The development and testing of a soft rotary actuator for gesture-based control is described in this paper. The soft rotary actuators are fabricated via a molding process and connected to a rotary joint as an antagonist and agonist pair, which gives rise to the clockwise and counter-clockwise rotation of the joint. The range of movement of the soft rotary actuator is 0°–90° for positive pressure actuation and 0° to − 16° for negative pressure actuation. The flexible robotic system is controlled using the leap motion controller, which is a gesture-based device. Gesture commands executed include circle, swipe, screen tap, and key tap gestures to produce clockwise, counter-clockwise, stop and start movements of the rotary actuator. The advantage of the novel soft rotary actuator is in its better integration and compatibility with natural and biological interfaces. The value of a gesture-based control with a soft actuator is the ease of interfacing and integrating the soft device with the control interface as well as its combined use for hand and finger rehabilitation using the soft rotary actuator.

中文翻译：

---

使用跳跃运动传感器的旋转气动软执行器的手势控制和设计

本文介绍了用于基于手势的控制的软旋转执行器的开发和测试。软质旋转执行器是通过模制工艺制成的，并作为对角线和激动剂对连接到旋转关节上，从而引起关节的顺时针和逆时针旋转。软旋转执行器的移动范围对于正压力驱动为0°–90°，对于负压力驱动为0°至− 16°。柔性机器人系统使用跳跃运动控制器控制，跳跃运动控制器是基于手势的设备。执行的手势命令包括圆圈，滑动，屏幕轻敲和按键手势，以产生顺时针，逆时针，停止和开始旋转执行器的运动。新型软旋转执行器的优势在于与自然和生物界面的更好集成和兼容性。具有软致动器的基于手势的控件的价值在于易于将软设备与控制界面接口和集成，以及使用软旋转致动器将其组合用于手和手指的康复。