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Most soft gloves focus on only one actuation mode where either motor\u2010driven tendon or pump\u2010driven pneumatic transmission is used. Herein, a double\u2010acting soft actuator (DASA) that provides both tendon\u2010driven flexion and pneumatic extension of fingers by a single motor is presented. This is achieved by a smart pulley and bellow system. The kinematic model of the tendon\u2010driven flexion and the torque model of the fabric\u2010based pneumatic extension actuator (FPEA) are developed to analyze the DASA performance. The bending angle of the index finger actuated by the tendon and the FPEA extension torque of a joint are characterized by experimental studies. A cycle test of the DASA is conducted 3000 times, demonstrating its high repeatability. A prototype soft glove (68\u2009g) based on the proposed DASA with a control box (835\u2009g) is fabricated to demonstrate finger flexion and extension assistance. Based on electromyography signals, the performance of the robotic glove is evaluated by a squeezing sponge test.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202200274","type":"journal-article","created":{"date-parts":[[2023,2,10]],"date-time":"2023-02-10T05:02:29Z","timestamp":1676005349000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Finger Flexion and Extension Driven by a Single Motor in Robotic Glove Design"],"prefix":"10.1002","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0110-1693","authenticated-orcid":false,"given":"Hao","family":"Liu","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering The University of Hong Kong  Hong Hong Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Changchun","family":"Wu","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering The University of Hong Kong  Hong Hong Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Senyuan","family":"Lin","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering The University of Hong Kong  Hong Hong Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4020-1977","authenticated-orcid":false,"given":"Yonghua","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering The University of Hong Kong  Hong Hong Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yong","family":"Hu","sequence":"additional","affiliation":[{"name":"Department of Orthopaedics and Traumatology The University of Hong Kong  Hong Hong Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tinghan","family":"Xu","sequence":"additional","affiliation":[{"name":"Department of Orthopaedics and Traumatology The University of Hong Kong  Hong Hong Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenbo","family":"Yuan","sequence":"additional","affiliation":[{"name":"Department of Industrial and Manufacturing Systems Engineering The University of Hong Kong  Hong Hong Hong Hong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yunquan","family":"Li","sequence":"additional","affiliation":[{"name":"Shien-Ming Wu School of Intelligent Engineering South China University of Technology  510640 Guang Zhou China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2023,2,10]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1038\/sj.sc.3101638"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1001\/archneur.59.8.1278"},{"key":"e_1_2_10_4_1","first-page":"91","volume":"73","author":"Krigger K. 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