Development of an inflatable robotic arm system controlled by a joystick

Hye Jong Kim, Yuto Tanaka, Akihiro Kawamura, Sadao Kawamura, Yasutaka Nishioka

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

14 被引用数 (Scopus)

抄録

This paper presents an inflatable robotic arm controlled by a joystick to be used for healthcare applications. The arm is constructed almost entirely of plastic elements: inflatable links, air bag actuators, and acrylonitrile butadiene styrene (ABS) joints. Therefore, it is softer and lighter than typical robotic arms that are made of metal and heavy elements. Because the softness and lightness of the inflatable robotic arm is intrinsically safer, it is suitable for healthcare applications. In this paper, a new control method is proposed which allows the inflatable system to be controlled with a joystick. To verify the usefulness of the proposed method, we used an inflatable robotic arm with four degrees of freedom (4 DOF) to obtain experimental results for the control performance of the inflatable robotic arm. Moreover, we conducted preliminary tests which simulated patients controlling the robotic arm with a joystick in order to assist with eating their meals.

本文言語英語
ホスト出版物のタイトルRO-MAN 2015 - 24th IEEE International Symposium on Robot and Human Interactive Communication, Symposium Digest
出版社Institute of Electrical and Electronics Engineers Inc.
ページ664-669
ページ数6
ISBN(電子版)9781467367042
DOI
出版ステータス出版済み - 11月 20 2015
イベント24th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2015 - Kobe, 日本
継続期間: 8月 31 20159月 4 2015

出版物シリーズ

名前Proceedings - IEEE International Workshop on Robot and Human Interactive Communication
2015-November

その他

その他24th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2015
国/地域日本
CityKobe
Period8/31/159/4/15

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 人工知能
  • 人間とコンピュータの相互作用
  • コンピュータ ビジョンおよびパターン認識

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