TY - GEN
T1 - Operation of a pneumatic soft manipulator using a wearable interface with flexible strain sensors
AU - Hagihara, Hiroki
AU - Wakimoto, Shuichi
AU - Kanda, Takefumi
AU - Furukawa, Shota
N1 - Funding Information:
ACKNOWLEDGMENT We thank Yamaha Corporation for providing the flexible sensors (Stretchable dynamic strain sensor). This research was supported partially by JFPS KAKENHI, Grant-in-Aid for Scientific Research (c), Number 17K06121.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - 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.
AB - 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.
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U2 - 10.1109/IROS40897.2019.8967870
DO - 10.1109/IROS40897.2019.8967870
M3 - Conference contribution
AN - SCOPUS:85081155729
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4949
EP - 4954
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Y2 - 3 November 2019 through 8 November 2019
ER -