Design of a lightweight inflatable sensing sleeve for increased adaptability and safety of legged robots

Taekyoung Kim, Jaejun Park, Sohee John Yoon, Do Hun Kong, Hae Won Park, Yong Lae Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publicationRoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages257-264
Number of pages8
ISBN (Electronic)9781538692608
DOIs
StatePublished - May 24 2019
Event2019 IEEE International Conference on Soft Robotics, RoboSoft 2019 - Seoul, Korea, Republic of
Duration: Apr 14 2019Apr 18 2019

Publication series

NameRoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics

Conference

Conference2019 IEEE International Conference on Soft Robotics, RoboSoft 2019
CountryKorea, Republic of
CitySeoul
Period4/14/194/18/19

ASJC Scopus subject areas

  • Materials Science (miscellaneous)
  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

Fingerprint Dive into the research topics of 'Design of a lightweight inflatable sensing sleeve for increased adaptability and safety of legged robots'. Together they form a unique fingerprint.

Cite this