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Development of a Pneumatically Controlled Expandable Arm for Rescue Searches in Tight Spaces

Tokyo Institute of Technology, Ohokayama 2-12-1, Meguro, Tokyo, Japan

Takeshi Aoki

Tokyo Institute of Technology, Ohokayama 2-12-1, Meguro, Tokyo, Japan, aoki{at}robotics.mes.titech.ac.jp

Shigeo Hirose

Tokyo Institute of Technology, Ohokayama 2-12-1, Meguro, Tokyo, Japan

There is a strong demand for efficient rescue techniques and devices in preparation for large-scale earthquakes. In this study we aim to develop a robot that focuses on the efficient search for survivors. We think that efficient rescue operation is achieved when many people can work using the rescue tools at the same time. Therefore, we believe that rescue tools are more important than expensive and specialized robots. In this paper we report on the pneumatic-drive expandable arm "Slime Scope", which has a search device, such as a CCD camera, at the end of the pneumatically controlled expandable arm. This can drive stably in environments that have much debris, no electric power, and no wireless communication.

Key Words: rescue • pneumatic drive • distal expandable tube

The International Journal of Robotics Research, Vol. 25, No. 1, 103-110 (2006)
DOI: 10.1177/0278364906061159


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