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A Symmetrical Leech-Inspired Soft Crawling Robot Based on Gesture Control.

Jiabiao Li¹, Ruiheng Liu^1,2, Tianyu Zhang¹

¹Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, Tianjin University, Tianjin 300072, China.

Biomimetics (Basel, Switzerland)

|January 24, 2025

Summary

This summary is machine-generated.

This study introduces a novel soft crawling robot controllable via hand gestures. This natural human-computer interaction enhances soft robot operability and adaptability for diverse movements.

Keywords:

BP neural network Leap Motion TPU gesture recognition soft robot

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Area of Science:

Robotics
Human-Computer Interaction
Artificial Intelligence

Background:

Soft robots offer enhanced adaptability but often lack intuitive control interfaces.
Natural human-computer interaction methods are crucial for improving the usability of robotic systems.

Purpose of the Study:

To develop a soft crawling robot with intuitive gesture-based control.
To integrate hand gesture recognition for real-time control of soft robot locomotion.
To explore the use of cost-effective materials for soft robot actuators.

Main Methods:

Utilized Leap Motion sensor for hand gesture data acquisition.
Employed Unreal Engine for gesture recognition, with a threshold-based method for static and a backpropagation neural network for dynamic gestures.
Developed a soft robot using thermoplastic polyurethane (TPU) film actuators controlled via an Arduino system and a pressure switching circuit.

Main Results:

Successfully demonstrated real-time control of the soft robot's linear and directional movements using hand gestures.
Validated the accuracy of both static and dynamic gesture recognition models.
Confirmed the robot's ability to perform diverse motions under gesture command.

Conclusions:

Gesture-based control offers a natural and effective interface for soft robotics.
The proposed system enhances the operability and adaptability of soft crawling robots.
This approach highlights the potential for intuitive human-robot interaction in soft robotic applications.