Blower-Powered Soft Inflatable Joints for Physical Human-Robot Interaction

摘要

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 the advantages of inflatables. This study proposes blower-powered soft inflatable joints that are easy to fabricate and contain enough space for an actuation inside. The joints are driven by tendon wires pulled by linear actuators. We derived a theoretical model for both unilateral and bilateral joints and demonstrated a hugging robot with multiple joints as an application of the proposed joint mechanism. The novelty of the proposed joint mechanism and the inflatable robot is that rigid parts have been thoroughly eliminated and the tendons for actuation have been successfully hidden inside. Moreover, the active control of the internal pressure makes inflatables resistant to punctures. We expect that the contact safety of inflatable robots will facilitate advancement of the pHRI field.