고분자 구동체를 이용한 손가락 외골격기구의 설계 및 동력학적 모델 개발Dynamic Modeling and Design of Finger Exoskeleton Using Polymer Actuator
- Other Titles
- Dynamic Modeling and Design of Finger Exoskeleton Using Polymer Actuator
- Authors
- 정광훈; 이수진; 김윤정; 윤벼리; 왕혁식; 송대석; 김슬기; 이계한; 조재영; 김동민
- Issue Date
- 2012
- Publisher
- 한국정밀공학회
- Keywords
- Finger Exoskeleton (손가락 외골격 기구); Dynamic Finger Model (손가락 동적모델); Ionic Polymer Metal Composites (이온성 고분자-금속 복합체)
- Citation
- 한국정밀공학회지, v.29, no.7, pp.717 - 722
- Journal Title
- 한국정밀공학회지
- Volume
- 29
- Number
- 7
- Start Page
- 717
- End Page
- 722
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/19441
- ISSN
- 1225-9071
- Abstract
- This paper presents the design and dynamic model of the finger exoskeleton actuated by Ionic Polymer Metal Composites (IPMC) to assist a tip pinch task. Although this exoskeleton will be developed to assist 3 degree-of-freedom motion of each finger, it has been currently made to perform the tip pinch task using 1 degree-of-freedom mechanism as the first step. The six layers of IPMC were stacked in parallel to increase the low actuation force of IPMC. In addition, the finger dummy was manufactured to evaluate the performance of the finger exoskeleton. The pinch task experiments, which were performed on the finger dummy with the developed exoskeleton, showed that the pinch force close to the desired level was obtained. Moreover, the dynamic model of the exoskeleton and finger dummy was developed in order to perform the various analyses for the improvement of the exoskeleton.
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Collections - College of Science and Technology > School of Materials Science and Engineering > 1. Journal Articles
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