In current designs soft robotic bending actuators, the need for high force capabilities is not adequately addressed. In this article, we present a new inflatable actuator that exploits textile manufacturing techniques, using an elastic band to improve both bend and force performance. At a pressure of 102 kPa, the index finger sized actuator exerts 24.8 N of force on the environment. It is also capable of a full 360 $^{\circ }$ bending angle for pressures between 30 kPa and 102 kPa with a maximum bending stiffness of 288.4 N/m. We further demonstrate feasibility of this new actuator in a case study of an entirely fabric based soft robotic hand exoskeleton that increases robustness and user comfort. Our results suggest that textile robotics could provide an attractive solution in terms of the development of user-friendly hand exoskeletons.

Soft robotic gloves are designed to assist individuals with daily tasks that involve grasping. Such devices are however often hampered by an inability to generate enough force to enable them to perform the tasks for which they were designed. This study evaluates the grasping capabilities of a novel textile soft robotic glove, which has performance-enhancing integrated elastic band actuators. We conducted a user study with 20 participants to assess the assistive glove's effectiveness. Our novel evaluation method, using surface electromyography sensors to measure muscle activity, enabled us to determine the respective grasping force contributions of the assistive device and the user. Our findings indicate that the device provides consistent grasp assistance across a force range from 20 to 80 Newtons. Average assistance for the fingers was 15.8 Newtons, with a maximum of 33.3 Newtons, while for the thumb it averaged at 12.4 Newtons, with a maximum of 23.3 Newtons. The results were validated using Linear Mixed-Effects Models, demonstrating statistically significant findings with p values of below 0.01. A user satisfaction survey (QUEST 2.0) suggested high perceived value given its excellent rating of 4.53 out of 5. Overall, these results suggest that the device can make a significant difference, helping users when performing grasping tasks.

Soft-growing robots based on the eversion principle are renowned for their ability to rapidly extend along their longitudinal axis, allowing them to access remote, confined, or otherwise inaccessible spaces. Their inherently compliant structure enables safe interaction with delicate environments, while their simple actuation mechanisms support lightweight and low-cost designs. Despite these benefits, implementing effective navigation mechanisms remains a significant challenge. Previous research has explored the use of pneumatic artificial muscles mounted externally on the robot’s body, which, when contracting, induce directional bending. However, this method only offers limited bending performance. To enhance maneuverability, pneumatic artificial muscles embedded in between the walls of double-walled eversion robots have also been considered and shown to offer superior bending performance and force output as compared to externally attached muscle. However, their adoption has been hindered by the complexity of the current manufacturing techniques, which require individually sealing the artificial muscles. To overcome this multi-stage fabrication approach in which muscles are embedded one by one, we propose a novel single-step method. The key to our approach is the use of non-heat-sealable inserts to form air channels during the sealing process. This significantly simplifies the process, reducing production time and effort and improving scalability for manufacturing, potentially enabling mass production. We evaluate the fabrication speed and bending performance of robots produced in this manner and benchmark them against those described in the literature. The results demonstrate that our technique offers high bending performance and significantly improves the manufacturing efficiency.

This review explores the current state of eversion robotics in the context of colonoscopy, given the need for less invasive, more patient-friendly screening technologies. Conventional colonoscopy often leads to discomfort and patient reluctance, contributing to delayed diagnoses and high colorectal cancer mortality rates. Eversion robots, also known as vine robots or soft growing robots are soft, pressure-driven devices that extend by everting from the tip whilst offering a promising option by enabling frictionless advancement and potentially pain-free procedures. We examine the key challenges and opportunities in adapting eversion robots for clinical endoscopic use, focusing on material selection, actuation, steering, and payload delivery. From the literature, thermoplastic polyurethane emerges as the most viable material for the robot’s sleeve due to its airtightness, biocompatibility, suitability for heat or ultrasonic welding, and availability in highly flexible thin layers. Tip-steering mechanisms are identified as the most effective strategies for navigation, allowing high flexibility without increasing the wall thickness of the robot, as required in alternative approaches using distributed actuation mechanisms. The review also evaluates strategies for integrating functional tools at the tip of the robot, concluding that cap-free designs provide superior adaptability to the varying colon diameter, preserve compressibility, and keep tip friction to a minimum, unlike cap-based payload delivery methods. By consolidating current research and identifying pathways for innovation, this review supports the development of eversion soft robots as a next-generation solution for minimally invasive colorectal diagnostics and therapy.

Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with integrated actuators. These actuators, powered by pneumatic pressure, guide the user's hand to a desired position. Crafted from textile materials, our soft robotic glove prioritizes safety, lightweight construction, and user comfort. Utilizing the ruffles technique, integrated actuators guarantee high performance in blocking force and bending effectiveness. Here, we present a participant study confirming the effectiveness of our robotic device on a healthy participant group, exploiting EMG sensing.