On-Body Mobile Robot with Grasping Control

This work addresses the development and improvement of an on-body mobile robot designed to grasp and move human limbs. The robot was equipped with two independently controlled arms, designed using 3D printing technology, and features sensors and motors to estimate the control grasping torque. The main contribution is the integration of angle sensor data into a torque control system, improving the robot's capacity to grasp human limbs during locomotion and climbing movements. An initial version (V1) presented in previous work had limitations in grasp stability and sensor feedback. These issues have been addressed in the new version (V2) through a system of grasp force control using preloaded torsion springs and a servo motor with position control. Preliminary experimental results indicate that the novel concept maintains a stable grasp across various conditions, with the torque control system adjusting the force applied based on sensor feedback. These findings highlight the importance of torque control in enhancing the functionality of on-body navigation robots.