The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Implementation of a Spring Backboned Soft Arm Emulating Human Gestures

인간 동작 표현용 스프링 백본 구조 소프트 암의 구현

  • Yoon, Hyun-Soo (Department of Electronic, Electrical, Control, and Instrumentation Engineering, Hanyang University) ;
  • Choi, Jae-Yeon (Korea Institute of Robot and Convergence) ;
  • Oh, Se-Min (Department of Intelligent Robot Engineering, Hanyang University) ;
  • Lee, Byeong-Ju (Department of Electronics & System Engineering, Hanyang University) ;
  • Yoon, Ho-Sup (Electronics and Telecommunications Research Institute(ETRI)) ;
  • Cho, Young-Jo (Electronics and Telecommunications Research Institute(ETRI))
  • Received : 2011.08.12
  • Accepted : 2012.03.29
  • Published : 2012.05.31
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Abstract

This study deals with the design of a spring backboned soft arm, which will be employed for generation of human gesture as an effective means of Human Robot interaction. The special features of the proposed mechanism are the light weight and the flexibility of the whole mechanism by using a spring backbone. Thus, even in the case of collision with human, this device is able to absorb the impact structurally. The kinematics and the design for the soft arm are introduced. The performance of this mechanism was shown through experiment emulating several human gestures expressing human emotion and some service contents. Finally, this soft arm was implemented as the wing mechanism of a penguin robot.

Keywords

References

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