Multiple degree-of-freedom digital soft actuator for robotic applications

被引：18
|
作者：
Choi, HR [1 ]
Jung, KM [1 ]
Kwak, JW [1 ]
Lee, SW [1 ]
Kim, HM [1 ]
Jeon, JW [1 ]
Nam, JD [1 ]
机构：
[1] Sungkyunkwan Univ, Sch Mech Engn, Suwon 440746, Kyonggi Do, South Korea
来源：
SMART STRUCTURES AND MATERIALS 2003: ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD) | 2003年 / 5051卷
关键词：
polymer; actuator; artificial muscle; multi-DOF actuator;
D O I：
10.1117/12.484385
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper we present a packaged actuator to be applied for micro and macro robotic applications. The actuator is based on polymer dielectrics, and intrinsically has musclelike characteristics capable of performing motions such as forward/backward/controllable compliance. The actuator is featured in several aspects such as simplicity and lightness in weight, cost-effectiveness, multiple DOF-actuation, and digital interface. In this paper, its basic concepts are briefly introduced and the issues about design, fabrication and applications are discussed.
引用
收藏
页码：262 / 271
页数：10
相关论文
共 50 条
  • [1] High-precision, multiple degree-of-freedom piezoelectric actuator
    Chang, T
    Sun, XM
    Pappano, V
    Ji, ZM
    Caudill, R
    [J]. MICROROBOTICS AND MICROMANIPULATION, 1998, 3519 : 110 - 117
  • [2] Single chamber multiple degree-of-freedom soft pneumatic actuator enabled by adjustable stiffness layers
    Santoso, Junius
    Skorina, Erik H.
    Salerno, Marco
    de Rivaz, Sebastien
    Paik, Jamie
    Onal, Cagdas D.
    [J]. SMART MATERIALS AND STRUCTURES, 2019, 28 (03)
  • [3] POSITION CONTROL OF A 2 DEGREE-OF-FREEDOM ACTUATOR
    RABIEE, M
    CATHEY, JJ
    [J]. ELECTRIC MACHINES AND POWER SYSTEMS, 1988, 15 (4-5): : 283 - 292
  • [4] A Three Degree-of-Freedom Optical Orientation Measurement Method for Spherical Actuator Applications
    Yan, Liang
    Chen, I. -Ming
    Guo, Zhongwei
    Lang, Yan
    Li, Yunhua
    [J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2011, 8 (02) : 319 - 326
  • [5] An eight degree-of-freedom robotic endoscope holder
    Chiang, Sung-Chi
    Huang, Yang-Cheng
    Shen, Kuan
    Yen, Jia-Yush
    [J]. 2018 INTERNATIONAL AUTOMATIC CONTROL CONFERENCE (CACS), 2018,
  • [6] Image-Based Visual Servoing for Three Degree-of-Freedom Robotic Arm with Actuator Faults
    Li, Jiashuai
    Peng, Xiuyan
    Li, Bing
    Li, Mingze
    Wu, Jiawei
    [J]. ACTUATORS, 2024, 13 (06)
  • [7] DYNAMIC MODELING OF A 3 DEGREE-OF-FREEDOM ROBOTIC MANIPULATOR
    STONE, HW
    NEUMAN, CP
    [J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1984, 14 (04): : 643 - 654
  • [8] Design of a Two Degree-of-Freedom, MRI-Compatible Actuator
    Elbannan, Khaled M.
    Salisbury, Shaun P.
    [J]. 2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 2012, : 940 - 943
  • [9] CONTROLLING MULTIPLE DEGREE-OF-FREEDOM POWERED PROSTHESES
    CORDO, PJ
    [J]. IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 1983, 30 (08) : 494 - 495
  • [10] Kinematic comparison of single degree-of-freedom robotic gait trainers
    Lee, Jeonghwan
    Li, Lailu
    Shin, Sung Yul
    Deshpande, Ashish D.
    Sulzer, James
    [J]. MECHANISM AND MACHINE THEORY, 2021, 159
12345