Shape control of a hose-lke flexible arm constraining by wires

Yoshiaki Hayashi, Motoji Yamamoto

Research output: Contribution to conferencePaperpeer-review


When positioning mechanisms such as human care machines are used with humans, the safety is the most important factor. To improve the safety, it is desirable that the mechanism has elasticity in itself. When such a mechanism contacts with a person, it can reduce the load to give a person by deforming itself. We have proposed a flexible positioning mechanism using wire constrains for this purpose. The mechanism consists of a flexible structure, support disks and multiple wires. By manipulating the multiple wires' length, the constrained points of the flexible mechanism can be positioned in three dimensional space. The mechanism is easily deformed by an external force because of its elasticity, but its deformation can improve the safety. In the paper, the shape of a flexible structure is analyzed based on beam bending theory. Theoretical analysis is verified by an experimental flexible mechanism.

Original languageEnglish
Number of pages4
Publication statusPublished - 2008
Event39th International Symposium on Robotics, ISR 2008 - Seoul, Korea, Republic of
Duration: Oct 15 2008Oct 17 2008


Other39th International Symposium on Robotics, ISR 2008
Country/TerritoryKorea, Republic of

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Human-Computer Interaction
  • Software


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