Evaluation of Shape-Changing Tensegrity Structure Robot for Physical Human-Robot Interaction

Abstract

The purpose of this research is to develop an adaptive shape-changing tensegrity-structured robot with length-variable struts and tendons for physical Human-Robot Interaction (pHRI). The tensegrity mechanism enables the shape to change against environmental constraints and allows the struts to move in conjunction by reacting with the springs, even without a sensory control network via a central computer. Experimental results from two constraint situations show that this tensegrity mechanism enables the robot to shape-change adaptively while keeping track of actuator movement.