アバターロボットに用いるソフトアームの検討

抄録

This paper presents a soft robotic arm for an avatar robot using pneumatic soft actuators. We have developed the soft robotic arm that is safe for human contact, and propose a soft avatar robot with the arm to achieve deeper communication. Pneumatic soft actuators were used in the arm and operate by controlling the pressurization and depressurization of the air pressure. Experiments on the movement of the arm revealed that the soft robotic arm vibrates during movement and that some joints bend slowly. In the handshake motion experiment, the tip of the arm could be moved to a position where it is easy for humans to shake hands.