生活支援ロボットのための布の吸着が可能な柔軟吸着パッドの開発

抄録

Robot assisting human to put on and take off clothes, it is important that an end-effector is soft enough not to hurt a person and able to manipulate clothes. In this study, we propose a flexible suction pad that can hold fabrics. The suction pad has flexibility made of only silicone. In addition, in order to achieve a sufficient suction flow and hold a fabric, two spots of negative pressure are generated according to Bernoulli's theory to suck a sufficient flow, and the suction part is arranged so that these negative pressure spots can effectively suck up a fabric. The performance of the proposed suction pad is evaluated by measuring the suction flow rate and sucking-up test for a piece of cloth.