| Autor: |
Osawa, Yukiko, Kinbara, Yuho, Kageoka, Masakazu, Iida, Kenji, Kheddar, Abderrahmane |
| Rok vydání: |
2021 |
| Předmět: |
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| Zdroj: |
Scientific Reports, Nature Publishing Group, 2021 |
| Druh dokumentu: |
Working Paper |
| Popis: |
Almost all robotic systems in use have hard shells, which is limiting in many ways their full potential of physical interaction with humans or their surrounding environment. Robots with soft-shell covers offer an alternative morphology which is more pleasant in both appearance and for haptic human interaction. A persisting challenge in such soft-shell robotic covers is the simultaneous realization of softness and heat-conducting properties. Such heat-conducting properties are important for enabling temperature-control of robotic covers in the range that is comfortable for human touch. The presented soft-shell robotic cover is composed of a linked two-layer structure: (i) the inner layer, with built-in pipes for water circulation, is soft and acts as a thermal-isolation layer between the cover and the robot structure, whereas (ii) the outer layer, which can be patterned with a given desired texture and color, allows heat transfer from the circulating water of the inner part to the surface. Moreover, we demonstrate the ability to integrate our prototype cover with a humanoid robot equipped with capacitance sensors. This fabrication technique enables robotic cover possibilities, including tunable color, surface texture, and size, that are likely to have applications in a variety of robotic systems. |
| Databáze: |
arXiv |
| Externí odkaz: |
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