arXiv subjects

Kyosuke Ishibashi

Publications and source records attributed to Kyosuke Ishibashi.

3 recordsLinked to original sources

arXiv2026

Design Methodology of Hydraulically-driven Soft Robotic Gripper for a Large and Heavy Object

This paper presents a design methodology of a hydraulically-driven soft robotic gripper for grasping a large and heavy object -- approximately 10 - 20 kg with 20 - 30 cm diameter. Most existing soft grippers are pneumatically actuated with several hundred kPa pressure, and cannot generate output force sufficient for such a large and heavy object. Instead of pneumatic actuation, hydraulic actuation has a potential to generate much larger power by several MPa pressure. In this study, we develop a hydraulically-driven soft gripper, in which its basic design parameters are determined based on a mathematical model that represents the relationship among the driving pressure, bending angle, object mass and grasping force. Moreover, we selected materials suitable for grasping a heavier object, based on the finite element analysis result of the detailed design. We report experimental results on a 20 kg object grasping and closed-loop control of the finger bending angle.

cs.RO↗

arXiv2025

Adaptive-twist Soft Finger Mechanism for Grasping by Wrapping

This paper presents a soft robot finger capable of adaptive-twist deformation to grasp objects by wrapping them. For a soft hand to grasp and pick-up one object from densely contained multiple objects, a soft finger requires the adaptive-twist deformation function in both in-plane and out-of-plane directions. The function allows the finger to be inserted deeply into a limited gap among objects. Once inserted, the soft finger requires appropriate control of grasping force normal to contact surface, thereby maintaining the twisted deformation. In this paper, we refer to this type of grasping as grasping by wrapping. To achieve these two functions by a single actuation source, we propose a variable stiffness mechanism that can adaptively change the stiffness as the pressure is higher. We conduct a finite element analysis (FEA) on the proposed mechanism and determine its design parameter based on the FEA result. Using the developed soft finger, we report basic experimental results and demonstrations on grasping various objects.

cs.RO↗

arXiv2025

Effect of Haptic Feedback on Avoidance Behavior and Visual Exploration in Dynamic VR Pedestrian Environment

Human crowd simulation in virtual reality (VR) is a powerful tool with potential applications including emergency evacuation training and assessment of building layout. While haptic feedback in VR enhances immersive experience, its effect on walking behavior in dense and dynamic pedestrian flows is unknown. Through a user study, we investigated how haptic feedback changes user walking motion in crowded pedestrian flows in VR. The results indicate that haptic feedback changed users' collision avoidance movements, as measured by increased walking trajectory length and change in pelvis angle. The displacements of users' lateral position and pelvis angle were also increased in the instantaneous response to a collision with a non-player character (NPC), even when the NPC was inside the field of view. Haptic feedback also enhanced users' awareness and visual exploration when an NPC approached from the side and back. Furthermore, variation in walking speed was increased by the haptic feedback. These results suggested that the haptic feedback enhanced users' sensitivity to a collision in VR environment.

cs.HC↗