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However, state\u2010of\u2010the\u2010art fluidic systems typically face challenges to meet the multifaceted needs of soft wearable robots. First, soft robots are usually constrained to tethered pressure sources or bulky configurations based on flow control valves for delivery and control of high assistive forces. Second, although some soft robots exhibit untethered operation, they are significantly limited to low force capabilities. Herein, an electrohydraulic actuation system that enables both untethered and high\u2010force soft wearable robots is presented. This solution is achieved through a twofold design approach. First, a simplified direct\u2010drive actuation paradigm composed of motor, gear\u2010pump, and hydraulic artificial muscle (HAM) is proposed, which allows for a compact and lightweight (1.6\u2009kg) valveless design. 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Experimental results show that the developed fluidic engine significantly outperforms state\u2010of\u2010the\u2010art systems in mechanical efficiency and suggest opportunities for effective deployment in soft wearable robots for human assistance.<\/jats:p>","DOI":"10.1002\/aisy.202400171","type":"journal-article","created":{"date-parts":[[2024,6,13]],"date-time":"2024-06-13T03:34:31Z","timestamp":1718249671000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Untethered Fluidic Engine for High\u2010Force Soft Wearable Robots"],"prefix":"10.1002","volume":"6","author":[{"given":"Antonio","family":"Di Lallo","sequence":"first","affiliation":[{"name":"Lab of Biomechatronics and Intelligent Robotics Department of Mechanical and Aerospace Engineering North Carolina State University  Raleigh NC 27695 USA"}]},{"given":"Shuangyue","family":"Yu","sequence":"additional","affiliation":[{"name":"Lab of Biomechatronics and Intelligent Robotics Department of Mechanical and Aerospace Engineering North Carolina State University  Raleigh NC 27695 USA"}]},{"given":"Jonathon E.","family":"Slightam","sequence":"additional","affiliation":[{"name":"Department of Unmanned Systems and Autonomy Research and Development Sandia National Laboratories  Albuquerque NM 87123 USA"}]},{"given":"Grace X.","family":"Gu","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering University of California  Berkeley CA 94720 USA"}]},{"given":"Jie","family":"Yin","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering North Carolina State University  Raleigh NC 27695 USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3299-7418","authenticated-orcid":false,"given":"Hao","family":"Su","sequence":"additional","affiliation":[{"name":"Lab of Biomechatronics and Intelligent Robotics Department of Mechanical and Aerospace Engineering North Carolina State University  Raleigh NC 27695 USA"},{"name":"Joint NCSU\/UNC Department of Biomedical Engineering North Carolina State University  Raleigh NC 27695 USA"},{"name":"Joint NCSU\/UNC Department of Biomedical Engineering University of North Carolina at Chapel Hill  Chapel Hill NC 27599 USA"}]}],"member":"311","published-online":{"date-parts":[[2024,6,13]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46460-2"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2013.0001"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1557\/adv.2019.439"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41928-018-0024-1"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202100094"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2020.2995134"},{"key":"e_1_2_8_8_1","unstructured":"H.Zhu C.Nesler N.Divekar M. 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