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cs.RO2023
Robust Generalized Proportional Integral Control for Trajectory Tracking of Soft Actuators in a Pediatric Wearable Assistive Device
Caio Mucchiani, Zhichao Liu, Ipsita Sahin +2
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help re…
cs.RO2023
A Fabric-based Pneumatic Actuator for the Infant Elbow: Design and Comparative Kinematic Analysis
Ipsita Sahin, Mehrnoosh Ayazi, Caio Mucchiani +3
This paper focuses on the design and systematic evaluation of fabric-based, bellow-type soft pneumatic actuators to assist with flexion and extension of the elbow, intended for use…