Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Fabric Soft Poly-Limbs for Physical Assistance of Daily Living Tasks   This paper presents the design and development of a highly articulated,
continuum, wearable, fabric-based Soft Poly-Limb (fSPL). This fabric soft arm
acts as an additional limb that provides the wearer with mobile manipulation
assistance through the use of soft actuators made with high-strength inflatable
fabrics. In this work, a set of systematic design rules is presented for the
creation of highly compliant soft robotic limbs through an understanding of the
fabric based components behavior as a function of input pressure. These design
rules are generated by investigating a range of parameters through
computational finite-element method (FEM) models focusing on the fSPL's
articulation capabilities and payload capacity in 3D space. The theoretical
motion and payload outputs of the fSPL and its components are experimentally
validated as well as additional evaluations verify its capability to safely
carry loads 10.1x its body weight, by wrapping around the object. Finally, we
demonstrate how the fully collapsible fSPL can comfortably be stored in a
soft-waist belt and interact with the wearer through spatial mobility and
preliminary pick-and-place control experiments.

11
The categories of this paper are: hep-lat
14
The categories of this paper are: math-ph
15
The categories of this paper are: nucl-ex
6
The categories of this paper are: astro-ph
3
The categories of this paper are: physics
22
The categories of this paper are: chao-dyn
0
The categories of this paper are: hep-ph
19
The categories of this paper are: eess
12
The categories of this paper are: nucl-th
30
The categories of this paper are: q-alg
7
The categories of this paper are: hep-th
32
The categories of this paper are: atom-ph
10
The categories of this paper are: q-bio
16
The categories of this paper are: stat
23
The categories of this paper are: solv-int
17
The categories of this paper are: q-fin