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Source publication
Inflatables are safe and lightweight structures even at the human scale. Inflatable robots are expected to be applied to physical human-robot interaction (pHRI). Although active joint mechanisms are essential for developing inflatable robots, the existing mechanisms are complex in structure and it is difficult to integrate actuators, which diminish...
Contexts in source publication
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... essential element of the proposed joint was to insert a leaf-shaped patch in the middle of the cylindrical inflatable to provide an additional surface area for bending. Unilateral joints have one leaf-shaped patch and can only bend on one side from the initial state ( Figure 2A). Bilateral joints have leaf-shaped patches on both sides that can bend to either side from the initial state ( Figure 2D). ...
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... joints have one leaf-shaped patch and can only bend on one side from the initial state ( Figure 2A). Bilateral joints have leaf-shaped patches on both sides that can bend to either side from the initial state ( Figure 2D). The size of the leaf-shaped patch is related to the range of motion ( Figures 2E,F). ...
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... joints have leaf-shaped patches on both sides that can bend to either side from the initial state ( Figure 2D). The size of the leaf-shaped patch is related to the range of motion ( Figures 2E,F). ...
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... joint bends when pulled by a tendon wire from the inside, and when the tendon is pulled, the wall is retracted to create a pocket, while a leaf-shaped patch unfolds on the other side ( Figure 2B). We employed a low-pressure inflatable that was constantly pressurized by a blower, and some air leakages were acceptable. ...
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... cables were attached inside the joint and we could control the inflatable joint by pulling this tendon. The inflatables were fabricated by sewing several nylon woven fabric parts together with a sewing machine based on the pattern shown in Figure 2C. The weight of the fabric is about 70 g/m 2 . ...
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... joints do not have areas where the fabric slides against each other with friction. When the joint flexes, the fabric pulled by the tendon is bent nearly 180 ° to form a pocket ( Figure 2B). The fold line reaches almost half of the circumference of the cylindrical body and increases in length with flexion. ...
Citations
In a digital twin, a humanoid robot can be the counterpart of a simulated agent in the real world. In addition, a human, virtual avatar, and avatar robot might constitute digital triplets. We propose an inflatable cybernetic avatar (CA) with a humanoid upper body using an inflatable structure that can represent gestures. This inflatable CA is much lighter, safer, and cheaper than conventional humanoid robots and can be folded when deflated. These properties are ideal for physical human–robot interaction (pHRI) and allow real-time collection of human behavior through interaction. In the experiment, basic movements such as nodding and raising arms were measured using motion capture systems. This paper demonstrates the proposed inflatable CA in a hybrid event. We also conducted an experiment to measure the touch interactions using tactile sensors attached to the fabric of the inflatable part. A psychologically secure inflatable humanoid CA is a promising platform for physical interaction experiments.
Purpose of Review
We aimed to reveal the impact of soft robotics, which has developed in the last decade, on humanoid robotics research. Although humanoid robots are usually classified as hard robotics, softness should be integrated because soft materials and mechanisms are used extensively in the human body.
Recent Findings
In recent years, new soft actuators based on hybrid approaches, such as the combination of electricity and fluid, have emerged. Physically compliant robotic systems that are safe and robust are needed to take on higher-risk tasks and to tolerate large numbers of trials in the process of machine learning.
Summary
Emerging soft actuators are enabling humanoid robots to achieve rapid movements with physical impacts. Efforts to integrate soft robotics and humanoid robots are still on their way. A potential direction for humanoid robots is their application to physical human-robot interaction, where further exploitation of softness is expected.
With the increase in online interaction between distant people, wearable avatar robots are expected to be used in a wide range of daily situations. Soft robotics is highly applicable as a method to achieve this. In this study, we define the design requirements for the daily use of wearable soft avatar robots based on design surveys and cross-field academic research. In addition, we implement prototypes using an inflatable robot and summarize the future issues.
