Multi-jointed robot finger driven by artificial muscle actuator

Authors

Nguyen Huu Chuc, Sungkyunkwan University
Jong Kil Park, Sungkyunkwan University
Nguyen Huu Lam Vuong, Sungkyunkwan University
DukSang Kim, Sungkyunkwan University
Ja Choon Koo, Sungkyunkwan University
Youngkwan Lee, Sungkyunkwan University
Jae-do Nam, Sungkyunkwan University
Hyouk Ryeol Choi, Sungkyunkwan University

RIS ID

39214

Publication Details

Nguyen, H., Park, J., Nguyen, H., Kim, D., Koo, J., Lee, Y., Nam, J. & Choi, H. (2009). Multi-jointed robot finger driven by artificial muscle actuator. IEEE International Conference on Robotics and Automations (pp. 587-592). Japan:

Abstract

In this paper we present a robotic actuation system by artificial muscle actuator based on dielectric elastomer. A novel linear actuator called “multi-stacked actuator” is presented, which can be embedded in the phalanges of the finger and ensures a compact design of the overall system. As an exemplary work, a two degree-of-freedom robot finger is developed and its performance is experimentally demonstrated. The proposed system can be extended to the multi-fingered robot hand easily, and applied even for articulated mechanisms such as legged robots etc.