Fabric Inflatable Soft Actuators for Soft Wearable Devices: The MOSAR Case

Round 1

Reviewer 1 Report

This article introduces a kind of actuator and its control method of soft pneumatic braiding structure for wearable devices very well. The paper is very readable and has sufficient arguments. It summarizes my research work very well. It is also a good technical reference for the similar research of researchers. The article has strong innovation. There are two shortcomings to be improved, as follows:

(1) In Table 2, should the pressure sensor in column setup3 be checked? Otherwise, how to measure the pressure?

(2) In Fig. 8, how do 0.5kg, 1kg and 2kg weights make our soft pneumatic actuators realize grasping?

(3) What is the shape of this 0.5kg, 1kg and 2kg weight? Can our soft pneumatic actuator achieve stable grasping?

Author Response

Thank you for all your valuable observations.

Author Response File: Author Response.pdf

Reviewer 2 Report

This paper addresses the design, fabrication and control of Fabric Inflatable Soft Actuators for driving Soft Wearable Devices for rehabilitation or assistance tasks. Therefore, this study presents the design, fabrication and control of fabric inflatable soft actuators to drive SWD for rehabilitation or assistance tasks that create bending-extending motions like a musical accordion to reach maximum pressurization.

For Figure 7, I recommend adding the units to the x value (s) and to the y value (psi).

I recommend to complete the small picture inserted in Figure 8. To complete the basic parts.

I recommend to complete the small picture inserted in Figure 9. To complete the basic parts.

Why does Figure 9 only start at 5 psi and not 0 psi? I recommend starting at 0 psi.

Therefore, FISAs represent a new approach of medical Soft Robotics actuation. This document was to deal with the design, manufacture of fabric inflatable soft controllers. It describes the design and properties of fabric inflatable soft controllers. I lack more detailed information about their production.

I think that the article meets the conditions for publication in the given journal and after minor adjustments it can be published.

Author Response

Thank you for all your valuable observations

Author Response File: Author Response.pdf

Reviewer 3 Report

The article is a very relevant subject but written at a middle level.

However, there are some points that need to be corrected, so I recommend a Major revision of the article.

 

The title of the article completely corresponds to it.

However, the article has a few points that need to be corrected:

·         The article contains many typos and formatting errors (for example, double brackets when marking variants of figures a b c and so on).

·         It is not clear why in figure 5с, after turning off the pressure on the graph, the output pressure remains in the region of 50 psi.

·         The biggest issue in the article is that it does not make sense to show the results of the pressure change and the control system without the FISA actuator. Therefore, setup 1, 2 and 3 do not make any sense. The authors need to use three different setups (all with sensors and actuators): 1 - proportional control (valve), 2 - solenoid, 3 - proportional + solenoid. Present the results for these three schemes and analyze them.

·         The authors should demonstrate a change not only in the pressure in the actuator chamber, but also in the deformation during the use of different control systems.

·         Table 2 contains spelling errors.

·         It is not clear why the authors use the x-axis for the results and the y-axis for the variable parameter in their graphs. This leads to confusing the reader.

 

·         It is not clear why in Figure 9 for the 45 degree graph, the force generated by the actuator is greater at a lower pressure of 40 psi than at 50 psi.

Author Response

Thank you for all your valuable observations

Author Response File: Author Response.pdf

Round 2

Reviewer 3 Report

The authors have greatly improved the article and the responses to all comments. Therefore, I think the article can be recommended for publication.