인간 동작 표현용 스프링 백본 구조 소프트 암의 구현Implementation of a Spring Backboned Soft Arm Emulating Human Gestures
- Other Titles
- Implementation of a Spring Backboned Soft Arm Emulating Human Gestures
- Authors
- 윤현수; 최재연; 오세민; 이병주; 윤호섭; 조영조
- Issue Date
- May-2012
- Publisher
- 한국로봇학회
- Keywords
- Soft Arm; Flexibility; Safety; Spring Backbone
- Citation
- 로봇학회 논문지, v.7, no.2, pp.65 - 75
- Indexed
- KCI
OTHER
- Journal Title
- 로봇학회 논문지
- Volume
- 7
- Number
- 2
- Start Page
- 65
- End Page
- 75
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/35086
- ISSN
- 1975-6291
- 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.
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