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Robot skeletons and armatures Robowaifu Technician 09/13/2019 (Fri) 11:26:51 No.200
What are the best designs and materials for creating a skeleton/framework for a mobile, life-sized gynoid robot?
www.thingiverse.com/thing:2358565
This website may interest you.
dancingdoll-rz.com/main.htm
>>699
>>700
Thanks anon(s). I'm researching both links now.

Interestingly, I was contemplating recently working on a controller solution for a single hand as a starter project using the BeagleBone Blue. That hand is pretty sweet.
>>699
This one is probably not an IRL artifact like yours but it kinda looks similar in design.
This design seems to work pretty well.
hackaday.com/2017/07/16/three-thumbs-way-way-up/
hackaday.com/2017/08/24/3d-printed-robotic-arms-for-sign-language/
>>705
>>704
Outstanding anon(s). I've been puzzling over the hand for a while now. It's important to reduce the weight of everything, since it will sit on the end of a relatively long and complex lever itself (the arm). Yet it needs to be able to deliver a fairly sizable amount of force to function well as a humanlike hand. It's a complicated problem, and the hands we have are amazingly elegant and powerful designs. Good stuff, thanks.
>>200
Look up soft robots. I was inspired by this paradigm
www.youtube.com/watch?v=gI0tzsO8xwc

The material is cheap and reusable (just remelt!) and it's a simple solution to complex actions such as picking an object up without crushing it. Normally with hard robots you need many sensors and it needs a big "brain" to calculate everything and the actuators need precision.

Think of evolution. invertebrates are simpler yet they still exist because although they are simple they are robust. Go this route.

If you want a mobile gynoid, the simplest way would to be to probably make it basically a 100% soft skeleton, like a hydro skeleton and soft pneumatic actuators. Then for structure add armored plated like an exoskeleton (this makes it look like a stereotypical sci-fi gynoid). Then for stability suspend it with a cable between it's shoulders. It needs power (electricity and compressed air) so it really shouldn't be a problem. It's very practical. I took a solder to my 100cm sex doll and ripped out the skeleton. I'm working on Posing it with pneumatics. Sex Dolls have stiff joints (so it doesn't recoil like a Biotrash ) and posing is a bitch. I'm hoping to fix these 2 problems. although It's too flexible at the moment without any skeleton at all.

For you, you can probably get away with a hollow inflatable Japanese sex doll as the outer layer for experimenting with the design before going all out. They are just under $200 dollars.

And you can use a 3d printer with flexible silicone threading to print soft actuators so you don't need to cast a mold for every experiment.

www.ebay.com/itm/Japanese-silicone-sex-doll-silicone-vagina-japaneese-love-inflatable-sex-dolls/222636234911
>>707
>inb4 robosquidwaifuhair full body jobs
Powered exoskeletons for construction workers are on the horizon, this from Makita's pending patents. We'll probably start seeing them sold around 2021.

>>707
A big development in soft robotics is the creation of flexible low powered pump that can be installed inside the robot
>The pump has a tube-shaped channel, 1mm in diameter, inside of which rows of electrodes are printed. The pump is filled with a dielectric liquid. When a voltage is applied, electrons jump from the electrodes to the liquid, giving some of the molecules an electrical charge. These molecules are subsequently attracted to other electrodes, pulling along the rest of the fluid through the tube with them. “We can speed up the flow by adjusting the electric field, yet it remains completely silent,” says Vito Cacucciolo, a post-doc at the LMTS and the lead author of the study.
https://robohub.org/a-miniature-stretchable-pump-for-the-next-generation-of-soft-robots/
http://archive.is/GZRc4
Open file (481.40 KB 900x600 StretchablePumpNCCR1.png)
>>719
>Powered exoskeletons for construction workers
lol, i just discovered there's an Exoskeleton Report. didn't realize it was an industry on it's own.
exoskeletonreport.com/2016/04/exoskeletons-for-industry-and-work/
>related
constructible.trimble.com/construction-industry/exoskeletons-for-construction-workers-are-marching-on-site

That pump is surprising, thanks anon.
Anyone know of any good designs or prosthetics for artificial spines?
>>1686
Hmm, good question but I can't say that I do myself. I imagine some sort of 'bionic' prosthetic design is used for the few patients that are being experimented on. Since the palliative approach to non-functioning spines would more or less by definition require a bipedal robotics solution, this is probably a very limited area of medical research right now, I imagine. The typical prescription is likely just to chuck the patient into a wheelchair and call it a day.

