In this paper, a soft robotic arm which can prevent impact injury during human-robot interaction is introduced. Two degrees of freedom joint are required to realize free movement of the robotic arm. A robotic joint concept with a single degree of freedom is presented using simple inflatable elements, and then extended to form a robotic joint with two degrees of freedom joint using similar manufacturing methods. The robotic joint with a single degree of freedom has a joint angle of 0° bending angle when both chamber are inflated at equal pressures and maximum bending angles of 28.4° and 27.1° when a single chamber if inflated. The robotic joint with two degrees of freedom also has a bending angle of 0° in both direction when all three chambers are inflated at equal pressures. When either one or two chambers were pressurized, the robotic joint performed bending towards the uninflated chambers.

Abstract
 1. 서 론
 2. 본 론
  2.1 1자유도 관절 제작과정
  2.2 1자유도 관절 제작결과
  2.3 2자유도 관절 제작결과
 3. 결 론
 References

• 오남수(Mechanical Engineering, Sungkyunkwan University) | Namsoo Oh
• 이한얼(Mechanical Engineering, Sungkyunkwan University) | Haneol Lee
• 로드리그 휴고(Mechanical Engineering, Sungkyunkwan University) | Hugo Rodrigue Corresponding author