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

Authors

Huu Chuc Nguyen, Sungkyunkwan University, South Korea
Huu Nguyen, Sungkyunkwan University, South Korea
Duk Kim, Sungkyunkwan University, South Korea
Hyung Moon, Sungkyunkwan University, South Korea
Jachoon Koo, Sungkyunkwan University, South Korea
Youngkwan Lee, Sungkyunkwan University, South Korea
Jae-do Nam, Sungkyunkwan University, South Korea
Hyouk Choi, Sungkyunkwan University, South Korea

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.