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Abstract Where one of the parties of contract has the right to terminate it in accordance with defect, loss, fraud, incorrect description and option (khiar), he is bound to apply his right according to the articles of 415, 420, 435 and 440 Civil Act imidiately and without delay, otherwise he will lose it. In these cases, the reflectable question is that what is the meaning of termination urgency, in other words, how much is the moratorium of application of the termination right and when does this start? This article surveys firstly the above- mentioned questions in Iranian legal system in detail and then studies briefly the answer of the British legal system as well as the Convention of International Sale of Goods (Vienna – 1980). The results of this study showed that despite that the studied legal systems suggest the delivering date of goods as of the starting point of termination right, in Iranian law, urgency is considered when the holder of the right is aware of the cause of the termination right, whether the goods is delivered or not. Still there are so many who believe that not only the awareness of the cause of the termination but also being aware of the order of termination and its urgence is obligatory.

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This paper proposes a new inexpensive soft force sensor suitable for soft robotics applications that require high flexibility and wide range of sensing area. All Hall Effect sensors developed so far use a Hall Effect sensor to detect the magnetic field of a piece of solid magnet. The proposed force sensor in this paper uses a Hall Effect sensor to detect the magnetic flux density change induced by aligned magnetic powder blended with silicone rubber when a normal force is applied. The sensor is designed and tested with different magnetic powder density and sensor dimensions to achieve an optimum design in sensitivity as well as linearity. The experimental results show that different force measurement range with specific desired sensitivity can be achieved by adjusting certain physical properties of the sensor. This is a useful feature for lots of soft sensing elements in today's applications requiring more compliance and reliable sensors, especially in soft robotics applications.

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Motor units’ malfunction, which happens due to stroke, often affects patients’ hand motion and subsequently restricts their daily activities and social participation. All these factors reduce the patient’s life quality. Therefore, finding a solution to overcome these limitations and improving hand function seems to be valuable. So far, many efforts have been done to design and develop different types of rehabilitation systems. Among all these systems, soft systems have attracted great attention due to their light weight, flexibility, safe interaction and affordability. The goal of this study is to fabricate a soft rehabilitation glove for hand function retrieval so that patients can perform rehabilitation exercises individually. The rehabilitation system presented here includes two different control modes including on/off and proportional modes. Each of them is selected based on patients’ needs. For verification purposes, trajectories of the finger tips were obtained in two modes: “using the glove” and “without using the glove”. Results showed that trajectories of the finger tips in the "using the glove" mode follow a proper path for the user’s digits.