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Implementation of a Spring Backboned Soft Arm Emulating Human Gestures
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  • Implementation of a Spring Backboned Soft Arm Emulating Human Gestures
  • Implementation of a Spring Backboned Soft Arm Emulating Human Gestures
저자명
윤현수,최재연,오세민,이병주,윤호섭,조영조,Yoon. Hyun-Soo,Choi. Jae-Yeon,Oh. Se-Min,Lee. Byeong-Ju,Yoon. Ho-Sup,Cho. Young-Jo
간행물명
로봇학회논문지
권/호정보
2012년|7권 2호|pp.65-75 (11 pages)
발행정보
한국로봇학회
파일정보
정기간행물|ENG|
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기타
이 논문은 한국과학기술정보연구원과 논문 연계를 통해 무료로 제공되는 원문입니다.
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기타언어초록

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.