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IJAT Vol.17 No.3 pp. 277-283
doi: 10.20965/ijat.2023.p0277
(2023)

Research Paper:

Inflatable Humanoid Cybernetic Avatar for Physical Human–Robot Interaction

Ryuma Niiyama*,† ORCID Icon, Masahiro Ikeda* ORCID Icon, and Young Ah Seong** ORCID Icon

*Graduate School of Science and Technology, Meiji University
1-1-1 Higashi-Mita, Tama-ku, Kawasaki-shi, Kanagawa 214-8571, Japan

Corresponding author

**Faculty of Engineering and Design, Hosei University
Tokyo, Japan

Received:
October 7, 2022
Accepted:
January 16, 2023
Published:
May 5, 2023
Keywords:
soft robotics, inflatable robot, cybernetic avatar, physical human–robot interaction (pHRI)
Abstract

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.

Cite this article as:
R. Niiyama, M. Ikeda, and Y. Seong, “Inflatable Humanoid Cybernetic Avatar for Physical Human–Robot Interaction,” Int. J. Automation Technol., Vol.17 No.3, pp. 277-283, 2023.
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Last updated on Apr. 05, 2024