Robot soft thermal display using self-heating and cooling system

被引：0

作者：

Osawa, Yukiko ^{[1
,2
]}

Ogura, Ichiro ^{[2
]}

Kheddar, Abderrahmane ^{[3
,4
]}

机构：

[1] Keio Univ, Dept Appl Phys & Physico Informat, 3-14-1 Hiyoshi,Kohoku Ku, Yokohama, Kanagawa 2238522, Japan

[2] Natl Inst Adv Ind Sci & Technol, Ind Cyber Phys Syst Res Ctr, AIST Tokyo Waterfront Collaborat Ctr, 2-3-26 Aomi,Koto Ku, Tokyo 1350064, Japan

[3] Natl Inst Adv Ind Sci & Technol, AIST Joint Robot Lab, CNRS, IRL3218,AIST Cent 1,1-1-1 Umezono, Tsukuba, Ibaraki 3058560, Japan

[4] Univ Montpellier, CNRS, LIRMM, UMR5506, 860 Rue St Priest, F-34095 Montpellier 5, Herault, France

来源：

CASE STUDIES IN THERMAL ENGINEERING | 2024年 / 63卷

基金：

日本学术振兴会;

关键词：

Soft thermal robotic cover; Thermal management; Robotic haptics; Thermal display; TEMPERATURE; WARM; MANAGEMENT;

D O I：

10.1016/j.csite.2024.105328

中图分类号：

O414.1 [热力学];

学科分类号：

摘要：

In this paper, we address robotic haptics with the following question: is it possible to design a heating/cooling system that can fulfill both the necessity of keeping the inner robot actuators at a desired optimal heat and, at the same time, use actuators energy loss in terms of heat conveyed, through a soft robotic cover, as pleasant thermal sensation to a human when the robot is touched? We propose a solution to address this question in terms of mechatronic design. Indeed, internal heat generated by actuator loss can be transferred to the robotic haptic cover and a cooling tank for thermal display purposes. A suitable switching control strategy is divided to fulfill the double objective of keeping the actuators' temperature under a given threshold whilst displaying the desired temperature to the soft robot's cover. We assess our ideas with an experimental set-up using one actuator and our original soft cover technology with a preliminary user study.

引用

页数：12

共 53 条

[1] Human C-Tactile Afferents Are Tuned to the Temperature of a Skin-Stroking Caress [J].