Signal Propagation Through the Inside of Robot Leg for Non-wired Robot System

In modern robotics, one of the topics is to remove or reduce the cables inside the robot, which can improve flexibility, decrease the maintain demand, and make the robot easier to build up. Therefore, wireless communication would provide a solution that can replace these cables for the above issue. In this paper, we propose a hybrid Medium Access Control (MAC) scheme for different wireless sensors communication based on our previous work, the Orthogonal Frequency subcarrier-based Multiple Access (OFSMA) scheme. For general sensors, we use the OFSMA scheme to ensure URLLC standards. As for audio sensors and video sensors. There are many spaces inside the robot structure. We set a goal to transmit the signal directly through these small spaces as an internal waveguide to achieve wireless communication. Therefore, we design a model to simulate the realistic situation of robots using High-Frequency Simulation Software (HFSS) and find out the possibility of signal propagation directly through the robot.