Operation of a pneumatic soft manipulator using a wearable interface with flexible strain sensors

Hiroki Hagihara, Shuichi Wakimoto, Takefumi Kanda, Shota Furukawa

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

Abstract

This paper presents a soft manipulator which mimics the muscle structure of an octopus arm and its operation by the master-slave method by using a wearable interface. The soft manipulator consists of a rubber structure and McKibben artificial muscles arranged in axial and oblique directions. This manipulator has high safety and shape adaptability and realizes smooth and continuous movement like the octopus arm such as bending and twisting. For the intuitive operation of the manipulator, the wearable interface using flexible strain sensors is developed. It is easy to wear on the human arm with high comfortability because it consists only of soft materials and stretches easily with following the arm motion. We can operate the soft manipulator by using the motions of the wrist and forearm as an operation input. The soft manipulator can move following the arm motion of the operator, and it shows the high possibility to conduct actual tasks.

Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4949-4954
Number of pages6
ISBN (Electronic)9781728140049
DOIs
Publication statusPublished - Nov 2019
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: Nov 3 2019Nov 8 2019

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
CountryChina
CityMacau
Period11/3/1911/8/19

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Hagihara, H., Wakimoto, S., Kanda, T., & Furukawa, S. (2019). Operation of a pneumatic soft manipulator using a wearable interface with flexible strain sensors. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 4949-4954). [8967870] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS40897.2019.8967870