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Bhivraj Suthar

9 accepted papers

2026

A 3-Degrees-Of-Freedom Lightweight Flexible Twisted String Actuators (TSAs)-Based Exoskeleton for Wrist Rehabilitation

Mihai Dragusanu, Nicolas Guinet, Bhivraj Suthar, Tommaso Lisini Baldi, Domenico Prattichizzo, Monica Malvezzi
ICRA 2026poster

This paper introduces a lightweight, three-degrees- of-freedom exoskeleton for wrist rehabilitation powered by Twisted String Actuators (TSAs), specifically designed to support flexion/extension, radial/ulnar deviation, and pronation/supination movements. Leveraging the high power-to-weight ratio of…

Cited by 0Source ↗Scholar ↗
2026

Twisted String Actuation Module for Compact Robotic Finger With Extended Stroke, Reduced Hysteresis, and Bidirectional Operation

Chunghyeon Lee, Bhivraj Suthar, Seokhwan Jeong
RA-L 2026

Twisted String Actuators (TSAs) are promising alternatives to conventional gear-based transmissions due to their high reduction ratios and compact form factors. However, practical limitations such as nonlinear hysteresis, limited stroke, and inherently unidirectional motion hinder their deployment i

Cited by 0Source ↗Scholar ↗
2026

Twisted String Actuation Module for Compact Robotic Finger with Extended Stroke, Reduced Hysteresis, and Bidirectional Operation

Chunghyeon Lee, Bhivraj Suthar, Seokhwan Jeong
ICRA 2026poster

Twisted String Actuators (TSAs) are promising alternatives to conventional gear-based transmissions due to their high reduction ratios and compact form factors. However, practical limitations such as nonlinear hysteresis, limited stroke, and inherently unidirectional motion hinder their deployment i…

Cited by 0Source ↗Scholar ↗
2025

A 3 Degrees-of-Freedom Lightweight Flexible Twisted String Actuators (TSAs)-Based Exoskeleton for Wrist Rehabilitation

Mihai Dragusanu, Nicolas Guinet, Bhivraj Suthar, Tommaso Lisini Baldi, Domenico Prattichizzo, Monica Malvezzi
RA-L 2025

This paper introduces a lightweight, three-degrees-of-freedom exoskeleton for wrist rehabilitation powered by Twisted String Actuators (TSAs), specifically designed to support flexion/extension, radial/ulnar deviation, and pronation/supination movements. Leveraging the high power-to-weight ratio of

Cited by 4Source ↗Scholar ↗
2021

Design and Feasibility Analysis of a Foldable Robot Arm for Drones Using a Twisted String Actuator: FRAD-TSA

Bhivraj Suthar, Seul Jung
RA-L 2021

This paper presents a feasible analysis of a foldable robot arm for drones (FRAD) for payload lifting without drone landing. The arm design is aimed to be light, foldable and energy-efficient. FRAD is designed with a scissor mechanism in a parallel arrangement actuated by a twisted string actuator (

Cited by 26Source ↗Scholar ↗
2019

Single-Motor-Based Bidirectional Twisted String Actuation With Variable Radius Pulleys

Muhammad Arshad Khan, Bhivraj Suthar, Igor Gaponov, Jee-Hwan Ryu
RA-L 2019

In this letter, we proposed a variable radius pulley (VRP) to linearize input-output behavior of twisted string actuators (TSAs). With the help of a VRP, it is possible to make the inherently nonlinear transmission ratio of twisted string constant. This enables design of bidirectional transmission s

Cited by 11Source ↗Scholar ↗
2018

Preliminary Study of Twisted String Actuation Through a Conduit Toward Soft and Wearable Actuation

Bhivraj Suthar, Muhammad Usman, Hyunseok Seong, Igor Gaponov, Jee-Hwan Ryu
ICRA 2018poster

Twisted string actuators (TSAs) are gaining popularity in modern engineering and robotic applications. However, in conventional actuators of this type, the twisted part of the string should not be in contact with any surfaces or objects because this may interfere with the propagation of twisting. Th…

Cited by 25Source ↗Scholar ↗
2017

A study on life cycle of twisted string actuators: Preliminary results

Muhammad Usman, Hyunseok Seong, Bhivraj Suthar, Igor Gaponov, Jee-Hwan Ryu
IROS 2017poster

Twisted string actuators are widely used in different areas of robotics, however, their lifetime remains one of the main concerns for robotics. There are no comprehensive studies that relate the lifetime of a twisted string to its material properties and operation conditions, which can be important…

Cited by 24Source ↗Scholar ↗
2017

Passive returning mechanism for twisted string actuators

Muhammad Usman, Bhivraj Suthar, Hyunseok Seong, Elliot Hawkes, Igor Gaponov, Jee-Hwan Ryu
ICRA 2017poster

The twisted string actuator is an actuator that is gaining popularity in various engineering and robotics and applications. However, the fundamental limitation of actuators of this type is the uni-directional action, meaning that the actuator can contract but requires external power to return to its…

Cited by 9Source ↗Scholar ↗