I hope we can manage something better here.

>>1687
To my thinking, this is little more than just a fancy weight belt. It appears to have little to no active behavioral capacity, which a real exoskeleton would have. Still, good find anon. I think we can learn from the ergonomic and weight support design and the approach of wearing it could be very convenient for our robowaifus.
High-sensitivity (1 µG level resolution) solid-state accelerometer.
https://www.titech.ac.jp/english/news/2019/044723.html
Could these designs lead to high-reliability body positional-awareness robowaifu systems? That is, strategically load the robo-armature up with these things all the way out to the fingertips and then integrate all the data using TensorFlow (or some other mathematical modeling system) to calculate the details of the waifu's body pose in realtime?
>>1697
>To my thinking, this is little more than just a fancy weight belt. It appears to have little to no active behavioral capacity, which a real exoskeleton would have.
it seems to be a passive mobility suit more than an attempt at an exoskeleton, it seem to help the support by compressing air when bending over, just like how fat belly are used as spring by powerlifter when squatting.
Open file (75.28 KB 1176x666 2b23bc471db8e1ac.JPG)
I've been looking at sex doll skeletons and they're all specifically designed for high pressure TPE injection, probably the same with silicone dolls since they're heat cured to save time. Doesn't seem like they'll be of much use in any robotics project and because of the manufacturing process adding automation in sex dolls is practically impossible.
https://www.finelovedolls.com/forums/topic/skeletons-connectors/

>>1697
It is a real exoskeleton even if it's soft and works passively using air resistance. Using the same principle inside a robot connected to the skeleton this design cuts down weight and applies mechanical leverage where and when you need it.

I've seen similar exoskeletons for the legs that use air inside pistons being tested by the US military to help soldiers carry weight.
>>1714
Ahh, I see.

>>1733
Fair enough. That's a cool looking armature anon. Got any more of it?
Open file (53.54 KB 396x524 WaifuSafety.jpg)
>>707 Soft robotics is good for hands for robowaifus, also nether regions. Got to keep her sausage safe. A mix of hard and soft robotics is the ideal, for safety.
Just buy plastic skeleton and install appropriate mechanical joints between bones. Ball joints and bearings for efficiency. You could go classic and slap some lubricant between the original joints and have the skin hold the whole thing together. Polyurethane for the spine and other areas that need to be flexible but only acutely. They look to cost on average 200 American pesos. Just have to find someone selling a 4ft 10in cutie. Should hold up just fine as long as you're not abusive to your waifu you sick fuck. You could 3D print customized parts. I'm no skeleton expert but the main variability seems to be in the skull, hips, and ribcage.
>>1883 Whereas, using a human like skeleton has obvious advantages, the cheap plastic ones are really only good for wheelchair waifus. This mostly because altering the legs to the point of being able to use them for bipedal locomotion would require similar effort to building from scratch. Upper body seems like a great idea though. May be worth looking into.
>>1884 I had one class with a skeleton and I remember it being really durable. Considering that a real human skeleton is like 3 grand, I doubt someone is selling a quality skeleton made with composite materials. I might buy a skeleton just to see how it is because I found a shorter one for $90. If only the legs were the problem anons could spend a few hours reinforcing the tibia, fibia, and femur. I imagine the process would simply be cutting the bones down the middle and slapping the metal in the middle and screwing the sandwich together. We don't have to worry about compressive strength, just bending. There's also some 3D printing filaments that have glass fiber in them. Obviously not longchain but it might be good enough.
>>1887 Why not just use wood, plywood, plastic, fiberglass, etc? Common, cheap, durable, strong enough. Might be a bit heavy but I'm sure it will be fine.
Stolen from /doll/. Seems to be a rather simple design for the armature, probably could be scaled up into something fairly lightweight. Any thoughts on how to make this work for a ~140cm robowaifu? https://anon.cafe/doll/res/65.html#q152

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