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.

This paper presents the design, modeling, and simulation of a compact Electromagnetic Linear Actuator (ELA) and its application to a linear motion mechanism. The proposed actuator consists of a coil and a permanent magnet and can generate a linear motion when an alternating current is applied to the coil. Its overall dimensions are 20 mm (W) 15 mm (H) 15 mm (D) while the weight is 7 g. The proposed actuator can be controlled in terms of position using an open-loop system. A mathematical model is created for the proposed actuator, and theoretical analysis is performed to examine the actuator dynamic model. The simulation results are validated experimentally by manufacturing a physical prototype. Therefore, the proposed actuator generates an electromagnetic force of 0.1 N at 10 V (0.07 A), then our actuator able to achieve a displacement of 0.2 mm. Moreover, the experimental resonance frequency is measured at 70 Hz and the bandwidth of 80 Hz. Finally, the overall system performance is evaluated by integrating the developed actuator into the linear motion mechanism. We investigate the stick-slip motion of the linear mechanism without feedback control, dedicating sufficient time to both the slip phase and the stick phase. The experimental results show that the linear motion mechanism travels with speed 6 mm s^-1 with a frequency of 30 Hz.