Title

Design and Control of Multi-jointed Robot Finger Based on Artificial Muscle Actuator

RIS ID

39184

Publication Details

Nguyen, H., Nguyen, H. L V., Kim, D. Sang., Moon, H. Pil., Koo, J., Lee, Y., Nam, J. & Choi, H. R. (2010). Design and Control of Multi-jointed Robot Finger Based on Artificial Muscle Actuator. Advanced Robotics, 24 (14), 1983-2003.

Abstract

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.

Please refer to publisher version or contact your library.

Share

COinS
 

Link to publisher version (DOI)

http://dx.doi.org/10.1163/016918610X529075