4 papers · 1 filter
Fabric Pneumatic Artificial Muscle-Based Head-Neck Exosuit: Design, Modeling, and Evaluation
Katalin Schäffer, Ian Bales, Haohan Zhang +1
Wearable exosuits assist human movement in tasks ranging from rehabilitation to daily activities; specifically, head-neck support is necessary for patients with certain neurologica…
Tendon-based modelling, estimation and control for a simulated high-DoF anthropomorphic hand model
Péter Polcz, Katalin Schäffer, Miklós Koller
Tendon-driven anthropomorphic robotic hands often lack direct joint angle sensing, as the integration of joint encoders can compromise mechanical compactness and dexterity. This pa…
Soft Everting Prosthetic Hand and Comparison with Existing Body-Powered Terminal Devices
Gayoung Park, Katalin Schäffer, Margaret M. Coad
In this paper, we explore the use of a soft gripper, specifically a soft inverting-everting toroidal hydrostat, as a prosthetic hand. We present a design of the gripper integrated…
Soft Wrist Exosuit Actuated by Fabric Pneumatic Artificial Muscles
Katalin Schäffer, Yasemin Ozkan-Aydin, Margaret M. Coad
Recently, soft actuator-based exosuits have gained interest, due to their high strength-to-weight ratio, inherent safety, and low cost. We present a novel wrist exosuit actuated by…