Design and Control of Multi-jointed Robot Finger Based on Artificial Muscle Actuator
In this paper, we present a robotic actuation system using an artificial muscle actuator based on a dielectric elastomer. A novel linear actuator called a 'multi-stacked actuator' is proposed that can be embedded in the phalanges of a multi-jointed robot finger. This actuator ensures a compact design of the overall system. As an example, a 2-d.o.f. robot finger is developed and its performance under the proposed actuator system is experimentally demonstrated. The application of the proposed system can be extended easily to a multifingered robot hand and even to articulated mechanisms such as legged robots, etc.
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