A Novel 6-DOF Parallel Continuum Robot with Enhanced Reachable Workspace and Range of Twisting.

The Parallel Continuum Robot (PCR) is an emerging class of soft robotics distinguished by features such as flexibility, safety, compactness, and dexterity attributed to their continuous components, meanwhile their lack of precision and stiffness are compensated by the parallel configuration. These inherent advantages position PCR as a potential choice for applications ranging from flexible bio-mimetic robots like an elephant trunk to scenarios requiring human contact, such as the manipulator of a minimally invasive surgical robot. In this paper, we propose a novel PCR design capable of achieving 6 degree-of-freedom control of the end effector, with an augmented reachable workspace and range of twisting.

Detecting the Intention of Sit-to-Stand by Analyzing Reaction Forces on the Foot with Pareto Optimum.

This study introduces a novel method for detecting a user's sit-to-stand (STS) intention, focusing on minimizing sensor usage for ease of application in everyday settings. Our approach involves applying an external stimulus to the user's toes when they are likely to stand and analyzing the resulting reaction forces on the foot. In the subject experiments, we optimized thresholds using the Pareto optimum to differentiate STS motions from other similar movements, targeting both correct detection and an earlier detection timing before the user's buttocks leave the seat.