@inproceedings{45357844397c4c0096b44419dc358884,
title = "Design of a lightweight inflatable sensing sleeve for increased adaptability and safety of legged robots",
abstract = "We propose a lightweight inflatable sensing sleeve for increased adaptability and safety of legged robots. The sleeve contains an air chamber that can be actively inflated for protecting the host robot from external impacts using the cushioning effect. In addition, capacitive touch-sensitive pads are integrated on the surface of the sleeve for detecting contacts made to the sleeve. Therefore, robots can acquire tactile information from their surroundings for increased adaptability and maneuverability. This paper presents the design and the fabrication of the inflatable sleeve and capacitive touch pads. Characterization tests were carried out to evaluate the sensitivity and durability of the touch pads and the safety effect of the inflated sleeve. The proposed sleeve was also integrated with a robotic leg to demonstrate how it could be implemented to a legged robot for controlling motions.",
author = "Taekyoung Kim and Jaejun Park and Yoon, {Sohee John} and Kong, {Do Hun} and Park, {Hae Won} and Park, {Yong Lae}",
note = "Funding Information: This work was supported in part by the Technology Innovation Program (No. 2017-10069072) funded by the Ministry of Trade, Industry & Energy, Korea, and in part by Air Force of Scientific Research (No. FA2386-17-1-4665), Unites States. (Taekyoung Kim and Jaejun Park contributed equally to this work.) (Corresponding authors: Hae-Won Park and Yong-Lae Park) 1Taekyoung Kim, Sohee John Yoon and Yong-Lae Park are with Department of Mechanical and Aerospace Engineering, Soft Robotics Research Center (SRRC) and Institute of Advanced Machines and Design (IAMD), Seoul National University, Seoul 08826, Korea. ylpark@snu.ac.kr 2Jaejun Park, Do Hun Kong and Hae-Won Park are with Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana IL 61801, United States haewon@illinois.edu Fig. 1. (a) Concept of inflatable sensing sleeves integrated with a legged robot (b) The prototype of lightweight inflatable sensing sleeve integrated with a single robotic leg. Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Soft Robotics, RoboSoft 2019 ; Conference date: 14-04-2019 Through 18-04-2019",
year = "2019",
month = may,
day = "24",
doi = "10.1109/ROBOSOFT.2019.8722711",
language = "English (US)",
series = "RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "257--264",
booktitle = "RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics",
address = "United States",
}