This paper presents the design of a four omni-wheeled mobile robot consisting of four omni wheels, with each wheel connecting to a separate DC motor. Additionally, the presence of a telescopic leg with a linear RC servo actuator enables the robot to adapt to various landscape changes, including obstacle overcoming. We have designed and manufactured the physical prototype of the robot based on the simulation results. The proposed robot can traverse in both vertical and horizontal directions without altering its orientation, thereby enhancing its stability during operation. The experimental results confirm the robot’s effectiveness in autonomously adapting its position in response to sudden changes in the landscape, enabling it to navigate and climb steps successfully.

Soft robotic hand exoskeletons have become a prominent and reliable tool for assisting in rehabilitation training to restore hand motor function. While many soft exoskeletons have been developed in recent decades, there remains a clear need for compact, flexible, and portable solutions suitable for both daily living activities and rehabilitation. The objective of this research is to develop a novel structural design for a soft rehabilitation glove using pre-trained SMA wires to aid in regaining hand and finger motion. We explore various actuator design patterns, including rectangular, outward coil, inward coil, small sinusoidal, large sinusoidal, and butterfly models. The selected actuator design is applied to a prototype glove and experimentally validated on human fingers. The resulting pre-trained SMA-based glove is lightweight, weighing only 15 g, and can produce a maximum force of 15 N.