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Virtual Work for a System of Connected Rigid Bodies01:06

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Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
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Mechanical Systems01:22

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Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
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In mechanical engineering, a three-dimensional force system is a system of forces acting in three dimensions, with forces applied along the x, y, and z coordinate axes. The three-dimensional force system is an important concept in mechanical engineering, as it allows engineers to understand and analyze the behavior of objects and structures in three dimensions. By understanding the forces acting on a system, engineers can design more efficient and effective mechanical systems that can withstand...
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Movement Joints in Buildings01:27

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Movement joints in buildings are essential design elements that accommodate inevitable motions caused by various factors such as temperature changes, moisture content variations, and structural deflections. These motions, if not considered in design and construction, can lead to unsightly or dangerous damage. Movement joints are incorporated in different forms to manage these stresses and allow materials to move without causing distress.
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Joints01:26

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Related Experiment Video

Updated: Oct 20, 2025

Rapid Manufacturing of Thin Soft Pneumatic Actuators and Robots
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Blower-Powered Soft Inflatable Joints for Physical Human-Robot Interaction.

Ryuma Niiyama1, Young Ah Seong1, Yoshihiro Kawahara2

  • 1Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan.

Frontiers in Robotics and AI
|September 10, 2021
PubMed
Summary

This study introduces novel blower-powered soft inflatable joints for robots, enhancing safety and simplifying design for physical human-robot interaction (pHRI). These joints eliminate rigid parts and hide actuation, making inflatable robots more practical.

Keywords:
inflatable robotphysical human-robot interactionsoft mechanismsoft roboticstendon wire

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Area of Science:

  • Robotics
  • Soft Robotics
  • Human-Robot Interaction

Background:

  • Inflatable structures offer safety and lightweight properties suitable for human-robot interaction (pHRI).
  • Existing active joint mechanisms for inflatable robots are complex, hindering actuator integration and diminishing inflatable advantages.
  • Development of simpler, integrated actuation is crucial for advancing inflatable robots in pHRI applications.

Purpose of the Study:

  • To propose and demonstrate novel blower-powered soft inflatable joints for robots.
  • To enable easier fabrication and internal integration of actuators within inflatable robot joints.
  • To advance the field of physical human-robot interaction (pHRI) through safer, more practical inflatable robots.

Main Methods:

  • Fabrication of soft inflatable joints powered by internal air pressure.
  • Integration of tendon-driven actuation systems using linear actuators.
  • Derivation of theoretical models for unilateral and bilateral inflatable joints.
  • Demonstration of a multi-jointed inflatable robot for a hugging application.

Main Results:

  • Successful development of easily fabricated, blower-powered soft inflatable joints.
  • Complete elimination of rigid components and successful internal routing of actuation tendons.
  • Demonstration of a functional inflatable robot exhibiting controlled joint movement.
  • Theoretical models for joint behavior were derived and validated.

Conclusions:

  • The proposed soft inflatable joints offer a simplified and advantageous approach to inflatable robot design.
  • Eliminating rigid parts and hiding tendons enhances the inherent safety and practicality of inflatable robots.
  • This advancement is expected to significantly contribute to the progress of physical human-robot interaction (pHRI).