Abstract
In this study, we develop a pneumatic cylinders-driven arm wrestling robot system known as ForceRobot, which comprises a 5-DOF force display system with 4 pneumatic cylinders and a force sensor and a human-like head robot with stereo visual servo mechanism. The head robot can display facial expressions by using its eyes, eyelids, lips, and by changing its facial color. We use the system to analyze the movements of the arm during arm wrestling in which a human pushes against a quantitative load. On the basis of the measurement results, a force display response model that is based on the impact absorption features of the human hand is proposed. We introduce this model into our system and verify the effectiveness of the force display by means of behavioral analysis and sensory evaluation. The effectiveness of our system is evaluated from the viewpoints of enjoyment and user-friendliness by children.
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