In this study, we design an arm wrestling robot system called PneumaticRobot for intuitive operation and develop a prototype system. PneumaticRobot has a simple mechanical design involving linear-rotational movement, which is realized using a pneumatic cylinder, gear, rotary encoder, and force sensor. Next, we incorporate a force display response model based on the impact absorption mechanism of a human hand, proposed earlier by us, into the system. The effectiveness of arm wrestling using the proposed system is evaluated from the perspective of user-friendliness and enjoyment. Further, some arm wrestling robot systems are introduced as applications of PneumaticRobot. The mechanical design of PneumaticRobot is expected to become the technological basis for arm wrestling robots whose force sense can be controlled using pneumatic cylinders and gears.

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