软机器人与人协作搬运长物体，表现媲美人类搭档。
Leveraging Passive Compliance of Soft Robotics for Physical Human-Robot Collaborative Manipulation
- 用气动三段式柔性机械臂+全向底盘实现人机协同操作。
- 定量定性结果表明其性能可比肩人类非视觉跟随协作。
- 突破软体机器人传统强度局限，适合需要柔韧与力量场景。
本研究首次对大型软体机器人在人机物理协同操作长而延伸物体的任务中进行了基准测试。该机器人由气动驱动的三段连续体柔性机械臂和全向移动基座组成，系统配置及协作操作（共操作）实验设计均被详细展示。初步结果通过定量与定性分析，直接与以往的人类-人类共操作研究对比。结果显示，大型软体机器人在作为非视觉跟随者参与共操作任务时，具备与人类伙伴相当的协作能力。此外，这些结果挑战了传统软体机器人强度不足的认知，表明其在需要高适应性与较强承载能力的应用中具有潜力。
原文摘要 · Abstract (English)
This work represents an initial benchmark of a large-scale soft robot performing physical, collaborative manipulation of a long, extended object with a human partner. The robot consists of a pneumatically-actuated, three-link continuum soft manipulator mounted to an omni-directional mobile base. The system level configuration of the robot and design of the collaborative manipulation (co-manipulation) study are presented. The initial results, both quantitative and qualitative, are directly compared to previous similar human-human co-manipulation studies. These initial results show promise in the ability for large-scale soft robots to perform comparably to human partners acting as non-visual followers in a co-manipulation task. Furthermore, these results challenge traditional soft robot strength limitations and indicate potential for applications requiring strength and adaptability.
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