Abstract
A fear and oppression of the robot should be reduced in order to realize spatial and temporal coexistence of the human and the robot, for example, welfare and care robot, pet robot, personal robot, and so on.This paper describes about the applying a inflatable tube patched piezoelectric films to a robot arm component and the detection method of the contact position for the robot and the human.The objective of this paper is the evaluation of the relation between contact position and sensor output because of the sensing information for inflatable tube utilized the avoidance action of the robot.The experimentation were performed to confirm the variation of resonance frequency for the step external input at the position of the smart inflatable tube.The experimental results demonstrated that resonance frequency of the smart inflatable tube varies wit the contact position.
