Design and Control of a Multi-jointed Robot Finger Driven by an Artificial Muscle Actuator

In this paper, we present a robotic actuation system using an artificial muscle actuator based on a dielectric elastomer. A novel linear actuator called a 'multi-stacked actuator' is proposed that can be embedded in the phalanges of a multi-jointed robot finger. This actuator ensures a com...

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Bibliographic Details
Published inAdvanced robotics Vol. 24; no. 14; pp. 1983 - 2003
Main Authors Chuc, Nguyen Huu, Vuong, Nguyen Huu Lam, Kim, DukSang, Moon, Hyungpil, Koo, Ja Choon, Lee, Youngkwan, Nam, Jae-do, Choi, Hyouk Ryeol
Format Journal Article
LanguageEnglish
Published Taylor & Francis Group 01.01.2010
Subjects
Actuators
ARTIFICIAL MUSCLE
Artificial muscles
Design engineering
DIELECTRIC ELASTOMER ACTUATOR
Dielectrics
Elastomers
Fingers
MULTI-JOINTED ROBOT FINGER
Robotics
Robots
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Summary:In this paper, we present a robotic actuation system using an artificial muscle actuator based on a dielectric elastomer. A novel linear actuator called a 'multi-stacked actuator' is proposed that can be embedded in the phalanges of a multi-jointed robot finger. This actuator ensures a compact design of the overall system. As an example, a 2-d.o.f. robot finger is developed and its performance under the proposed actuator system is experimentally demonstrated. The application of the proposed system can be extended easily to a multifingered robot hand and even to articulated mechanisms such as legged robots, etc.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0169-1864
1568-5535
DOI:10.1163/016918610X529075