Developing a robotic hand that integrates high fingertip force, rapid response, and multi-degree-of-freedom (DoF) motion, similar to the human hand, remains a challenge in the field of robotic hands. This study presents the Soft-OmniFunctional Robotic Gripper (SOFRo Gripper), designed to achieve all aforementioned characteristics. The finger module of the SOFRo Gripper incorporates synergistically arranged chambers together with a multi-node tendon routing strategy that distributes actuation forces, enabling both flexion and ab/adduction motions while enhancing fingertip force. Furthermore, to maximize fingertip force, the Force-Enhanced Pleated (FEP) mechanism was applied to the chambers, increasing force by 32.41% compared to conventional chamber designs. The proposed SOFRo Gripper achieves a high fingertip force of 68.76 N and dexterous motion capabilities, enabling a maximum lifting force of 400.0 N and in-hand manipulation. To validate its versatility, extensive experiments were conducted, demonstrating the hand's capability to perform a wide range of tasks. As a result, the SOFRo Gripper successfully performed grasping tasks involving various objects, as well as high-force tasks (e.g., lifting heavy objects, closing a valve), delicate tasks (e.g., grasping tofu, inserting a light bulb), and high-speed tasks (e.g., spinning a top, catching a ball). The system demonstrates high force capability and performs a wide range of tasks.

Developing a robotic hand that integrates high fingertip force, rapid response, and multi-degree-of-freedom (DoF) motion to achieve human hand-like capabilities remains a challenge in the field of robotic hands. This study presents the SOFRo Gripper, a soft, high-force robotic gripper designed to combine these capabilities within a compact pneumatic architecture. The finger module of the SOFRo gripper incorporates synergistically arranged chambers together with a multinode tendon routing strategy that distributes actuation forces, enabling both flexion and abduction/adduction motions while enhancing fingertip force. Furthermore, a Force-Enhanced Pleated (FEP) mechanism was applied to the chambers to increase fingertip force, resulting in a 32.41% improvement over conventional chamber designs. The proposed SOFRo gripper achieves a high fingertip force of 68.76 N and dexterous motion capabilities, enabling a maximum lifting force of 400.0 N and in-hand manipulation. To validate its versatility, extensive experiments were conducted across a wide range of tasks, including object grasping, high-force manipulation (e.g., lifting heavy objects, closing a valve), delicate handling (e.g., grasping tofu, inserting a light bulb), and high-speed manipulation (e.g., spinning a top, catching a ball). These results demonstrate the SOFRo Gripper’s ability to combine high force with versatile soft robotic manipulation.

Accurate gait phase estimation is essential for synchronizing wearable robots with human motion. However, existing methods often rely on rigid sensors or computationally intensive models, which limit their applicability to fully soft wearable systems. This study presents a real-time gait phase estimation framework that integrates an embroidered stretch sensor with an Adaptive Pattern-Alignment Algorithm for soft wearable suits. The soft sensor was designed for reliable strain measurement and seamless integration into fabric-based garments, providing stable input signals for adaptive gait phase estimation. Feature attribution techniques–SHapley Additive exPlanations and Integrated Gradients–are employed to identify the most informative sensor placements. Adaptive normalization, combined with Dynamic Time Warping, standardizes sensor signals across different body morphologies and locomotion speeds. The proposed pattern-alignment algorithm achieved an average RMSE of 3.35% across 10 participants and maintained real-time performance with an average processing time of 0.046 ms per gait cycle, demonstrating its suitability for wearable robotic applications.

Team BeAGain's development of the whole-body FES robotic bicycle and triumph at Cybathlon 2024 are presented.

Wearable robotic gloves with grip-assistive functionality offer a promising solution for high-intensity manual tasks. However, achieving a balance among lightweight design, adequate force generation, and dexterous hand movement in wearable robotic gloves remains a significant challenge. In this study, we developed a fabric-integrated TSA-Glove to provide task-specific assistance while preserving dexterous movement. A high force-density Twisted String Actuator (TSA) was designed based on task-oriented parameters and strategically integrated into selected fabric materials to ensure efficient force transmission, flexibility, and lightweight performance. Additionally, an embedded routing design enhanced hand dexterity and TSA durability. The gloves were evaluated through grip force measurements, muscle activation analysis, and dexterity assessments. Compared to industrial gloves, the TSA-Glove demonstrated an 11.20% improvement in maximum grip force and a 18.02% smaller decrease in Maximal Voluntary Contraction (%MVC) values. The dexterity test further confirmed its improved performance, even with similar thickness. These results validate the TSA-Glove as a lightweight, task-optimized system, effectively supporting repetitive and physically demanding manual tasks.

