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전기활성 고분자 구동 손가락 외골격 장치의 잡기 성능에 관한 연구Study on Grasping Performance of Finger Exoskeleton Actuated by Electroactive Polymers
- Other Titles
- Study on Grasping Performance of Finger Exoskeleton Actuated by Electroactive Polymers
- Issue Date
- 2015
- Publisher
- 한국정밀공학회
- Keywords
- Ionic polymer metal composite (이온성 고분자 금속 복합체); Exoskeleton (외골격); Grasping (잡기); Motion analysis (동작 분석)
- Citation
- 한국정밀공학회지, v.32, no.10, pp.873 - 878
- Journal Title
- 한국정밀공학회지
- Volume
- 32
- Number
- 10
- Start Page
- 873
- End Page
- 878
- ISSN
- 1225-9071
- Abstract
- A finger exoskeleton actuated by ionic polymer metal composite (IPMC) actuators has been developed. In order to evaluate performance of cylindrical grasping of finger exoskeletons, they were equipped with a hand dummy, which is composed of four fingers. The finger dummy has three joints that can be actuated by bending the IPMC actuators. A four finger grasping motion was analyzed using cameras, and cylindrical grasping motion was accomplished within two minutes after applying a 4 volt direct voltage to the IPMC actuators. A pull out test was also performed to evaluate the cylindrical grasping force of the finger exoskeletons actuated by the IPMC actuators. Each finger generated about 2 N of holding force when grasping the cylinder which had a diameter of 50 mm.
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Related Researcher
- Kim, Dong Min
- Science & Technology (Department of Nanomaterials Engineering)