Issue

• Fabrication of the fabric-based soft wearable robot requires manual sewing, which demands delicate hand skills.

• Fabrication of the silicone-based soft wearable robot involves time-consuming manual molding.

• These fabrication methods are irreversible, making it difficult to modify the robot after production.

Method - How the proposed paper solves this issue

• This robot divides the fabrication into three steps:
  1) Fabrication of the soft robot body (See the top-left of the below figure)
  2) Fabrication of the rigid metal router (See the bottom-left of the below figure)
  3) Installation of the rigid metal router at the glove  (See the right side of the below figure)

With this three-step fabrication,

• We can easily fabricate the glove (soft robot body) because the design is similar to general-use gloves.

• Riveting used to attach the metal routers to the glove is an easier method, as compared to other bonding methods (e.g., sewing or silicone adhesion) employed in other soft wearable robot fabrication. 

• Three-step fabrication enables easy replacement - if we want to replace one tendon router, we can just detach the tendon router and attach another tendon router.