Purpose – The purpose of this paper is to present the static and dynamic characteristics of the rehabilitation joint. Design/methodology/approach – The rehabilitation joint is driven by pneumatic muscle actuators (PMAs). Rehabilitation robot is normally composed of several rehabilitation...

Purpose – The paper aims to present a dynamic model of flexible oscillating pectoral fin for further study on its propulsion mechanism. Design/methodology/approach – The chordwise and spanwise motions of cow-nosed ray’s pectoral fin are first analyzed based on the mechanism of...