Development of Soft Manipulator with Variable Rheological Joints and Pneumatic Sensor for Collision with Environment

Taro Nakamura; Yuki Akamatsu; Yuta Kusaka

doi:10.20965/jrm.2008.p0634

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JRM Vol.20 No.4 pp. 634-640

doi: 10.20965/jrm.2008.p0634

(2008)

Paper:

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Development of Soft Manipulator with Variable Rheological Joints and Pneumatic Sensor for Collision with Environment

Taro Nakamura, Yuki Akamatsu, and Yuta Kusaka

Chuo University, Faculty of Science and Engineering, Department of Precision Mechanics, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan

Received:

October 4, 2007

Accepted:

January 24, 2008

Published:

August 20, 2008

Keywords:

soft manipulator, ER fluid, pneumatic cushion, collision and contact with human

Abstract

Recently, as robots and humans have increasingly come to share common space, especially in the fields of medical and home automation, it has become necessary to consider the frequent physical collision of robots and environments (e.g. humans). However, many robot joints employ actuators with high-ratio gear trains, and therefore, when this type of robot comes into contact with a human, physical pain may be caused. This study deals with the development of a manipulator using a smart flexible joint employing ER fluid and a pneumatic cushion that has a sensor function. In addition, position control and collision experiments were performed with the developed manipulator. The experimental results demonstrate the effectiveness of the manipulator.

Cite this article as:

T. Nakamura, Y. Akamatsu, and Y. Kusaka, “Development of Soft Manipulator with Variable Rheological Joints and Pneumatic Sensor for Collision with Environment,” J. Robot. Mechatron., Vol.20 No.4, pp. 634-640, 2008.

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References

[1] Z. Li and A. Ming, “Mobile Manipulator Collision Control with Hybrid Joints in Human-Robot Symbiotic Environments,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.154-161, 2004.
[2] I. D. Walker, “The use of kinematic redundancy in reducing impact and contact effects in manipulation,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 433-449, 1990.
[3] K. Kitagaki and M. Uchiyama, “Optimal approach velocity of end effector to the environment,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1928-1934, 1992.
[4] R. Volpe and P. Khosla, “Experimental verification of a strategy for impact control,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1854-1860, 1991.
[5] K. Youcef-Toumi and D. A. Gutz, “Impact and force control,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 410-416, 1989.
[6] J. K. Mills, “Manipulator transition to and from contact task (A discontinuous control approach),” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 440-446, 1990.
[7] T. Nakamura and N. Saga, “Development of a Soft Manipulator Using a Smart Flexible Joint for Safe Contact with Humans,” J. of The Society of Instrument and Control Engineers, Vol.40, No.10, pp. 1060-1066, 2004. (in Japanese).
[8] T. Takahashi et al., “A Control Method to Reduce the Oscillation of a Robot Manipulator with Elastic Joints and Non-backdrivable Gear Trains,” J. of Robotics Society of Japan, Vol.18, No.1, pp. 142-149, 2000. (in Japanese).
[9] S. Norihiko and T. Nakamura, “Development and Fundamental Characteristic of One-Shaft Type ER clutch,” J. of Robotics and Mechatronics, Vol.13, No.4, pp. 534-539, 2001.
[10] Y. Eguchi and T. Nakamura, “Development of a Pneumatic Cushion with an Impact Sensor,” Proc. of 4^th IFAC-Symposium on Mechatronic Systems, pp. 1002-1005, 2006.
[11] W. M. Winslow, J. Applied Physics, Vol.20, pp. 1137-1140, 1949.
[12] Y. Yamada, K. Suita, and K. Imai, “Human-robot contact in the safeguarding space,” IEEE/ASME Transactions on Mechatronics, Vol.2, No.4, pp. 230-236, 1997.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Z. Li and A. Ming, “Mobile Manipulator Collision Control with Hybrid Joints in Human-Robot Symbiotic Environments,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.154-161, 2004.

[2] [2] I. D. Walker, “The use of kinematic redundancy in reducing impact and contact effects in manipulation,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 433-449, 1990.

[3] [3] K. Kitagaki and M. Uchiyama, “Optimal approach velocity of end effector to the environment,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1928-1934, 1992.

[4] [4] R. Volpe and P. Khosla, “Experimental verification of a strategy for impact control,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1854-1860, 1991.

[5] [5] K. Youcef-Toumi and D. A. Gutz, “Impact and force control,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 410-416, 1989.

[6] [6] J. K. Mills, “Manipulator transition to and from contact task (A discontinuous control approach),” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 440-446, 1990.

[7] [7] T. Nakamura and N. Saga, “Development of a Soft Manipulator Using a Smart Flexible Joint for Safe Contact with Humans,” J. of The Society of Instrument and Control Engineers, Vol.40, No.10, pp. 1060-1066, 2004. (in Japanese).

[8] [8] T. Takahashi et al., “A Control Method to Reduce the Oscillation of a Robot Manipulator with Elastic Joints and Non-backdrivable Gear Trains,” J. of Robotics Society of Japan, Vol.18, No.1, pp. 142-149, 2000. (in Japanese).

[9] [9] S. Norihiko and T. Nakamura, “Development and Fundamental Characteristic of One-Shaft Type ER clutch,” J. of Robotics and Mechatronics, Vol.13, No.4, pp. 534-539, 2001.

[10] [10] Y. Eguchi and T. Nakamura, “Development of a Pneumatic Cushion with an Impact Sensor,” Proc. of 4^th IFAC-Symposium on Mechatronic Systems, pp. 1002-1005, 2006.

[11] [11] W. M. Winslow, J. Applied Physics, Vol.20, pp. 1137-1140, 1949.

[12] [12] Y. Yamada, K. Suita, and K. Imai, “Human-robot contact in the safeguarding space,” IEEE/ASME Transactions on Mechatronics, Vol.2, No.4, pp. 230-236, 1997.