A5076546662- Soft Robotics and Applications
- Advanced Sensor and Energy Harvesting Materials
- Shape Memory Alloy Transformations
- Prosthetics and Rehabilitation Robotics
- Dielectric materials and actuators
- Tactile and Sensory Interactions
- Teleoperation and Haptic Systems
- Advanced optical system design
- Ocular Surface and Contact Lens
- Advanced Optical Imaging Technologies
- Aortic Disease and Treatment Approaches
- Polymer composites and self-healing
- Ferroelectric and Piezoelectric Materials
- Modular Robots and Swarm Intelligence
- Robot Manipulation and Learning
- Optical Wireless Communication Technologies
- Electrowetting and Microfluidic Technologies
- Advanced Materials and Mechanics
Korea Advanced Institute of Science and Technology
2020-2023
This paper reviews state-of-the-art dielectric elastomer actuators (DEAs) and their future perspectives as soft which have recently been considered a key power generation component for robots. begins with the introduction of working principle actuators. Because operation DEA includes physics both mechanical viscoelastic properties characteristics, we describe theoretical modeling methods before introducing applications. In addition, design artificial muscles based on is also introduced. four...
This article proposes a shape memory alloy (SMA)-based artificial muscle that has an active cooling system. An SMA coil spring is embedded into stretchable coolant vessel, which allows of through circulation. The effect been investigated by measuring actuation speed. Integrating thermomechanical model and heat transfer between SMA, times have estimated. Based on these results, performances use four different coolants found out, the mineral oil case shows both contraction extension less than...
This article proposes a reinforced soft gripper with mechanically strengthened electroadhesion pad and multilayered dielectric elastomer (DE) actuator, for practical robotic application. The reinforcement of the is achieved by metallic electrode pattern printed on flexible polyimide film, which has higher elastic modulus than typical materials. Moreover, DE actuator used to increase bending force gripper. We maximize performance optimizing design factors through experimental simulation...
This letter proposes a soft wearable robot with shape memory alloy (SMA)-based artificial muscle to assist upper limb motion. The SMA-based was designed by embedding bundle of SMA coil springs into stretchable coolant vessel, which allows active cooling the bundles through circulation. By attaching muscles brace, elbow flexion and forearm supination/pronation. To support activities daily living (ADLs), proposed can produce more than 3 Nm torque in direction flexion. In addition, increase...
This letter proposes a new mechanism, four-bar linkage-based support hinge for assisting with shoulder abduction artificial muscle based on shape memory alloy (SMA). An using the SMA coils is designed to lighten entire system and wearer's movement both actively passively. It can generate up 273 N 180 without energy input, respectively, while weighing only 0.04 kg. Furthermore, consider rotation axis shifts of arm during abduction, trajectory along modeled scapulohumeral rhythm, combined...
This letter proposes a novel prosthetic wrist that emulates the anatomical structure of human wrist, specifically bones and muscles responsible for movements. To achieve range motion (ROM) load-bearing capacity comparable to joint, we designed an elliptic rolling joint as artificial mimicking two-row structures carpal bones. The offers two degrees freedom (DOFs) can support high loads while also providing adequate ROM. In addition, using properties muscles, such moment arm displacement,...
Abstract We demonstrate a new phase diagram describing the responses of shape memory alloy (SMA) spring actuators. The SMA actuator has wide range temperatures for transitions and with low hysteresis. To describe these specific actuator, an overlapping layer is proposed. In layer, even if it changes from heating to cooling or vice versa, transition occurs whenever temperature changes. Because there no region in which only without force changes, hysteresis reduced. formed by changing...
Here, we present a piecewise controllable tunable lens with large aperture which is composed of soft polymer lens, an shape memory alloy (SMA) driven iris diaphragm and SMA latch. The expands the in radial direction, thereby varying focal length. has 35 mm diameter shows length tunability 31.7% (175–230 mm) under current signal control. solid characteristics assure robustness against gravitational force. In addition, locking mechanism enables to be provides high energy efficiency. Due these...
This paper proposes a novel wearable robot designed to assist with shoulder abduction using double-petal mechanism based on petal fold origami driven by shape memory alloy (SMA)-based artificial muscle. The proposed consists of two structures that mimic the scapula and humerus, respectively. It follows scapulohumeral rhythm prevent bone collision reduce compressive force glenohumeral joint. is achieve high mechanical gain torque output while minimizing overall weight lightweight SMA spring...