5 accepted papers
This letter proposes a novel method to accomplish shape recognition by utilizing a tensegrity structure with a soft sensor via a recurrent neural network (RNN). The combination of soft tensegrity and soft sensors make it capable of recognizing the deformation to reflect the shape of its surroundings
The exploration and inspection of narrow spaces in industrial plants require the use of long-reach redundant manipulators with large three-dimensional (3D) workspaces. To this end, in a previous work, a coupled tendon-driven articulated manipulator with a total length of 10 m and yaw joints for 3D m
The decommissioning of the Fukushima Daiichi Nuclear Power Plants is a national urgent problem in Japan. The distribution and characteristics of the fuel debris inside the nuclear reactor must be investigated to safely retrieve them. This letter describes a 10-m-long articulated manipulator for inve
A synthetic fiber rope is potentially capable of replacing a stainless steel wire rope because it is light weight, and has high tensile strength and flexibility. In order to exploit the maximum tensile strength of the rope, a terminal fixation method with a sufficient fixing force is essential. Howe
In recent years, synthetic fiber ropes have attracted much attention because of their potential to increase the load capacity, reduce the size, and lighten the weight of tendon-driven mechanisms. However, the mechanical characteristics of synthetic fiber ropes in a dynamic loading situation remain a