TY - GEN
T1 - Development of an inflatable robotic arm system controlled by a joystick
AU - Kim, Hye Jong
AU - Tanaka, Yuto
AU - Kawamura, Akihiro
AU - Kawamura, Sadao
AU - Nishioka, Yasutaka
PY - 2015/11/20
Y1 - 2015/11/20
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84954067124&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84954067124&partnerID=8YFLogxK
U2 - 10.1109/ROMAN.2015.7333622
DO - 10.1109/ROMAN.2015.7333622
M3 - Conference contribution
AN - SCOPUS:84954067124
T3 - Proceedings - IEEE International Workshop on Robot and Human Interactive Communication
SP - 664
EP - 669
BT - RO-MAN 2015 - 24th IEEE International Symposium on Robot and Human Interactive Communication, Symposium Digest
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 24th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2015
Y2 - 31 August 2015 through 4 September 2015
ER -