ベローズソフトアクチュエータを利用したテレプレゼンスロボット用ソフトアームの開発

抄録

We have developed a telepresence robot that is designed for use in exhibition halls that are expected to be crowded. In addition to video chat functionality, the robot is equipped with a soft arm capable of replicating tactile gestures such as handshakes and operator movements, thereby facilitating smooth communication even in remote locations. This paper describes the conceptual design of the robot, the structural framework of the arm and the theoretical equations underlying its functionality. In the arm motion analysis test conducted to evaluate the validity of the theoretical model, the theoretical position of the arm's tip closely matched the measured values, confirming the accuracy of the model given the intended use of the arm.