A Soft Robot Arm with Flexible Sensors for Master–Slave Operation †

In our study, a soft robot arm consisting of McKibben artificial muscles and a silicone rubber structure was developed. This robot arm can perform bending and twisting motions by ap-plying pneumatic pressure to the artificial muscles. The robot arm is made of flexible materials only, and therefore it has high flexibility and shape adaptability. In this report on the fundamental investigation of the master–slave feedback control of the soft robot arm for intentional operation, we focus on the bending motion of the soft robot arm. Three flexible strain sensors were placed on the soft robot arm for measuring the bending motion. By establishing a master–slave feedback system using the sensors, the bending motion of the soft robot arm followed the operator’s wrist motion detected via the wearable interface device.