**9.2. Robotic systems based on HF-welded FFAs**

The most recent achievements concerning HF-welded actuators are in the field of orthotics. The wide range of design possibilities of this manufacturing technology enable tailored geometries. Figure 38(a) shows an active elbow orthesis actuated with HF-welded FFAs.

(a) Elbow Orthesis (b) 6-DOF GPA-Arm

**Figure 38.** Systems with HF-welded Actuators

34 Will-be-set-by-IN-TECH 600 Smart Actuation and Sensing Systems – Recent Advances and Future Challenges

The GPA modules also allow modular combination. Figure 38(b) shows a complete 6-DOF arm including two controller boxes and an anthropomorphic hand. The controller boxes provide valves, pressure sensors and microcontrollers to operate the whole arm independently. The whole arm-hand system has a weight of 3.2*kg* and a overall length of 620*mm*.
