{"title":"Evaluation of Shape-Changing Tensegrity Structure Robot for Physical Human-Robot Interaction","authors":"Satoshi Yagi, S. Kang, Shiqi Yu, Hamed Mahzoon","doi":"10.1109/ARSO46408.2019.8948781","DOIUrl":null,"url":null,"abstract":"The purpose of this research is to develop an adaptive shape-changing tensegrity-structured robot with length-variable struts and tendons for physical Human-Robot Interaction (pHRI). The tensegrity mechanism enables the shape to change against environmental constraints and allows the struts to move in conjunction by reacting with the springs, even without a sensory control network via a central computer. Experimental results from two constraint situations show that this tensegrity mechanism enables the robot to shape-change adaptively while keeping track of actuator movement.","PeriodicalId":268677,"journal":{"name":"2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ARSO46408.2019.8948781","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
The purpose of this research is to develop an adaptive shape-changing tensegrity-structured robot with length-variable struts and tendons for physical Human-Robot Interaction (pHRI). The tensegrity mechanism enables the shape to change against environmental constraints and allows the struts to move in conjunction by reacting with the springs, even without a sensory control network via a central computer. Experimental results from two constraint situations show that this tensegrity mechanism enables the robot to shape-change adaptively while keeping track of actuator movement.
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