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. 2021 May 11;12:2692. doi: 10.1038/s41467-021-23020-3

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© The Author(s) 2021

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 1 — a Schematics of exoskeleton sensory system for realizing the manipulation in virtual space and robotics. b Working principle of TBD sensor. c Key functions for achieving the multidimensional motion sensing of the upper limb, (i) basic bidirectional rotation sensing, (ii) bidirectional rotation sensing with two degree of freedoms (DOFs), (iii) bidirectional detection of twisting motion of the wrist, and (iv) bidirectional linear motion sensing for finger bending. Photo credit: Minglu Zhu, National University of Singapore.