Multiple degree-of-freedom digital soft actuator for robotic applications

Hyoukryeol Choi; Kwang Mok Jung; Jong Won Kwak; Sang Won Lee; Hunmo Kim; Jae Wook Jeon; Jae Do Nam

doi:10.1117/12.484385

28 July 2003 Multiple degree-of-freedom digital soft actuator for robotic applications

Hyoukryeol Choi, Kwang Mok Jung, Jong Won Kwak, Sang Won Lee, Hunmo Kim, Jae Wook Jeon, Jae Do Nam

Proceedings Volume 5051, Smart Structures and Materials 2003: Electroactive Polymer Actuators and Devices (EAPAD); (2003) https://doi.org/10.1117/12.484385
Event: Smart Structures and Materials, 2003, San Diego, California, United States

Abstract

In this paper we present a packaged actuator to be applied for micro and macro robotic applications. The actuator is based on polymer dielectrics, and intrinsically has musclelike characteristics capable of performing motions such as forward/backward/controllable compliance. The actuator is featured in several aspects such as simplicity and lightness in weight, cost-effectiveness, multiple DOF-actuation, and digital interface. In this paper, its basic concepts are briefly introduced and the issues about design, fabrication and applications are discussed.

Citation Download Citation

Hyoukryeol Choi, Kwang Mok Jung, Jong Won Kwak, Sang Won Lee, Hunmo Kim, Jae Wook Jeon, and Jae Do Nam "Multiple degree-of-freedom digital soft actuator for robotic applications", Proc. SPIE 5051, Smart Structures and Materials 2003: Electroactive Polymer Actuators and Devices (EAPAD), (28 July 2003); https://doi.org/10.1117/12.484385

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