Integration of a Shape Memory Alloy with a Soft Pneumatic Actuator to Improve the Haptic Interaction Performance of a Soft Social Robot

Abstract

This paper discusses the integration of a soft pneumatic actuator (SPA) with a shape memory alloy (SMA) to improve haptic technologies in social robotics. The use of traditional rigid actuators in robots can lead to unnatural interactions, while SPAs offer flexibility but may lack precision. SMAs are known for their shape memory effect and precision, but they also have limitations, such as time-consuming heating-cooling cycles. Our research proposes a hybrid actuator that combines the adaptability of SPAs with the precision of SMAs to enhance haptic interaction with social robots. The hybrid actuator is designed to overcome the individual limitations of SPAs and SMAs and achieve a synergistic effect. As a first attempt, the hybrid actuator is intended for use in Reliebo, an inflatable social robot, to provide more natural and responsive interactions. This approach has the potential to improve the emotional and haptic aspects of human-computer interaction and social robotics.