Background of research Research objectives Development of the artificial muscle module using...

Background of research

Research objectives • Development of the artificial muscle module using dielectric elastomer.

• Development of embedded controller and actuator driving circuit.

• Prototype 12 DOF robot hand using artificial muscle

Degree of Freedom : 12DOF(4 finger), fingertip pay load : 500gf

• Problems Inherent rigidity and structural complexity in

existing actuator

Complex energy transfer mechanism

High manufacturing costs

•Approach The stiffness controllable actuator by material

property itself.

High energy transfer efficiency and characteristics similar to human muscle.

The simple actuation mechanism and applicable operational bandwidth

Development of Dexterous Robot Development of Dexterous Robot Hand Based on ElectroActive Polymer Hand Based on ElectroActive Polymer Actuator (4-5)Actuator (4-5)

Artificial muscle actuator

• Linear artificial muscle with high power density based on dielectric elastomer

• Micro artificial muscle for micro camera actuation module

• Electromechanical model and simulation

• Prototype of 12DOF robot hand using artificial muscle

Research contents

Camera moduleRobot hand using Artificial muscle

Artificial muscle

Development of Dexterous Robot Development of Dexterous Robot Hand Based on ElectroActive Polymer Hand Based on ElectroActive Polymer Actuator (4-5)Actuator (4-5)

Hyouk Ryeol Choi

Professor, School of Mechanical Engingeering

Sungkyunkwan University

hrchoi@me.skku.ac.kr

Collaboration : Samsung ElectroMechanics. Co

Researchers : 18(Univ. 17, Industry 2)

Project Leader