한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제32권10호
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  • Pages.873-878
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  • 2015
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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전기활성 고분자 구동 손가락 외골격 장치의 잡기 성능에 관한 연구

Study on Grasping Performance of Finger Exoskeleton Actuated by Electroactive Polymers

  • 김민혁 (명지대학교 기계공학과) ;
  • 이수진 (명지대학교 기계공학과) ;
  • 조재영 (서울대학교 화학생물공학부) ;
  • 김동민 (홍익대학교 전기공학과) ;
  • 이계한 (명지대학교 기계공학과)
  • Kim, Min Hyeok (Department of Mechanical Engineering, Myongji University) ;
  • Lee, Soo Jin (Department of Mechanical Engineering, Myongji University) ;
  • Jho, Jae Young (Department of Chemical and Biological Engineering, Seoul National University) ;
  • Kim, Dong Min (Department of Electrical Engineering, Hongik University) ;
  • Rhee, Kyehan (Department of Mechanical Engineering, Myongji University)
  • 투고 : 2015.07.29
  • 심사 : 2015.08.20
  • 발행 : 2015.10.01
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초록

A finger exoskeleton actuated by ionic polymer metal composite (IPMC) actuators has been developed. In order to evaluate performance of cylindrical grasping of finger exoskeletons, they were equipped with a hand dummy, which is composed of four fingers. The finger dummy has three joints that can be actuated by bending the IPMC actuators. A four finger grasping motion was analyzed using cameras, and cylindrical grasping motion was accomplished within two minutes after applying a 4 volt direct voltage to the IPMC actuators. A pull out test was also performed to evaluate the cylindrical grasping force of the finger exoskeletons actuated by the IPMC actuators. Each finger generated about 2 N of holding force when grasping the cylinder which had a diameter of 50 mm.

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참고문헌

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