Pneumatic and tendon-driven actuators are widely used in soft robotic glove design. Tendon-driven gloves generally better controllability, dexterity, force output, but they less comfortable than pneumatic ones. Most focus on only one actuation mode where either motor-driven tendon or pump-driven transmission is used. Herein, a double-acting actuator (DASA) that provides both flexion extension o...

This letter introduces the BRL/Pisa/IIT (BPI) SoftHand: a single actuator-driven, low-cost, 3D-printed, tendon-driven, underactuated robot hand that can be used to perform range of grasping tasks. Based on adaptive synergies Pisa/IIT SoftHand, we design new joint system and tendon routing facilitate inclusion both soft synergies, which helps us balance durability, affordability performance hand...

The tendon sheath mechanism plays an important role in many robotic systems from surgical devices to robot hands. However, many unexpected properties such as nonlinear hysteresis and backlash, which appear in the tendon sheath system, cause major losses in force transmission. This report deals with the characterization of hysteresis phenomenon, which is attributed to the presence of frictional ...

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Distal biceps tendon (DBT) conditions are relatively common in middle-aged males. The number of reported DBT tears seems to have increased over the last few years, likely related to better understanding and improved diagnostic methods.1 While some individuals may maintain reasonable function after non-operative treatment of a ruptured DBT, biomechanical and clinical studies suggest that most in...

Extensor mechanism injuries are unusual and require early operative intervention to optimally restore extensor mechanism continuity, strength, and function. Quadriceps tendon ruptures typically occur in patients older than 40 years and can be associated with degenerative tendon changes, obesity, systemic illnesses, and trauma. Patellar tendon ruptures are usually seen in younger patients as a r...