents the design and development of a novel fabric-based pneumatic sensor for sensing external bending angles compressive contact forces. system is soft aimed at addressing issues with use sensors alongside actuators, where material compliance key importance. The principle based on detection changes in pressure within its mechanical component, fabric air chamber, response to an externally applied force. A comprehensive suite characterization tests was carried out elucidate...

This paper presents the development of a compliant, modular, reconfigurable, and sensorized robotic hand with multiple grasping capabilities. Each finger consists soft pneumatic actuator embedded fabric force sensor detachable casing. The casing has through hole for housing special connectors attachment to other casings. One each from thumb parts protrusion connecting both together via screw tightening system. through-hole design allows different length be achieved inflated channel locks it...

In this paper, we presented fabric-based soft tactile actuator and sensor. The force characterization result indicates that the is able to produce up about 2.20(±0.017)N, when it supplied with 80kPa of pressurized air. Hence capable producing sufficient amount force, which surpasses human's haptic perception threshold. thin, sheet nature material creates lightweight actuator, improves payload-to-weight ratio. pneumatic-based operation principle a safer human-machine interface. Thus,...

THIS paper presents a bidirectional 3D-printed soft pneumatic actuator that is capable of inward and outward bending. A direct 3D-printing approach adopted to fabricate the actuator, which reduces fabrication complexity allows for easy customization dimensions various applications. To illustrate applicability actuators, four these actuators were incorporated into gripper system. suite functional grasping tasks, such as packaging, assembly, alignment successfully conducted. It was observed...

The growing ageing population and high prevalence of knee osteoarthritis (OA) in athletes across nations have created a strong demand for improved non-invasive therapeutic alternatives OA. aim this study is to investigate the effect variable stiffness shoe (VSS), new approach, on external adduction moment (EKAM) various dynamic exercises. EKAM believed positive correlation with progression development OA.Thirty young participants (16 male 14 female; age 22.6 ± 1.9 years) from National...

This paper introduces the development of an anthropomorphic soft robotic hand integrated with multiple flexible force sensors in fingers. By leveraging on sensing mechanism, grip state estimation networks have been developed. The was tasked to hold given object table for 1.5 s and lift it up within 1 s. manipulation experiment grasping lifting objects were conducted various pneumatic pressure (50, 80, 120 kPa). Learning developed estimate occurrence instability slippage due acceleration...

Soft robotic fingers have shown great potential for use in prostheses due to their inherent compliant, light, and dexterous nature. Recent advancements sensor technology soft systems showcase ability perceive respond static cues. However, most of the prosthetic applications are not equipped with sensors which texture like humans can. In this work, we present a dexterous, soft, biomimetic solution is capable discrimination textures. We fabricated finger two individually controllable degrees...

Soft compliant gripping is essential in delicate surgical manipulation for minimizing the risk of tissue grip damage caused by high stress concentrations at point contact. It can be achieved complementing traditional rigid grippers with soft robotic pneumatic gripper devices. This manuscript describes a rod-based approach that combined both 3D-printing and modified lithography technique to fabricate gripper. In brief, featureless mold chamber component 3D-printed rods were used create...

This paper contributes to a new design of the three-dimensional printable robotic ball joints capable creating controllable stiffness linkage between two robot links through pneumatic actuation. The variable joint consists soft elastomer actuator, support platform, an inner and socket. structure, including socket, is three-dimensionally printed using polyamide-12 (PA12) by selective laser sintering (SLS) technology as integral mechanism without requirement assembly. SLS can make have...

This paper presents fabric-based soft robotic modules with primitive morphologies, which are analogous to basic geometrical polygons—trilateral and quadrilateral. The two the inflatable beam (IB) rotary actuator (FRA). FRA module is designed origami-inspired V-shaped pleats, creates a trilateral outline. Upon pressurization, pleats unfold, enables propagation of angular displacement module. allows be implemented as mobility unit in larger assembly pneumatic structures. In following, we...

The motion mimicry ability of patients facilitates execution therapy moves based on visual observation rehabilitation exercise videos, which can help speed up the recovery process. This study investigates effects feedback mimicking human subjects in video-based rehabilitation. Inertial Measurement Unit (IMU) sensors was used, provide a portable system to detect tracking, allowing for experiments be conducted without space restrictions and greater variety actions that tested. In experiment,...