A Self-Deformation Robot Design Incorporating Bending-Type Pneumatic Artificial Muscles
With robots becoming closer to humans in recent years, human-friendly robots made of soft materials provide a new line of research interests. We designed and developed a soft robot that can move via self-deformation toward the practical application of monitoring children and the elderly on a daily b...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-07-01
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| Series: | Technologies |
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| Online Access: | https://www.mdpi.com/2227-7080/7/3/51 |
| _version_ | 1818389169405165568 |
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| author | Hiroki Tomori Kenta Hiyoshi Shonosuke Kimura Naoya Ishiguri Taisei Iwata |
| author_facet | Hiroki Tomori Kenta Hiyoshi Shonosuke Kimura Naoya Ishiguri Taisei Iwata |
| author_sort | Hiroki Tomori |
| collection | DOAJ |
| description | With robots becoming closer to humans in recent years, human-friendly robots made of soft materials provide a new line of research interests. We designed and developed a soft robot that can move via self-deformation toward the practical application of monitoring children and the elderly on a daily basis. The robot’s structure was built out of flexible frames, which are bending-type pneumatic artificial muscles (BPAMs). We first provide a description and discussion on the nature of BPAM, followed by static characteristics experiment. Although the BPAM theoretical model shares a similar tendency with the experimental results, the actual BPAMs moved along the depth direction. We then proposed and demonstrated an effective locomotion method for the robot and calculated its locomotion speed by measuring its drive time and movement distance. Our results confirmed the reasonability of the robot’s speed for monitoring children and the elderly. Nevertheless, during the demonstration, some BPAMs were bent sharply by other activated BPAMs as the robot was driving, leaving a little damage on these BPAMs. This will be addressed in our future work. |
| first_indexed | 2024-12-14T04:37:28Z |
| format | Article |
| id | doaj.art-5f088a2070354f658bedf01cf44c9ede |
| institution | Directory Open Access Journal |
| issn | 2227-7080 |
| language | English |
| last_indexed | 2024-12-14T04:37:28Z |
| publishDate | 2019-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Technologies |
| spelling | doaj.art-5f088a2070354f658bedf01cf44c9ede2022-12-21T23:16:53ZengMDPI AGTechnologies2227-70802019-07-01735110.3390/technologies7030051technologies7030051A Self-Deformation Robot Design Incorporating Bending-Type Pneumatic Artificial MusclesHiroki Tomori0Kenta Hiyoshi1Shonosuke Kimura2Naoya Ishiguri3Taisei Iwata4Department of Mechanical Systems Engineering, Graduate School of Science and Engineering, Yamagata University, Yamagata 992-8510, JapanDepartment of Mechanical Systems Engineering, Graduate School of Science and Engineering, Yamagata University, Yamagata 992-8510, JapanDepartment of Mechanical Systems Engineering, Graduate School of Science and Engineering, Yamagata University, Yamagata 992-8510, JapanDepartment of Mechanical Systems Engineering, Faculty of Engineering, Yamagata University, Yamagata 992-8510, JapanDepartment of Mechanical Systems Engineering, Faculty of Engineering, Yamagata University, Yamagata 992-8510, JapanWith robots becoming closer to humans in recent years, human-friendly robots made of soft materials provide a new line of research interests. We designed and developed a soft robot that can move via self-deformation toward the practical application of monitoring children and the elderly on a daily basis. The robot’s structure was built out of flexible frames, which are bending-type pneumatic artificial muscles (BPAMs). We first provide a description and discussion on the nature of BPAM, followed by static characteristics experiment. Although the BPAM theoretical model shares a similar tendency with the experimental results, the actual BPAMs moved along the depth direction. We then proposed and demonstrated an effective locomotion method for the robot and calculated its locomotion speed by measuring its drive time and movement distance. Our results confirmed the reasonability of the robot’s speed for monitoring children and the elderly. Nevertheless, during the demonstration, some BPAMs were bent sharply by other activated BPAMs as the robot was driving, leaving a little damage on these BPAMs. This will be addressed in our future work.https://www.mdpi.com/2227-7080/7/3/51pneumaticartificial musclesoft robot |
| spellingShingle | Hiroki Tomori Kenta Hiyoshi Shonosuke Kimura Naoya Ishiguri Taisei Iwata A Self-Deformation Robot Design Incorporating Bending-Type Pneumatic Artificial Muscles Technologies pneumatic artificial muscle soft robot |
| title | A Self-Deformation Robot Design Incorporating Bending-Type Pneumatic Artificial Muscles |
| title_full | A Self-Deformation Robot Design Incorporating Bending-Type Pneumatic Artificial Muscles |
| title_fullStr | A Self-Deformation Robot Design Incorporating Bending-Type Pneumatic Artificial Muscles |
| title_full_unstemmed | A Self-Deformation Robot Design Incorporating Bending-Type Pneumatic Artificial Muscles |
| title_short | A Self-Deformation Robot Design Incorporating Bending-Type Pneumatic Artificial Muscles |
| title_sort | self deformation robot design incorporating bending type pneumatic artificial muscles |
| topic | pneumatic artificial muscle soft robot |
| url | https://www.mdpi.com/2227-7080/7/3/51 |
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