Publication

Hanyang University HumanRobotics Lab

Domestic Journal
인간 동작 표현용 스프링 백본 구조 소프트 암의 구현
Journal
로봇학회논문지
Vol
Vol. 7, No. 2
Page
pp. 65-75
Author
윤현수, 최재연, 오세민, 이병주, 윤호섭, 조영조
Year
2012
Date
2012
File
인간 동작 표현용 스프링 백본 구조 소프트 암의 구현.pdf (2.9M) 0회 다운로드 DATE : 2020-10-16 22:28:47
Abstract: This study deals with the design of a spring backboned soft arm, which will be employed for generation of human gesture as an effective means of Human‐Robot interaction. The special features of the proposed mechanism are the light weight and the flexibility of the whole mechanism by using a spring backbone. Thus, even in the case of collision with human, this device is able to absorb the impact structurally. The kinematics and the design for the soft arm are introduced. The performance of this mechanism was shown through experiment emulating several human gestures expressing human emotion and some service contents. Finally, this soft arm was implemented as the wing mechanism of a penguin robot.