2023 Fiscal Year Research-status Report
柔軟かつ高強度なウェアラブルロボットアームの設計、モデリング、制御
| Project/Area Number |
23KJ1695
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| Research Institution | Kyushu University |
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Principal Investigator |
MAVINKURVE UJJAL 九州大学, 工学府, 特別研究員(DC2)
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| Project Period (FY) |
2023-04-25 – 2025-03-31
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| Keywords | Flexible robot / Soft robot modeling / Wearable robot / Bio-inspiration |
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| Outline of Annual Research Achievements |
The goal of this research is to build a wearable robotic limb (WRL) for assistance and augmentation in completing various tasks efficiently and safely in narrow spaces. To achieve this, the research was divided into three major phases : (1) Creating a flexible bio-inspired manipulator with a high payload capacity
(2) Developing a real time mathemtical model and control method for the above flexible manipulator
(3) Investigating the wearability of the manipulator for different experimental scenarios.
In this term, significant progress was made on the design and manufacturing of the bio-inspired manipulator. Current prototype manipulator has an increased extension length of 770 mm and is able to hold a weight of 300 grams. This is an increase of 40 percent in extension and 50 percent in payload
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| Current Status of Research Progress |
Current Status of Research Progress
2: Research has progressed on the whole more than it was originally planned.
Reason
The research has been progressing on schedule. While the modeling and development work on the first prototype was delayed, the second prototype design and prototype could be developed quickly to bring the schedule back on timeline. Secondly, the work on modeling of the robot has been progressing smoothly with a preliminary simulation model developed. The progress in this regards has been published in the renowned IEEE Robotics and Automation Letters (RA-L). The progress on timeline can be attributed to simultaneous documentation and research activity being carried out. This progress will also be presented at the most esteemed international robotics conference called ICRA 2024 in the month of May.
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| Strategy for Future Research Activity |
The development of the third prototype has been delayed due to delayed longer manufacturing times for certain parts but the other aspects of research, namely; the modeling of the flexible robot and design of experiments for evaluating the robot. Until the necessary parts for assembly, modeling and control of the flexible robot will be verified on the simulation model as well as on the previous (second) prototype. After model verification, the experimental setup for verifying the robot needs to be designed. Based on the literature review conducted and revised over two years, an experimental environment will be developed. Lastly, after verifying the robot's performance an investigation on the wearability of the robot will be performed to bring the research to a conclusion.
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| Causes of Carryover |
The main components of this year`s expenditure were the actuation components (motors) and the laptop required for high power computation. Other major components was the light universal joints required for the robot assembly.
The remaining amount of the grant will be spent on three major components
(1) Redesigned components for the third prototype of the flexible robot, (2) Sensor components for fast and accurate modeling and control of the flexible robot, (3) Parts for assembling the experimental setup for validation and testing of the flexible robot
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| Remarks |
Demonstration video submitted as a supplement for the RA-L submission as well as ICRA 2024 paper presentation.
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