Soft wearable robots have gained widespread interest across various disciplines; however, they remain insufficient in overcoming the physical limitations of the human body. In particular, enhancing vertical jump height, a commonly used indicator of physical capability, requires improved actuator power density, stroke length, and soft structure efficiency. To address these challenges, the Jump‐Enhancing Textile Suit is proposed, which integrates the Pneumatic Energy‐Storing Propulsion Actuator (PESPA) and the Triarticular Kinetic‐Chained Structure (TKiCS) to assist jump performance. PESPA stores elastic energy under pneumatic pressure and releases it during the propulsive phase to augment human movement. TKiCS uses the kinetic chain mechanism to reduce anchoring points and fully harness the high stiffness region, thereby improving force transmission efficiency. Controlled vertical jump experiments with healthy adult participants are conducted. The suit increases jump height by 3.74 cm on average and up to 9.04 cm maximum, while also enhancing hip, knee, and ankle torques. Under isotonic testing, PESPA achieves a power density of 2298.69 W kg−1 and outperforms conventional pneumatic actuators. A dynamic model enables accurate force prediction and precise timing for effective assistance. These findings establish a practical foundation for pneumatic wearable robotics and suggest applications in jump augmentation, rehabilitation, and athletic performance.

A manual handling task is one of the most common causes of back injuries, accounting for nearly 31.9% of the total work‐related injuries. To promote a safe working environment for workers, wearable robots (wearables) are rapidly emerging to fulfill various needs in human‐robot interactive tasks. Although numerous studies have successfully developed wearables to assist humans, they are often limited to supporting a single degree of freedom (DoF) of the human body with a single actuator. However, as humans tend to use multiple parts of their bodies, additional actuators and mechanisms to transmit force/motion are necessary to realize multi‐DoF, which increases the volume, price, and complexity of the wearables. To address these issues, a multi‐DoF wearable robot (WeaRo) with an adjustable twisted string actuator (ATSA) and a two‐stage transmission mechanism (2TM) is proposed. By introducing the novel ATSA and 2TM, the proposed WeaRo achieves multi‐DoF (lumbar and arm) with only a single electric motor and ATSA. Experimental results demonstrate that the proposed WeaRo effectively reduces the maximal voluntary contraction (%MVC) of lumbar, biceps, and triceps muscles by a maximum of 18.2, 29.1, and 27.0%, respectively without constraining users’ movements. Additionally, the fabric‐based design ensures a lightweight solution weighing 5.2 kg including batteries.

This study presents a wearable robot equipped with a novel anchoring structure designed to improve both force transmission efficiency and user comfort. While soft wearable robots are inherently more comfortable than rigid exoskeletons, they often suffer from significant force loss and increased anchoring pressure when higher assistive forces are applied. To address this trade-off, a chain-linking anchoring structure with anisotropic stiffness was developed and integrated into the wearable system. The structure is designed to exhibit high stiffness in regions critical for force transmission, minimizing deformation, while maintaining low stiffness in areas that require gentle deformation for wearer comfort. Experimental validation of the wearable robot demonstrated a 34.2% improvement in force transmission efficiency compared to conventional anchoring methods, without compromising comfort. These results highlight the effectiveness of the proposed robot in delivering strong assistance while remaining comfortable, offering a practical solution for the advancement of wearable assistive technologies.

Pneumatic artificial muscles (PAMs) are promising actuators for safe human-robot interaction due to their high force density and compliance. However, challenges like force reduction and poor control performance hinder their practical use. To address this, we propose the Patella-Inspired Linkage Joint (PatLink), amplifying joint rotation with muscle contraction. This enhances joint speed and torque output. Experimental results demonstrate a 104% increase in range of motion and a 108% enhancement in mean work rate, validating PatLink's effectiveness. Furthermore, PatLink can be extended to similar actuators like shape memory alloy and twisted string actuators.

We developed flexible, lightweight, and washable gloves with actuators to assist finger movements and improve ease of wearing. Performance and wearability were measured using standardized tests, triangulation of bending angles, electromyography (EMG), and grip strength. User satisfaction was measured using a survey. EMG sensors were attached to the flexor digitorum superficialis and extensor digitorum communis to capture movement data for grasping and releasing, lifting and putting down, and opening and closing an object with (a) gloves and an actuator, (b) gloves and no actuator, and (c) no gloves. The actuator-equipped glove weighed 31.4 g-lighter than in any earlier studies. In situation (a), the average EMG values for the four participants decreased, ranging from -2.06% to -44.1%, confirming the superior performance of the gloves. Survey results revealed high levels of user satisfaction. Our study offers insights into the development of rehabilitation robotic gloves that assist muscle movements and are easy to wear.

