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인공근육개발을 위한 소프트 액추에이터 연구

Soft Actuator Development for Artificial Muscle

강경지|송가혜
한국로봇학회 (Korea Robotics Society)|2021.02|로봇학회 논문지 (The Journal of Korea Robotics Society)|제16권 제1호|pp. 17-22

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참고문헌

키워드

Soft ActuatorSoft RoboticsElectrostatic ActuatorHydraulic Force

초록

Soft robot research has been actively conducted due to the advantages of soft materials that have less motion restrictions and higher energy efficiency compared to rigid robots. In particular, soft robots are being applied in more and more diverse fields, and the need for soft robots is increasing, especially when dealing with soft or deformable objects that rigid robots cannot perform. Various soft robots are being developed, and studies on artificial muscles with versatility, seamless integration with sensing, and self-healing capabilities are being proposed. In this study, we propose one of the most simple rectangular shaped HASEL (Hydraulically amplified self-healing electrostatic) actuators and compare the performance according to shape deformation such as the size or ratio of actuators and electrodes. Developing these actuators can be used in many ways for artificial muscles in soft robotics.

Abstract

Soft robot research has been actively conducted due to the advantages of soft materials that have less motion restrictions and higher energy efficiency compared to rigid robots. In particular, soft robots are being applied in more and more diverse fields, and the need for soft robots is increasing, especially when dealing with soft or deformable objects that rigid robots cannot perform. Various soft robots are being developed, and studies on artificial muscles with versatility, seamless integration with sensing, and self-healing capabilities are being proposed. In this study, we propose one of the most simple rectangular shaped HASEL (Hydraulically amplified self-healing electrostatic) actuators and compare the performance according to shape deformation such as the size or ratio of actuators and electrodes. Developing these actuators can be used in many ways for artificial muscles in soft robotics.

참고문헌 (17)

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  6. Xingrui Wang, "High‐Strain Peano‐HASEL Actuators", Advanced Functional Materials, 30(7), pp.1908821~ (2020), Wiley[DOI]
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  9. C. Schunk, "System identification and closed-loop control of a hydraulically amplified self-healing electrostatic(hasel)actuator", 2018 IEEE, 2018, ~
  10. E. Acome, "Hydraulically amplified self-healing electrostatic actuators with muscle-like performance", Science, 359(6371), pp.61~65 (2018), American Association for the Advancement of Science (AAAS)[DOI]
  11. 차효정, "4자유도 새로운 소프트 핑거 설계", 로봇학회 논문지, 3(4), pp.315~322 (2008), 한국로봇학회
  12. 조규진, "Review of Manufacturing Processes for Soft Biomimetic Robots", International Journal of Precision Engineering and Manufacturing, 10(3), pp.171~181 (2009), 한국정밀공학회
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  14. Khaled Elgeneidy, "Bending angle prediction and control of soft pneumatic actuators with embedded flex sensors – A data-driven approach", Mechatronics, 50, pp.234~247 (2018), Elsevier BV[DOI]
  15. Philipp Rothemund, "HASEL Artificial Muscles for a New Generation of Lifelike Robots—Recent Progress and Future Opportunities", Advanced Materials, 33(19), pp.2003375~ (2021), Wiley[DOI]
  16. E. Acome, "Hydraulically amplified self-healing electrostatic actuators with muscle-like performance", Science, 359(6371), pp.61~65 (2018), American Association for the Advancement of Science (AAAS)[DOI]
  17. Tongil Park, "Electrohydraulic Actuator for a Soft Gripper", Soft Robotics, 7(1), pp.68~75 (2020), Mary Ann Liebert Inc[DOI]

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