Leveraging Passive Compliance of Soft Robotics for Physical Human-Robot Collaborative Manipulation
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866912320620331008 |
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| author | Cordon, Dallin L. Moss, Shaden Killpack, Marc Salmon, John L. |
| author_facet | Cordon, Dallin L. Moss, Shaden Killpack, Marc Salmon, John L. |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_08184 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Leveraging Passive Compliance of Soft Robotics for Physical Human-Robot Collaborative Manipulation Cordon, Dallin L. Moss, Shaden Killpack, Marc Salmon, John L. Robotics 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. |
| title | Leveraging Passive Compliance of Soft Robotics for Physical Human-Robot Collaborative Manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2504.08184 |