提出可大角度弯曲的气动关节，提升充气机器人的运动能力。
Pneumatic bladder links with wide range of motion joints for articulated inflatable robots
- 用滚接触关节连接气囊段，实现±150°大范围转动。
- 3自由度臂可搬动500克负载，1自由度臂能举起5公斤。
- 适合需要轻量化和柔性运动的机器人应用。
充气机器人的应用探索是当前研究前沿。本文提出一种由多个气囊段通过滚接触关节（称为Hillberry关节）连接而成的铰接式充气机器人。气囊段采用帆布与聚氨酯双层结构，兼具气密性与形变柔性。将Hillberry关节集成到充气机器人中是一种新方法，其滚动接触设计使运动范围达±150°，为传统充气关节中最大。实验表明，该机构可用于3自由度机械臂搬运500克负载，2自由度与1自由度臂分别可举起3.4公斤与5公斤负载；同时，单个3自由度充气腿装于小推车上，也成功实现足式移动。结果验证了该结构在多自由度运动与负载承载方面的有效性。
原文摘要 · Abstract (English)
Exploration of various applications is the frontier of research on inflatable robots. We proposed an articulated robots consisting of multiple pneumatic bladder links connected by rolling contact joints called Hillberry joints. The bladder link is made of a double-layered structure of tarpaulin sheet and polyurethane sheet, which is both airtight and flexible in shape. The integration of the Hilberry joint into an inflatable robot is also a new approach. The rolling contact joint allows wide range of motion of $\pm 150 ^{\circ}$, the largest among the conventional inflatable joints. Using the proposed mechanism for inflatable robots, we demonstrated moving a 500 g payload with a 3-DoF arm and lifting 3.4 kg and 5 kg payloads with 2-DoF and 1-DoF arms, respectively. We also experimented with a single 3-DoF inflatable leg attached to a dolly to show that the proposed structure worked for legged locomotion.
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