Yamauchi
etal. ROBOMECH Journal (2022) 9:8
https://doi.org/10.1186/s40648-022-00223-x
RESEARCH ARTICLE
Development ofacontinuum robot
enhanced withdistributed sensors forsearch
andrescue
Yu Yamauchi
1*
, Yuichi Ambe
2
, Hikaru Nagano
3
, Masashi Konyo
1
, Yoshiaki Bando
4
, Eisuke Ito
1
, Solvi Arnold
5
,
Kimitoshi Yamazaki
5
, Katsutoshi Itoyama
6
, Takayuki Okatani
1
, Hiroshi G. Okuno
7
and Satoshi Tadokoro
1
Abstract
Continuum robots can enter narrow spaces and are useful for search and rescue missions in disaster sites. The explora-
tion efficiency at disaster sites improves if the robots can simultaneously acquire several pieces of information. How-
ever, a continuum robot that can simultaneously acquire information to such an extent has not yet been designed.
This is because attaching multiple sensors to the robot without compromising its body flexibility is challenging. In this
study, we installed multiple small sensors in a distributed manner to develop a continuum-robot system with multiple
information-gathering functions. In addition, a field experiment with the robot demonstrated that the gathered multi-
ple information has a potential to improve the searching efficiency. Concretely, we developed an active scope camera
with sensory functions, which was equipped with a total of 80 distributed sensors, such as inertial measurement units,
microphones, speakers, and vibration sensors. Herein, we consider space-saving, noise reduction, and the ease of
maintenance for designing the robot. The developed robot can communicate with all the attached sensors even if it
is bent with a minimum bending radius of 250 mm. We also developed an operation interface that integrates search-
support technologies using the information gathered via sensors. We demonstrated the survivor search procedure
in a simulated rubble environment of the Fukushima Robot Test Field. We confirmed that the information provided
through the operation interface is useful for searching and finding survivors. The limitations of the designed system
are also discussed. The development of such a continuum robot system, with a great potential for several applications,
extends the application of continuum robots to disaster management and will benefit the community at large.
Keywords: Sensor systems, Sensor arrays, Sensor fusion, System integration, Search and Rescue robots, Soft robotics,
Continuum robots
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Background
Continuum robots can search narrow spaces and are use-
ful for searching disaster sites, such as inside collapsed
buildings [1–15]. For example, we previously developed
a flexible long robot, Active Scope Camera (ASC), that
is propelled by vibrating its body, which is covered with
inclined cilia. is robot has been used to investigate
collapsed houses after the Kumamoto earthquake and the
accident at the Fukushima Daiichi Nuclear Power Plant
[1, 2]. Several other continuum robots have been devel
-
oped. Tsukagoshi etal. developed a cable robot that uses
a smooth creeping actuator with tip-growth motion,
which can move through narrow paths and tubes [3, 4].
Hawkes etal. developed a cable robot with an inflatable
actuator, which can deform passively in response to the
environment and move through narrow spaces [5, 6].
Walker et al. developed a cable robot that can change
its shape using wires mounted on its body and is based
on the structure of thin-stemmed plants. is robot
Open Access
*Correspondence: yamauchi.yu@rm.is.tohoku.ac.jp
1
Graduate School of Information Sciences, Tohoku University, Sendai-shi,
Miyagi 980-8579, Japan
Full list of author information is available at the end of the article
Content courtesy of Springer Nature, terms of use apply. Rights reserved.
