Soft robotic shell with active thermal display

Abstract 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 hapti...

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Autores principales:	Yukiko Osawa, Yuho Kinbara, Masakazu Kageoka, Kenji Iida, Abderrahmane Kheddar
Formato:	article
Lenguaje:	EN
Publicado:	Nature Portfolio 2021
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/3f5bb77a5d554427a2ae8d45f8cfeb18
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spelling	oai:doaj.org-article:3f5bb77a5d554427a2ae8d45f8cfeb182021-12-02T18:01:48ZSoft robotic shell with active thermal display10.1038/s41598-021-99117-y2045-2322https://doaj.org/article/3f5bb77a5d554427a2ae8d45f8cfeb182021-10-01T00:00:00Zhttps://doi.org/10.1038/s41598-021-99117-yhttps://doaj.org/toc/2045-2322Abstract 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: (1) 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 (2) 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.Yukiko OsawaYuho KinbaraMasakazu KageokaKenji IidaAbderrahmane KheddarNature PortfolioarticleMedicineRScienceQENScientific Reports, Vol 11, Iss 1, Pp 1-12 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Yukiko Osawa Yuho Kinbara Masakazu Kageoka Kenji Iida Abderrahmane Kheddar Soft robotic shell with active thermal display
description	Abstract 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: (1) 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 (2) 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.
format	article
author	Yukiko Osawa Yuho Kinbara Masakazu Kageoka Kenji Iida Abderrahmane Kheddar
author_facet	Yukiko Osawa Yuho Kinbara Masakazu Kageoka Kenji Iida Abderrahmane Kheddar
author_sort	Yukiko Osawa
title	Soft robotic shell with active thermal display
title_short	Soft robotic shell with active thermal display
title_full	Soft robotic shell with active thermal display
title_fullStr	Soft robotic shell with active thermal display
title_full_unstemmed	Soft robotic shell with active thermal display
title_sort	soft robotic shell with active thermal display
publisher	Nature Portfolio
publishDate	2021
url	https://doaj.org/article/3f5bb77a5d554427a2ae8d45f8cfeb18
work_keys_str_mv	AT yukikoosawa softroboticshellwithactivethermaldisplay AT yuhokinbara softroboticshellwithactivethermaldisplay AT masakazukageoka softroboticshellwithactivethermaldisplay AT kenjiiida softroboticshellwithactivethermaldisplay AT abderrahmanekheddar softroboticshellwithactivethermaldisplay
_version_	1718378921888579584

Soft robotic shell with active thermal display

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