손가락 외골격용 전기활성 고분자 구동체-센서 하이브리드 구조체의 굽힘 동작 제어Bending Motion Control of Electroactive Polymer Actuator-Sensor Hybrid Structure for Finger Exoskeleton
- Other Titles
- Bending Motion Control of Electroactive Polymer Actuator-Sensor Hybrid Structure for Finger Exoskeleton
- Authors
- 한동균; 김동민; 송대석; 조재영
- Issue Date
- 2015
- Publisher
- 한국정밀공학회
- Keywords
- Ionic polymer metal composite (이온성 고분자-금속 복합체); Finger exoskeleton (손가락 외골격); Force control (힘 제어); IPMC sensor (IPMC 센서)
- Citation
- 한국정밀공학회지, v.32, no.10, pp.865 - 871
- Journal Title
- 한국정밀공학회지
- Volume
- 32
- Number
- 10
- Start Page
- 865
- End Page
- 871
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/10618
- DOI
- 10.7736/KSPE.2015.32.10.865
- ISSN
- 1225-9071
- Abstract
- This study was conducted in order to develop a finger exoskeleton system using ionic polymer metal composites (IPMCs) as the actuator and sensor in a hybrid structure. To use the IPMC as an actuator producing large force, a first order transfer function was obtained using results from a block force for DC excitation that applied to two IPMCs of 20mm-width, 50mm-length, and 2.4mm thickness together. After which the validation of 200gf control with anti-windup PI controller was confirmed. A 5mm-width, 50mm-length, 0.6mm-thickness of IPMC was also modeled as a sensor for tip displacement. As a result, the IPMC sensor could been utilized as a trigger role for the actuator. Finally, an IPMC sensor and actuator were installed on the joint of a single DOF exoskeleton in the hybrid structure, and test for the control of 40gf of block force and predefined sequence of motion was performed.
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Collections - College of Science and Technology > Department of Electronic and Electrical Engineering > 1. Journal Articles
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