ジェスチャー用双腕マイクロアームの小型インターフェースロボットへの実装

抄録

In order to improve the convenience of communication robot arms compatible with smartphones, it is suitable to reduce their size. Shape memory alloys (SMAs) are excellent actuators for small robots due to their adaptability to miniaturization and large deformations. By applying SMA to the joints of a small robot arm, the movement mechanism of the robot can be made smaller than the power of a motor or the like. In this research, we proposed a small gesture robot arm that can be controlled by a smartphone. We attempted control of the drive angle of a small gesture robot arm driven by SMA wire by serial communication from a smartphone. Evaluation is performed based on how well the required angle input to the robot system matches the actual drive angle of the robot arm.