Development of an inflatable robotic arm system controlled by a joystick

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

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

11 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationRO-MAN 2015 - 24th IEEE International Symposium on Robot and Human Interactive Communication, Symposium Digest
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages664-669
Number of pages6
Volume2015-November
ISBN (Electronic)9781467367042
DOIs
Publication statusPublished - Nov 20 2015
Event24th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2015 - Kobe, Japan
Duration: Aug 31 2015Sep 4 2015

Other

Other24th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2015
CountryJapan
CityKobe
Period8/31/159/4/15

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All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction
  • Computer Vision and Pattern Recognition

Cite this

Kim, H. J., Tanaka, Y., Kawamura, A., Kawamura, S., & Nishioka, Y. (2015). Development of an inflatable robotic arm system controlled by a joystick. In RO-MAN 2015 - 24th IEEE International Symposium on Robot and Human Interactive Communication, Symposium Digest (Vol. 2015-November, pp. 664-669). [7333622] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROMAN.2015.7333622