A magneto-pneumatic hybrid-driven soft actuator with bidirectional torsion

The ability of the human wrist to rotate around the forearm axis in 2 directions is crucial for many daily activities. This rotation, limited to a range of approximately [-90°, 90°], restricts the wrist's capacity to execute complex operational tasks. For example, when we open or lock a door with a key, our wrist performs a large rotational movement. When we screw, the wrist needs to twist 180° several times.