Soft body robot for physical interaction with humans

A robot for human interaction, comprising:

• a robot controller including a joint control module;
• a link comprising a rigid support element and a body segment coupled to the rigid support element, wherein the body segment includes an outer sidewall enclosing an interior space;
• a pressure sensor sensing pressure in the interior space of the link;
• and
• a joint coupled to the rigid support element,
• wherein the robot controller operates the joint based on the pressure sensed by the pressure sensor,
• wherein the link is fabricated as a single unit, and
• wherein the rigid support element includes a connector for the pressure sensor providing a passageway to the interior space.

A robot for human interaction, comprising:

• a robot controller including a joint control module;
• a link comprising a rigid support element and a body segment coupled to the rigid support element, wherein the body segment includes an outer sidewall enclosing an interior space;
• a pressure sensor sensing pressure in the interior space of the link;
• and
• a joint coupled to the rigid support element,
• wherein the robot controller operates the joint based on the pressure sensed by the pressure sensor, and
• wherein the joint includes one of a thrust bearing and a friction bearing fabricated as a single unit.

A robot, comprising:

• a plurality of body segments;
• and
• a set of servo-driven joints interconnecting the body segments,
• wherein one or more of the body segments includes a fluid-filled void enclosed by a sidewall,
• wherein the sidewall comprises a membrane of a flexible material, and
• wherein each of the body segments further comprises a rigid support element coupled to an edge of the sidewall and coupled to one of the servo-driven joints;
• and
• a pressure sensor in communication with the fluid-filled void of each of the body segments operating to sense a pressure in each of the body segments,
• a controller comparing the pressure in each of the body segments with a predefined threshold value or measuring a change in pressure in the body segments based on the pressure and based on the comparing or the measuring, modifying operations of at least one of the servo-driven joints.

A method of controlling operation of a robot, comprising:

• first transmitting a control signal to operate a joint upstream of a link in a first operating state, wherein the link includes a rigid support element coupled to the joint and a cavity enclosed by a sidewall affixed to the rigid support element;
• measuring a pressure of a fluid in the cavity;
• based on the measured pressure, determining when a contact force is being applied to the sidewall;
• and
• when the contact force is determined, second transmitting a control signal to operate the joint upstream of the link in a second operating state differing from the first operating state, wherein the second operating state comprises powering off an actuator or servo in the joint.