Inflatable Robotic Arm with Overlaid Plastic Sheet Structure

Ryosuke Tatara, Kazuki Ebisu, Naoki Nomaguchi, Akihiro Kawamura, Ryo Kurazume, Sadao Kawamura

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

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages689-694
Number of pages6
ISBN (Electronic)9781538636152
DOIs
Publication statusPublished - Apr 25 2019
Event2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, France
Duration: Jan 14 2019Jan 16 2019

Publication series

NameProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019

Conference

Conference2019 IEEE/SICE International Symposium on System Integration, SII 2019
CountryFrance
CityParis
Period1/14/191/16/19

All Science Journal Classification (ASJC) codes

  • Atomic and Molecular Physics, and Optics
  • Electrical and Electronic Engineering

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  • Cite this

    Tatara, R., Ebisu, K., Nomaguchi, N., Kawamura, A., Kurazume, R., & Kawamura, S. (2019). Inflatable Robotic Arm with Overlaid Plastic Sheet Structure. In Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019 (pp. 689-694). [8700329] (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2019.8700329