Figure 1From: Development of a Wearable Upper Limb Rehabilitation Robot Based on Reinforced Soft Pneumatic ActuatorsStructure of the RSPA: (a) Cross-section diagram of the RSPA, (b) Two nylon layers are laminated onto the surface of the TPU composite bladder, (c) The Velcro passes through the bottom channel of the RSPA to bond the RSPA to the wearable carrier, (d) A thin film sensor is installed in the center of the deflectorBack to article page