A5055372260- Robot Manipulation and Learning
- Advanced Sensor and Energy Harvesting Materials
- Soft Robotics and Applications
- Robotic Path Planning Algorithms
- Modular Robots and Swarm Intelligence
- Dielectric materials and actuators
- Robotics and Sensor-Based Localization
- Tactile and Sensory Interactions
- Robotic Locomotion and Control
- Prosthetics and Rehabilitation Robotics
- Robotic Mechanisms and Dynamics
- Advanced Materials and Mechanics
- Muscle activation and electromyography studies
- Hydraulic and Pneumatic Systems
- Robotics and Automated Systems
- Iterative Learning Control Systems
- Teleoperation and Haptic Systems
- Interactive and Immersive Displays
- Biomimetic flight and propulsion mechanisms
- Advanced Surface Polishing Techniques
- Control and Dynamics of Mobile Robots
- Advanced Manufacturing and Logistics Optimization
- Power Line Inspection Robots
- Autonomous Vehicle Technology and Safety
- Control Systems in Engineering
Sungkyunkwan University
2016-2025
Institute of Electrical and Electronics Engineers
2018
Gorgias Press (United States)
2018
Vrije Universiteit Brussel
2018
Suwon Research Institute
2015
Government of the Republic of Korea
2015
Carnegie Mellon University
2006-2007
University of Michigan
2002-2006
Pohang University of Science and Technology
2002
We report knitted fabrics made from highly conductive stretchable fibers. The maximum initial conductivity of fibers synthesized by wet spinning was 17460 S cm–1 with a rupture tensile strain 50%. could be increased to 490% decreasing the 236 cm–1. fabric mechanically and electrically reversible up 100% when coated poly(dimethylsiloxane). normalized resistance poly(dimethylsiloxane)-coated decreased 0.65 at strain.
Printing Ag NWs/PDMS composite strain gauge. The NWs networks were formed just on top of the PDMS layer.
A tactile display is an important tool to help humans interact with machines by using touch. In this paper, we present a transparent and stretchable graphene-based actuator for advanced displays. The proposed composed of compliant graphene electrodes dielectric elastomer substrate. Since the electrode coated onto appointed region substrate layer layer, only area bumps up in response input voltage, which consequently produces actuation. proven be operable while preserving its electrical...
A kind of dielectric elastomer (DE) material, called ‘synthetic elastomer’, has been developed based on acrylonitrile butadiene rubber (NBR) to be used as a actuator (DEA). By stacking single layers synthetic elastomer, linear actuator, multistacked is produced, and by mechatronic robotic systems generate motion. In this paper, we demonstrate the application in biomimetic legged robot. miniature robot driven actuation system with four 2-DOF (two-degree-of-freedom) mechanisms realized. Based...
Previous studies reported that a twisted and coiled polymer actuator (TCA) generates strong force large stroke by heating. Nylon 6,6 is known to be the most suitable material for TCA because it has high thermal expansion ratio, softening point toughness which able sustain gigantic twisting. In order find optimal structure of fabricated with silver-coated nylon sewing threads, an equipment twist-insertion (structuralization), composed single DC motor, slider 3D printer body frame, developed....
In autonomous unloading systems, one of the major challenges is planning sequence in cluttered logistics container environments. Proper crucial to avoid damage packages caused by collision and collapse. At same time, planned has minimize effort during process, such as energy consumption, time taken, distance moved, enhance efficiency. This paper presents a method based on A-star search algorithm applied randomly stacked unidentical boxes from containers. To represent general overlap...
Periodic maintenance of suspension bridge is critical to the safety structure. Because most load on supported by cables, inspections main cable or hanger are very important. In this paper, we propose a cable-climbing robot enabling convenient and safe visual inspection cable. The comprised three identical modules assembled 120 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">°</sup> apart circumferentially frame around cable, each module has...
This paper reports the twisted and coiled soft actuator (abbreviated with STCA) spandex fiber. The STCA exhibits higher actuation strain at lower temperature than previous nylon actuators NTCAs). While NTCAs are fabricated using a twist-insertion process until coils formed, new method is developed to fabricate ultra-stretch of spandex, whereby again after coil has been formed. A 6-gear-twist-insertion device that increases stability fabrication speed STCA. superior performance exhibited by...
As a new class of thermally activated actuators based on polymeric fibers, we investigated polyethylene terephthalate (PET) yarns for the development twisted-coiled polymer fiber actuator (TCA). The PET yarn TCA exhibited maximum linear actuation up to 8.9% by external heating at above glass transition temperature, 160 °C–180 °C. payload was successfully correlated with preload and training-load conditions an empirical equation. Furthermore, PET-based electrically driven Joule after surface...
Soft conductive materials should enable large deformation while keeping high electrical conductivity and elasticity. The graphene oxide (GO)-based sponge is a potential candidate to endow deformation. However, it typically exhibits low Here, the highly elastic composed of GO, flower-shaped silver nanoparticles (AgNFs), polyimide (GO-AgNF-PI sponge) are demonstrated. average pore size porosity 114 µm 94.7%, respectively. Ag NFs have thin petals (8-20 nm) protruding out surface spherical bud...
This research focuses on the design of a three-finger adaptive gripper using additive manufacturing and electromechanical actuators, with purpose providing low-cost, efficient, reliable solution for easy integration any robot arm industrial purposes. During development phase, 3D printing materials were employed in gripper’s design, Polylactic Acid (PLA) filament used rigid mechanical components Thermoplastic Polyurethane (TPU) flexible membranes that distribute pressure to resistive force...
This study introduces a novel calibration method for accurate external wrench measurement using six-axis FT (force–torque) sensor. We propose sensor model and sensors that enable precise separation of the force torque components without need additional devices or by estimating essential parameters: bias, crosstalk, CoM (center mass), inclination. By directly utilizing manufacturer-provided data, our approach eliminates complexities traditional processes while achieving higher accuracy in...
This paper presents an alarm system and teleoperation control framework, comparing ROS 1 2 within a local network to mitigate the risk of robots failing reach their goals during autonomous navigation. Such failures can occur when robot moves through irregular terrain, becomes stuck on small steps, or approaches walls obstacles without maintaining safe distance. These issues may arise due combination technical, environmental, operational factors, including inaccurate sensor data, blind spots,...
This paper introduces a fabrication method and properties of newly developed Twisted Coiled soft Actuator (TCA) from nylon spandex. The TCA, thermally driven actuator, is one the promising actuators that shows considerable strain compared to others. Typically, TCA fabricated single polymer fiber such as spandex nylon. However, each material some limits. (STCA) siginificant more than 45%. since non‐conductive material, STCA requires additional heat source gun. On other hand, (NTCA)...
Aiming to apply soft actuators in driving a walking robot, the design, fabrication and locomotion of bio-inspired printable hexapod robot are studied. The mimics insect's design posture by six legs with alternating tripod gait which provides its locomotive adaptability on flat terrains. versatile movements robot's leg achieved using multiple degree-of-freedom actuators. made dielectric elastomers simple mechanism based antagonistic configuration. By 3D printing method, actuator can be...