햅틱 피드백 극대화를 위한 오리가미 펌프 기반의 소프트 구동기 시스템
A Soft Actuation System with Origami Pump for Maximizing Haptic Feedback
0
조회
0
다운로드
1
인용
0
참고문헌
키워드
초록
Traditional actuation system such as electric and pneumatic actuator has obvious advantages and disadvantages. To combine advantages and compensate disadvantages of the traditional actuation, a pneumatic actuation system with an internal air pressure source is noteworthy approach. In this paper, a soft pneumatic actuation system based on origami pump is described for haptic feedback glove. To improve wearability, an origami pump is introduced because the origami pump is much lighter than air compressor. The miniaturized electric actuation system is also designed with 3D printed planetary gear in order to reduce the volume of the system. To figure out the performance of the system, shrinkage distance of origami pump was measured with vision camera. The pressure in the origami pump was also estimated to understand the performance of the system.
Abstract
Traditional actuation system such as electric and pneumatic actuator has obvious advantages and disadvantages. To combine advantages and compensate disadvantages of the traditional actuation, a pneumatic actuation system with an internal air pressure source is noteworthy approach. In this paper, a soft pneumatic actuation system based on origami pump is described for haptic feedback glove. To improve wearability, an origami pump is introduced because the origami pump is much lighter than air compressor. The miniaturized electric actuation system is also designed with 3D printed planetary gear in order to reduce the volume of the system. To figure out the performance of the system, shrinkage distance of origami pump was measured with vision camera. The pressure in the origami pump was also estimated to understand the performance of the system.
참고문헌 (10)
- Mokhinabonu Mardonova, "Review of Wearable Device Technology and Its Applications to the Mining Industry", Energies, 11(3), pp.547~ (2018), MDPI AG[DOI]
- 이치원, "Soft Robot Review", International Journal of Control, Automation, and Systems, 15(1), pp.3~15 (2017), 제어·로봇·시스템학회[DOI]
- James Walker, "Soft Robotics: A Review of Recent Developments of Pneumatic Soft Actuators", Actuators, 9(1), pp.3~ (2020), MDPI AG[DOI]
- 최재혁, "유연 소재 기반 로봇의 강성 조절을 위한 구조 결합 기반 이중 강성", 로봇학회 논문지, 12(3), pp.263~269 (2017), 한국로봇학회
- 최두순, "파지 안정성을 강화한 과수 수확용 로봇 그리퍼의 설계 개선", 로봇학회 논문지, 15(2), pp.107~114 (2020), 한국로봇학회[DOI]
- Laura Paez, "Design and Analysis of a Soft Pneumatic Actuator with Origami Shell Reinforcement", Soft Robotics, 3(3), pp.109~119 (2016), Mary Ann Liebert Inc[DOI]
- U. Gupta, "Soft robots based on dielectric elastomer actuators : a review", Smart Materials and Structures, 28(10) (2019)[DOI]
- Kyoung Kwan Ahn, "Adaptive Backstepping Control of an Electrohydraulic Actuator", IEEE, 2014, pp.19(3), 987~995[DOI]
- Yeunhee Kim, "Soft Pneumatic Gripper With a Tendon-Driven Soft Origami Pump", Frontiers in Bioengineering and Biotechnology, 8 (2020), Frontiers Media SA[DOI]
- 김상현, "팔 동작 움직임을 모사하는 와이어 구동 유연 로봇의 설계 및 제어", 로봇학회 논문지, 14(1), pp.50~57 (2019), 한국로봇학회[DOI]