Development of a Tetrahedral-Shaped Soft Robot Arm as a Wrist Rehabilitation Device Using Extension Type Flexible Pneumatic Actuators. - Wei-Hang Tian; Cian-Cheng Jhan; Misaki Inokuma; Tetsuya Akagi; Shujiro Dohta; So Shimooka (J. Robotics Mechatronics, 2020)