A soft, synergy-based robotic glove for grasping assistance.

This paper presents a soft, tendon-driven, robotic glove designed to augment grasp capability and provide rehabilitation assistance for postspinal cord injury patients. The basis of the design is an underactuation approach utilizing postural synergies of the hand to support a large variety of grasps with a single actuator. The glove is lightweight, easy to don, and generates sufficient hand closing force to assist with activities of daily living.

Legged locomotion in resistive terrains.

The utility, efficiency, and reliability of legged robots has increased dramatically in recent years. Limbed robots are now capable of locomotion across a variety of terrains, however, achieving both rapid and efficient operation when ground conditions are complex or deformable is still challenging. Resistive terrains such as streams, snow, mud, littoral regions, and tall grass are an important class or set of complex and difficult terrain which are commonly found in the desired operating environments of legged robots.

Effects of filament size on critical current density in overpressure processed Bi-2212 round wire.

BiSrCaCuO (Bi-2212) conductor is the only high temperature superconductor manufactured as a round wire and is a very promising conductor for very high field applications. One of the key design parameters of Bi-2212 wire is its filament size, which has been previously reported to affect the critical current density ( ) and ac losses. Work with 1 bar heat treatment showed that the optimal filament diameter was about 15 μm but it was not well understood at that time that gas bubbles were the main current limiting mechanism.