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Related Experiment Video

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Rapid Manufacturing of Thin Soft Pneumatic Actuators and Robots
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Design of a Lightweight Soft Robotic Arm Using Pneumatic Artificial Muscles and Inflatable Sleeves.

Preston Ohta1, Luis Valle1, Jonathan King1

  • 11 Robotics Institute, Carnegie Mellon University , Pittsburgh, Pennsylvania.

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|April 13, 2018
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Summary
This summary is machine-generated.

This study introduces a novel bioinspired robotic arm that merges rigid and soft robotics for enhanced safety and precision in human environments. This hybrid design offers compliance and accuracy, crucial for human-robot interaction.

Keywords:
assistive robotbioinspired robothuman-safe robotinflatable robotpneumatic artificial muscle

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Area of Science:

  • Robotics
  • Bioinspired Engineering
  • Human-Robot Interaction

Background:

  • Conventional robots pose safety risks in human environments due to their rigidity.
  • Soft robotics offer compliance but often lack accuracy and utility.
  • A need exists for robotic systems balancing safety, accuracy, and lightweight design.

Purpose of the Study:

  • To develop a bioinspired robotic arm-wrist-hand system combining rigid and soft robotic elements.
  • To achieve a balance of compliance, accuracy, and low weight for safe human interaction.
  • To present the design, actuation, and control of a 7-DOF robotic system.

Main Methods:

  • Designed a 7-DOF robotic arm-wrist-hand system.
  • Utilized McKibben type pneumatic artificial muscles for arm actuation.
  • Employed servomotors for wrist and hand actuation.
  • Integrated potentiometers for joint angle sensing.

Main Results:

  • The developed robotic arm successfully integrates rigid and soft robotic features.
  • Demonstrated a bioinspired design achieving both compliance and accuracy.
  • Presented simulation and experimental results for closed-loop position control.

Conclusions:

  • The hybrid robotic arm offers a promising solution for safe and effective human-robot interaction.
  • The bioinspired design effectively combines the benefits of rigid and soft robotics.
  • The system demonstrates potential for applications requiring dexterity and safety.