Wearable robotic systems, especially those integrating soft materials, are increasingly capturing attention due to their comfort, ease of use, and versatility in supporting various tasks. Striking a balance between ensuring wearer comfort with low impedance and delivering sufficient assistive force presents a significant design challenge in wearable robotics. In this study, we propose the utilization of variable impedance tailored to different types of muscle contractions in the human body. By specifically addressing eccentric muscle contractions, adjusting impedance can alleviate muscular strain as both forces act in the same direction. To realize this concept, we introduce layer jamming mechanisms capable of adjusting impedance across multiple directions. This mechanism not only allows for a broad range of impedance variation in multi-degree-of-freedom (DoF) rotations but also facilitates customized directional torque in human multi-DoF joints. Through the development of a wearable robot prototype equipped with the proposed layer jamming mechanisms, experimental validation confirms the effectiveness of this impedance-based assistance strategy. The findings of this study unveil new possibilities in wearable robot design, showcasing how finely tuned impedance can enhance human motion, potentially boosting task efficiency and minimizing injury risks. Therefore, this work presents a fresh perspective for researchers involved in the field of wearable robotics.

Wearable robots, especially those composed of soft materials, are increasingly attracting interest due to their comfort, ease of donning and doffing, and their ability to provide assistance across various applications. In wearable robotics, striking a balance between ensuring low impedance for wearer comfort and providing sufficient assistive force is a notable design challenge. In this study, we propose exploiting impedance variation in accordance with the types of muscle contraction in the human body. Particularly in eccentric muscle contraction, the impedance can help reduce the muscular load, since it exerts force in the same direction as the muscles. To utilize the relation, we proposed a linked-layer jamming mechanism, which adjusts its impedance largely in various directions. This mechanism allows not only a broad variable range of impedance in multiple rotation directions but also directional torque design, even when equipped in human multi-degree-of-freedom (DoF) joints. By constructing a wearable robot prototype equipped with the proposed linked-layer jamming mechanisms, the effectiveness of this impedance-based assistance approach was confirmed through experiments. The findings from this study present new possibilities in wearable robot design, showing that suitably amplified impedance can assist human motion, potentially enhancing task efficiency and lowering injury risk. This work thus offers a new perspective for researchers in the field of wearable robots, demonstrating that impedance, often minimized in existing designs, can be utilized beneficially when properly amplified.

This study aimed to develop wearable robotic gloves that can provide comfort to logistics and transportation workers while providing hand assistance and addressing accumulated muscle fatigue caused by repetitive manual handling tasks. Two types of gloves, rivet-type and pouch-type were developed and evaluated using the nine-hole peg test (NHPT) and grip strength tests. Results showed rivet-type gloves had better dexterity, with an 8.14% faster NHPT time, and maintained 85% grip strength compared to 80% for pouch-type gloves, even after fatigue exercises. Wearability tests were conducted by measuring clothing pressure and brainwaves. In contrast to the functional experimental results, the pouch-type gloves exhibited significant decreases in clothing pressure during actuation. According to the difference in brain waves in the frontal lobe region, the beta and gamma waves observed when wearing pouch-type gloves were lower than those of rivet-type gloves, and pouch-type gloves exhibited higher alpha-wave results than rivet-type gloves. These results imply that participants were in a comparatively relaxed state when wearing pouch-type gloves. A wearer’s evaluation survey on the overall design, function, comfort, safety, ease of use, usefulness, and use intention was conducted. In summary, the rivet-type gloves exhibited better results in hand performance while the pouch-type gloves showed advantages in wearability, suggesting a tradeoff relationship between force transmission and wearer comfort. The results of this study aimed to improve the work efficiency at logistics and transportation industry sites and help improve the welfare of workers.

Pneumatic artificial muscles (PAMs) have shown promising potential as actuators for safe human-robot interaction due to their high force density and inherent compliance. However, drawbacks such as force reduction, relatively poor control performance, and low energy efficiency have hindered the practical application of PAMs for robotic systems. Although various approaches were conducted to enhance the applicability of PAMs, there is still a lack of research on effective transmission mechanisms that can fully exploit the actuation characteristics of PAMs. In this article, we propose a patella-inspired linkage joint (PatLink) to address the tradeoff problem between torque and speed in conventional mechanisms with PAMs. The proposed mechanism amplifies the joint rotation angle with respect to the muscle contraction length, thereby increasing the joint angular velocity. Furthermore, the PatLink enables the PAMs' actuation force to be utilized over a wider range of joint angles, further improving the torque output. Experimental results showed 103% increase in range of motion and 106% enhancement in mean work rate under the same input, thereby validating the effectiveness of the PatLink. The proposed mechanism can be further expanded to various contraction-type soft actuators, such as shape memory alloy actuators and twisted string actuators, which possess similar force characteristics to PAMs.

