Development of All-in-One Wakka to Make the Testing and Training Device of Adjustability for Grasping Force "iWakka" Compact

In our previous study, we have developed the testing and training device of adjustability for grasping force “iWakka” and verified its effectiveness in various medical applications. In this study, we developed an all-in-one type Wakka to make iWakka compact, which is called All-in-one Wakka. A bridge and amplifier circuit, a microcomputer, a BLE module, and a battery, which are the components of the conventional iWakka, are mounted in All-in-one Wakka having the basic structure of the conventional grasping body “Wakka”. The results of comparison experiments show the compliance characteristics of All-in-one Wakka, which are the relationship between the amount of deformation and the grasping force, are the same as those of the conventional Wakka.