This study deals with the design of a spring backboned soft arm, which will be employed for generation of human gesture as an effective means of Human‐Robot interaction. The special features of the proposed mechanism are the light weight and the flexibility of the whole mechanism by using a spring backbone. Thus, even in the case of collision with human, this device is able to absorb the impact structurally. The kinematics and the design for the soft arm are introduced. The performance of this mechanism was shown through experiment emulating several human gestures expressing human emotion and some service contents. Finally, this soft arm was implemented as the wing mechanism of a penguin robot.

• Hyun‐Soo Yoon(Department of Electronic, Electrical, Control, and Instrumentation) | 윤현수
• Jae Yeon Choi(Korea Institute of Robot and Convergence) | 최재연
• Young‐Jo Cho(Electronics and Telecommunications Research Institute(ETRI)) | 조영조
• Ho Sup Yoon(Electronics and Telecommunications Research Institute(ETRI)) | 윤호섭
• Byung‐Ju Yi(Department of Electronics & System Engineering, Hanyang University) | 이병주 Corresponding author :
• Se Min Oh(Department of Intelligent Robot Engineering, Hanyang University) | 오세민