Types of running vary from jogging in parks to fast running in competitions. Humans strive for faster, stronger, and more sustainable running performances spanning short to long distances. In the near future, wearable devices will enable humans to run at high speeds and overcome human limits. Therefore, aerodynamic prediction is essential for the system design of a wearable device. This study focused on the aerodynamic drag and flow field according to the assumed human posture at takeoff and touchdown for various running speeds. Numerical simulations were conducted with the Reynolds-averaged Navier–Stokes equation, and a mathematical model, in conjunction with the use of simple geometric models, was developed to predict the aerodynamic drag. In addition, the power and energy were analyzed based on the generated aerodynamic drag. This study demonstrated the theoretical prediction of aerodynamic drag, and estimated the power and energy required to overcome it. The results from this study can be useful in the fields of sports, soft robotics, and biomechanics. Furthermore, the effects of wearable devices attached to the body on the aerodynamic drag can be analyzed by applying the presented methods, and this analysis is beneficial for the optimal design of wearable suits.

The antenna device used in the close-in weapon systems is the primary device for detecting targets and effectively countering enemy aircraft, anti-ship guided munitions, and close-in maritime terrorist threats, as well as ensuring survivability in a warfare environment. The antenna device must exhibit structural integrity and meet the radar performance criteria for warfare operations scenarios that consider the shock loads from underwater weapons and machine gun fire, as well as general environmental conditions. To simulate the warfare operating environment for underwater explosion and machine gun shock loads, the German Navy's BV043 standard and actual machine gun data were used to convert the antenna mount response into a time-history signal. This simulation formed the basis for the development of a finite element analysis model of an antenna device for a ship equipped with machine guns, and modal analysis and transient response analysis were performed. For shock resistance analysis, stress-based evaluation of the structure and acceleration-based evaluation of the components were performed based on the results of the finite element analysis to evaluate the structural integrity and performance of the radar.

Transport boxes for IFF equipment are used for the operation, storage, and transportation of IFF antenna, interrogators, and encryption devices in the military. Transport boxes can protect IFF equipment during military operation; their functional performance should be verified by the development test and operation test (OT). In this study, the design and manufacture of a transport box for IFF equipment were presented and covered the process of identifying improvement points through the analysis of the causes of defects resulting from drop impact tests, ultimately leading to problem-solving through supplementation. After the drop impact test in the OT, the transport box was dented and bent, and the locking handle function was limited. To identify the cause of the defects, structural and collision analyses were conducted, and durability was improved by applying a reinforcement frame and rubber pads. The shock absorption effect of the rubber pad was calculated as 22.17 %, and there were no issues in the drop test with the improved transport box. Finally, it can be significantly improved by over 80 % using the reinforced IFF box based on the deformation standard.

The antenna structure of the close-in weapon systems, which is integrated into the machine gun, needs to be lightweight to reduce the load on the gun’s driving. Additionally, the antenna structure must ensure structural integrity against shock loads to guarantee survivability in various naval combat environments. Although topology optimization is commonly used for lightweight design, it requires transient response analysis, which is significantly costly. In this study, we propose a modal-based structural optimization method that ensures structural integrity for lightweight design by considering the frequency characteristics of shock loads and the dynamic characteristics of the structure. The optimization problem was defined using constraints to avoid the natural frequencies of the structure from the frequency range of the shock loads, and objective function that reducing mass of the structure. To verify the optimization method, modal and transient response analyses of the lightweight model obtained were performed, and the structural integrity of the antenna structure was evaluated.

Pneumatic devices such as pneumatic artificial muscles (PAMs) generate excessive noise during operation, thus inducing safety hazards and becoming a nuisance to nearby communities. In this study, biomimetic silencers consisting of polyurethane foam and slit structures that mimic shark gill slits to reduce the exhaust noise caused by pneumatic devices were developed and experimentally analyzed. Two separate experimental approaches were employed to evaluate and analyze the performance of the developed biomimetic silencer. During these experiments involving the compressor and PAM exhaust noise measurements, the sound pressure signals, noise, and flow rate were obtained for the cases of with and without silencer. The results demonstrated that the slit structure of the developed silencer decreased the relative velocity with the surrounding air, thus resulting in approximately 6 dB improvement in noise reduction performance of the developed silencer compared with that of a general pneumatic silencer. Although the use of porous materials in the silencer causes an exhaust time delay, the delay is insignificant compared with that of a general pneumatic silencer in terms of the exhaust area. Thus, the developed silencer is an effective solution for reducing the exhaust noise in pneumatic devices, particularly in situations where noise reduction is critical.

The “Furniture Assembly AI–Robot Challenge 2021” is a competition that evaluates the performance of the robot for an assigned furniture assembly task by combining both artificial intelligence (AI) and robot technology. To generate commands such that a robot can execute the assembly instructions, it is essential to develop an AI-based algorithm that can recognize and interpret the assembly process based on the given instructions. The assembly robot must be dexterous and able to safely execute assembly tasks without operator intervention.