On-task adaptive design of spatula-shaped end effector for human rescue robot

This study dealt with the on-task adaptive design of the end effector for human rescue robot based on the human rescue scenario. According to the scenario, the robot should scoop the wounded up in her dual arms. In order to perform this rescue action, the design issue of end effector is to "easily shovel it under the human body and have no additional damage after rescue." Three different spatula-shaped end effectors were suggested and examined to meet design consideration by CAE method. In order to finally select the end effector for fitting the human rescue scenario, we performed several experiments using test bed.