Ceiling continuum arm with extensible pneumatic actuators for desktop workspace

Taigo Yukisawa, Satoshi Nishikawa, Ryuma Niiyama, Yoshihiro Kawahara, Yasuo Kuniyoshi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

We propose an extensible pneumatic continuum arm that elongates to perform reaching movements and object grasping, and is suspended on the ceiling to prevent interference with human workers in a desktop workspace. The selected actuators with bellows aim to enhance the arm motion capabilities. A single actuator can provide a maximum tension force of 150 N, and the proposed arm has a three-segment structure with a bundle of three actuators per segment. We measured the three-dimensional motion at the arm tip by using an optical motion-capture system. The corresponding results show that the arm can grasp objects with approximate radius of 80 mm and reach any point on the desktop. Furthermore, the maximum elongation ratio is 180%, with length varying between 0.75 m and 2.1 m. Experiments verified that the arm can grasp objects of various sizes and shapes. Moreover, we demonstrate the vertical transportation of objects taking advantage of the arm extensibility. We expect to apply the proposed arm for tasks such as grasping objects, illuminating desktops, and physically interacting with users.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Soft Robotics, RoboSoft 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages196-201
Number of pages6
ISBN (Electronic)9781538645161
DOIs
Publication statusPublished - Jul 5 2018
Externally publishedYes
Event1st IEEE International Conference on Soft Robotics, RoboSoft 2018 - Livorno, Italy
Duration: Apr 24 2018Apr 28 2018

Publication series

Name2018 IEEE International Conference on Soft Robotics, RoboSoft 2018

Conference

Conference1st IEEE International Conference on Soft Robotics, RoboSoft 2018
CountryItaly
CityLivorno
Period4/24/184/28/18

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Optimization
  • Modelling and Simulation
  • Mechanical Engineering

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