TY - GEN
T1 - Inflatable Robotic Arm with Overlaid Plastic Sheet Structure
AU - Tatara, Ryosuke
AU - Ebisu, Kazuki
AU - Nomaguchi, Naoki
AU - Kawamura, Akihiro
AU - Kurazume, Ryo
AU - Kawamura, Sadao
N1 - Funding Information:
ACKNOWLEDGEMENTS This research is supported by the Japan Society for the Promotion of Science Grant-in-Aid for Basic Research (B) (JP18H03764). We would like to appreciate Kawamura laboratory researchers at Ritsumeikan University who have helped a lot in making the robotic arm.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/4/25
Y1 - 2019/4/25
N2 - An inflatable structure has been focused by several researchers in the field of soft robotics, owing to its features: flexible, lightweight and compactable. In particular, inflatable robotic arms have been expected to perform daily tasks near humans due to safe contact. To date, several inflatable robotic arms have been proposed, however, the number of robotic arms composed of only plastic materials is quite limited. In addition, the control performance of the robots has not been discussed sufficiently.This paper proposes a novel inflatable robotic arm composed of poly-laminated sheets and low-density polyethylene (LDPE) sheets. The combination of the two materials provides high-pressure resistance. Several advantages are also given: high torque, high control performance, and high load capacity. Moreover, both pressure and visual feedback controls are utilized to realize precise motion control. The end-effector of the robot is composed of pleated structures and grasps flexibly according to object shapes. The performance of the robot is finally described by some experiments.
AB - An inflatable structure has been focused by several researchers in the field of soft robotics, owing to its features: flexible, lightweight and compactable. In particular, inflatable robotic arms have been expected to perform daily tasks near humans due to safe contact. To date, several inflatable robotic arms have been proposed, however, the number of robotic arms composed of only plastic materials is quite limited. In addition, the control performance of the robots has not been discussed sufficiently.This paper proposes a novel inflatable robotic arm composed of poly-laminated sheets and low-density polyethylene (LDPE) sheets. The combination of the two materials provides high-pressure resistance. Several advantages are also given: high torque, high control performance, and high load capacity. Moreover, both pressure and visual feedback controls are utilized to realize precise motion control. The end-effector of the robot is composed of pleated structures and grasps flexibly according to object shapes. The performance of the robot is finally described by some experiments.
UR - http://www.scopus.com/inward/record.url?scp=85065664538&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85065664538&partnerID=8YFLogxK
U2 - 10.1109/SII.2019.8700329
DO - 10.1109/SII.2019.8700329
M3 - Conference contribution
AN - SCOPUS:85065664538
T3 - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
SP - 689
EP - 694
BT - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/SICE International Symposium on System Integration, SII 2019
Y2 - 14 January 2019 through 16 January 2019
ER -