Multi-jointed robot finger driven by artificial muscle actuator

Chúc, Nguyễn Hữu; Park, Jong Kil; Vuong, Nguyen Huu Lam; Kim, DukSang; Koo, Ja Choon; Lee, Youngkwan; Nam, Jae‐Do; Choi, Hyouk Ryeol

doi:10.1109/robot.2009.5152720

Cited by 17 publications

(8 citation statements)

References 16 publications

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“…DEs have large deformation and good flexibility, which allow them to be manufactured into flexible actuators, such as diamond drivers, cylindrical drivers, folding drivers, and tapered drivers [16,31,[74][75][76][77][78][79][80], as shown in Fig. 8.…”

Section: Flexible Actuatorsmentioning

confidence: 99%

Review of dielectric elastomers for actuators, generators and sensors

Zhao

Yin

Zhong

et al. 2020

IET Nanodielectrics

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Section: Flexible Actuatorsmentioning

confidence: 99%

Review of dielectric elastomers for actuators, generators and sensors

Zhao

Yin

Zhong

et al. 2020

IET Nanodielectrics

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“…To address those needs, a DEA-driven robotic finger was described by Chuc et al (2009). It was actuated by stacked DEAs, which in general consist of multiple layers of elementary planar DEAs connected in mechanical series and electrical parallel (Carpi et al 2008).…”

Section: Robotic Fingers and Soft Grippersmentioning

confidence: 99%

Bioinspired Electromechanically Active Polymer-Based Robotics

Carpi¹,

Coppola²,

Franco³

et al. 2020

Encyclopedia of Robotics

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Electromechanically active polymers are smart materials that can be used for actuation with biomimetic properties. Overview Electromechanically Active Polymers (EAPs) are "smart materials" that exhibit a mechanical response (deformation/force) to an electrical stimulus (Bar-Cohen 2004; Carpi 2016; Carpi and Smela 2009). They are referred to as "artificial muscle materials," as they can emulate the main functional properties of natural muscles, in that they can combine biomimetic motion with selfsensing ability and variable stiffness operation. They also show additional attractive properties, such as light weight, mechanical compliance, compact size, simple structure, low power consumption, acoustically silent operation, and low cost. Among the various types of EAPs available (Carpi 2016; Carpi and Smela 2009), this chapter focuses on the special kind known as "dielectric elastomers" (DEs)

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“…Laurin- Kovitz et al, 1991, Pratt and Williamson, 1995Morrell (Morrell and Salisbury, 1998 (Kakogawa et al, 2018) Parallel Elastic Actuators (PEA) SEA PEA (Beckerle et al 2017) Sardellitti et al, Honda 5 Honda et al, 2010a, 2010bIwaki Iwaki et al, 2009Chuc et al, 2009Yamaguchi et al, 2011, 1986, Kremer, 1988 , 1997 Sonoda Sonoda and Godler, 2010, Sonoda and Golder, 2011, Sonoda et al, 2012 Twist-drive Gaponov Gaponov et al, 2014 100 10% Popov Popov et al, 2013a, 2013b , 1980, Morasso, 1981Flash and Hogan, 1985, Rosenbaum et al, 1995, Uno et al, 1989, Nakano et al, 1999…”

Section: Series Elastic Actuatorsmentioning

confidence: 99%

Position and force control of a robot by means of round-belt twist-actuation generating contraction forces

Inoue

Miyata

2019

Transactions of the JSME (In Japanese)

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This paper introduces a novel robotic joint mechanism composed of antagonistically twisted round-belt actuator, which has multiple small-diameter round-belts in antagonistic location around the joint. This joint mechanism is developed by emulating muscle structure of human upper limbs, and can be activated by twisting each round-belt that is made of polyurethane materials. Especially, this paper shows position and force control by means of the proposed twisted round-belt actuators with traditional P/PI controllers. We clearly demonstrate that contact force on tip of the robot is able to follow desired sinusoidal trajectory with no errors by means of straightforward algorithm on the basis of voltagecontrolled robot hardware. Through these experiments, we explain intrinsic characteristics of twisted round-belt actuator system and advantages of the structure in control performance.

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Multi-jointed robot finger driven by artificial muscle actuator

Cited by 17 publications

References 16 publications

Review of dielectric elastomers for actuators, generators and sensors

Review of dielectric elastomers for actuators, generators and sensors

Bioinspired Electromechanically Active Polymer-Based Robotics

Position and force control of a robot by means of round-belt twist-actuation generating contraction forces

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